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CENTENT CN0170 Hardware Manual

Two axis motion controller
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HARDWARE MANUAL
CN0170
TWO AXIS
MOTION CONTROLLER
0
M
P
A
N
Y
3879 SOUTH MAIN STREE T 714-979-6491
SANTA ANA, CALIFORNIA 92707-5710 U.S.A.

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  • Page 1 HARDWARE MANUAL CN0170 TWO AXIS MOTION CONTROLLER 3879 SOUTH MAIN STREE T 714-979-6491 SANTA ANA, CALIFORNIA 92707-5710 U.S.A.
  • Page 3 This manual contains information for installing and operating the following Centent Company product: • CN0170 Motion Controller Centent and the Centent Company logo are trademarks of Centent Company. Other trademarks, tradenames, and service marks owned or registered by any other company and used in this manual are the property of their respective companies.

  • Page 4: Table Of Contents

    Step Output..................2 Dir Output ..................4 ISet Output..................5 +5VDC .................... 6 Gnd....................6 Connecting Centent Step Motor Drives..........6 CN0142, CN0143, CN0152, CN0153 .......... 6 CN0162 ..................7 CN0165 ..................8 CN0182 ..................8 Control Connector ................9 Outputs ...................

  • Page 5: X-Axis, Y-Axis Connector

    The output is TTL and 5V CMOS compatible. In most instances it is also directly compatible with opto-isolated step motor drive inputs. The STEP pulse rate is user selectable to x1, x2, x10 and x125 of the CN0170's programmed full-step rate. This maintains the same programmed motor shaft speed when using full-step, half-step, 10 microstep and 125 microstep drives respectively.
  • Page 6 STEP output circuit is shown in Figure 2. The Motor Drive Option jumper block is used to select the appropriate step rate resolution. Each axis has its own 4-position jumper block. The CN0170's cover must be removed to access these option jumper blocks. To accomplish this, remove the four screws...

  • Page 7: Dir Output

    The STEP output pulse timing is shown in Figure 4. Figure 4 The CN0170 uses a step rate generator circuit to generate a frequency proportional to a 16-bit command. Consequently, all 65,536 possible speeds are evenly distributed over the speed range. An incremental change in speed command word produces the same speed change on either ends of the speed range.

  • Page 8: Iset Output

    The CN0170 waits a programmed period after a motor has stopped to activate the ISET output. If the motor is commanded to move before this time delay elapses, the timer is reset and the ISET output does not activate.

  • Page 9: 5Vdc

    GND: (pins 6-9) The ground pins on the connector outputs are arranged so they alternate with the signal pins if a ribbon cable is used to connect the CN0170 to the step motor drives. This attenuates cross-talk and provides shielding for the signal lines.

  • Page 10: Cn0162

    Figure shows the possible configurations for connecting the CN0162 to the CN0170. R1 is the current set resistor and R2 is the STANDBY resistor. Refer to the Operating Manual, CN0162 Microstep Drive to determine the values for R1 and R2.

  • Page 11: Cn0165

    Controller, or both. Figure 9, Free-wheel Current Standby - CN0165 Figure 9 shows the CN0170's STANDBY used for the "free-wheel" option. This is equivalent to the CN0162 configuration shown in the lower right example in Figure 8. The Standby trimpot on the CN0165 sets current standby.

  • Page 12: Control Connector

    STB output may be used to trigger or initiate an external process that has to be performed once the motor has completed a move. The external process provides the BSY input to the CN0170. While the external process is in progress, the BSY input is held active (low). When the process has completed the BSY input to the CN0170 goes inactive (high).
  • Page 13 (T3) The STB output goes inactive. If the BSY input is inactive, the next motor move begins, if one is pending. If the XB+ (or YB+) instruction is sent to the CN0170, the STB output goes active immediately upon the completion of a command move. The BSY...

  • Page 14: Spd Output

    CENTENT MOTION CONTROLLER If the BSY input is inactive it is sampled every 3.9 milliseconds. The STB output remains active while this is going on. The CN0170 will wait indefinitely in this state, waiting for acknowledgment that the external process has begun.

  • Page 15: Run Output

    CN0170 HARDWARE MANUAL The SPD output is inactive while the motor is accelerating to maximum velocity. The SPD output goes active coincident with the motor ceasing to accelerate. The SPD output goes inactive again when the motor begins to decelerate to a stop or a lower velocity.

  • Page 16: Hme Input

    A home instruction is used to clear possible errors between where the CN0170 assumes the motor is and where it actually is. It is usually invoked before a series of positioning moves are made. This is accomplished by driving the motor towards a switch that activates the HME input.
  • Page 17 CN0170 HARDWARE MANUAL In execution of the homing instruction, the motor seeks out the closed to open transition of the Home input switch. This permits the Home position to be located anywhere in the travel range of the motor if a cam operated Home input switch is used.

  • Page 18: Flt Input

    When a Fault is sensed a KILL command is issued on the 'B' serial port of the CN0170. This signals the next CN0170 (in a daisy-chained system) to stop. The command will be passed down the entire chain by the CN0170s, ensuring all operation ceases.

  • Page 19: Inputs, Analog

    CN0170 HARDWARE MANUAL INPUTS, ANALOG: The CN0170 has four analog inputs. Two analog inputs are dedicated for use with the Joystick instructions while the remaining two are designated as general-purpose inputs. The analog inputs are multiplexed into a sample and hold circuit. The output of the sample and hold circuit is converted by an 8-bit digital to analog converter and read into the CN0170 memory.

  • Page 20: Alg X,Y

    The ALG analog inputs are used for joystick operation. The analog input is converted to an 8-bit value. This 8-bit value references to a look-up table in the CN0170. The table entry is multiplied by the programmed maximum velocity to form the command velocity for the motor. There are eight selectable look-up tables available to the programmer.

  • Page 21: Ground

    70 degrees Celsius. The CN0170 has a power supply supervisor circuit on its internal 5 volt supply. This circuit monitors the supply voltage and operates the system reset and battery switchover functions. Because of hysteresis on its trip point voltages, there are no restrictions on power supply voltage rate of change.

  • Page 22: Serial Connector

    20 axis' of motion control. The secondary 'B' channel of the last CN0170 in the chain may pass data to other devices (printer, plotter, etc.). This means the host computer does not require an additional serial port for these devices.

  • Page 23: Serial Cable

    CN0170 HARDWARE MANUAL SERIAL CABLE: The user may order a serial cable from Centent if his system will require a single CN0170. This cable has the necessary jumpers built in for andshaking with an IBM PC compatible computer. If more than one CN0170 is to be connected together, the user must fabricate his own serial cable.
  • Page 24 CENTENT MOTION CONTROLLER To replace the batteries, remove the four screws on the bottom of the CN0170. Lift the cover up at the Indicator LED side and remove it. battery holder position shown in Figure 20. If possible, have power applied to...

  • Page 25: Connector Pin-Assignments Motor Connector

    CN0170 HARDWARE MANUAL CONNECTOR DIAGRAMS: MOTOR INTERFACE CONTROL INTERFACE FUNCTION FUNCTION IRET IN 2 ISET BSY Y 5VDC FLT Y STEP HME Y RUN Y GROUND SPD X RUN X OUT 1 ALG Y ALG X 5 VDC SERIAL INTERFACE...

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