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MOTKA MK-200 User Manual

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Revision 1.1
MOTKA LLP

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Summary of Contents for MOTKA MK-200

  • Page 1 ’ ’ Revision 1.1 MOTKA LLP...

  • Page 2: Table Of Contents

    Table of Contents Introduction......................5 Getting Started .......................8 2.1. Connecting the Power Supply................10 2.2. Connecting the Host..................10 2.3. Selecting Servo or Stepper................11 2.4. Connecting Servo Motor..................12 2.5. Connecting Stepper Motor................14 2.6. Connecting the Limits..................14 2.7. Connecting the Home Indicator ...............15 2.8. Testing Our Connections .................17 2.9.
  • Page 3 List of Figures Figure 1 – Elements of motion control ..............5 Figure 2 – The MK-200 2-Axis Motion Controller Surface Mount Module ..6 Figure 3 - MK-200 pin layout ..................8 Figure 4 – Power supply scheme ................10 Figure 5 – UART-to-UART interface with host .............11 Figure 6 –...
  • Page 4 List of Tables Table 1 – MK-200 pin definitions ................9 Table 2 - Document revision history...............26...

  • Page 5: Introduction

    For information on programming and the complete list of command references, please refer to the Command Reference manual. MK-200 is a 2-Axis Motion Controller Surface Mount Module that facilitates implementation of motion control applications with simplicity, shortens time-to-market, and achieves optimal cost-effectiveness. It is suitable for scientific, industrial automation, robotic applications and hobby.

  • Page 6: Figure 2 - The Mk-200 2-Axis Motion Controller Surface Mount Module

    Small footprint (35 x 28.5 mm) with castellated terminals for ease of integration onto PCB Spacing between castellated terminals is 2.54 mm, which is compatible to common prototyping and bread boards +5 V operation Figure 2 – The MK-200 2-Axis Motion Controller Surface Mount Module...
  • Page 7 Related documents • Command Reference. • MOTKA Motion Companion User’s Manual.

  • Page 8: Getting Started

    Getting Started The pins layout and definitions of MK-200 are shown in Figure 3 and Table 1 respectively. To get started, we can either solder the MK-200 directly onto a prototyping board or place the MK-200 onto a prototyping breadboard using header pins and make sure the contact between the pins and the MK-200 are reliable.
  • Page 9 Axis B home indicator input B-CHB Axis B encoder input CHB B-CHA Axis B encoder input CHA +5V supply Table 1 – MK-200 pin definitions P = Power, I = Input, O = Output FT = Five voltage Tolerant AL = Active Low...

  • Page 10: Connecting The Power Supply

    Stop bit: Parity bit: None Flow control: None These configurations are not changeable. The UART interface can be connected directly to another host processor with a UART port (See Figure 5). If the MK-200 is to be connected to a...

  • Page 11: Selecting Servo Or Stepper

    Figure 6 – UART-to-RS232 interface with host 2.3. Selecting Servo or Stepper The MK-200 supports 2 axes, namely Axis A and Axis B. Each axis can be configured to operate with either a servo or stepper motor, depending on the Stepper Select input (Stepper A and Stepper B).

  • Page 12: Connecting Servo Motor

    Figure 7 and Figure 8 show the typical connections of a brushless and brushed servo motor to the MK-200’s Axis A respectively. Note that the Stepper Select, Stepper A, in both cases are left unconnected.

  • Page 13: Figure 7 - Connecting To A Brushless Servo Motor To Axis A

    Brushless MK-200 Amplifier Motor A-PWM Motor A A-Dir Motor B Motor C HALL 1 HALL 1 HALL 2 HALL 2 HALL 3 HALL 3 Stepper A (unconnected) Encoder A-CHA A-CHB (must have common ground) Figure 7 – Connecting to a brushless servo motor to Axis A...

  • Page 14: Connecting Stepper Motor

    Direction mode. When stepper operation is selected, MK-200 does not support encoder inputs (CHA and CHB). Figure 9 shows the typical connection of stepper motor to the MK-200. Note that the Stepper Select, Stepper A, is connected to ground.

  • Page 15: Connecting The Home Indicator

    Figure 10 – Connecting to forward and reverse limits to Axis A 2.7. Connecting the Home Indicator The MK-200 comes with one Home indicator (HM) per axis. Home indicators are designed to provide mechanical reference points for a motion control application. A transition in the state of the home indicator alerts the controller that a reference point is reached by a moving part in a motion control system.

  • Page 16: Figure 11 - Connecting To Home Indicator

    ‘0’), it toggles the Direction bit and reduces the speed of search, and hence reverses the motion at a lower speed. This motion continues until the HM input is inactive and the home operation is complete. MK-200 A-HM Figure 11 – Connecting to home indicator...

  • Page 17: Testing Our Connections

    The first instruction is to check for Motor Type (MT). The response of ‘1’ indicates that MK-200 has configured Axis A to operate in servo mode. Before we can move the motor, it must be enabled by sending the Servo Enable (SE) instruction to Axis A.

  • Page 18: Design Examples

    2.9. Design Examples Here are a few simple C/C++ examples for using your controller. You may use other languages to send the ASCII commands via the serial port. Example 1 – Tuning of Controller This example assigns the PID parameters to Axis A and read back for confirmation.
  • Page 19 CSerial port; If(port.open(2, 115200)) // Open serial port and configured // to baud 115200 bps char SE[6] = “SE, T”; // Servo enable for Axis B SL[5] = 0x0D; // Terminate with Carriage Return char SL[10] = “SL, 30000”; // Speed limit SL[9] = 0x0D;...
  • Page 20 MR[15] = 0x0D; // Terminate with Carriage Return port.send(SL, sizeof(SL)); // Set speed limits port.send(AL, sizeof(AL)); // Set acceleration limits port.send(DL, sizeof(DL)); // Set deceleration limits port.send(SE, sizeof(SE)); // Enable motors port.send(MR, sizeof(MR)); // Move motors Example 4 – Reading of Position The position of any axis can be queried with the GP instruction.
  • Page 21 Example 5 – Velocity Control In this example, we drive A and B motors at a desired speed. CSerial port; If(port.open(2, 115200)) // Open serial port and configured // to baud 115200 bps char SE[8] = “SE T, T”; // Servo enable for Axis A and B SE[7] = 0x0D;...

  • Page 22: Package Information

    The MK-200 is designed to match commercially-off-the-shelve prototyping board with 2.54 mm pitch. Figure 13 and Figure 14 show the mechanical dimensions of MK-200 and its recommended PCB footprint. All dimensions are in mm. Figure 13 - MK-200 package outline...

  • Page 23: Figure 14 - Recommended Pcb Footprint

    Figure 14 - Recommended PCB footprint...

  • Page 24: Software Tools

    Software Tools A free software tool, the MOTKA Motion Companion, can be downloaded from our official website. This tool is designed to help user to learn and use all the supported motion controllers developed by MOTKA. Please refer to the MOTKA Motion Companion User’s Manual for details.

  • Page 25: Command Basics

    Command Basics A list of essential, straight-forward commands is developed to support fundamental motion control needs. Please refer to the Command Reference for details.

  • Page 26: Revision History

    Revision History Date Revision Changes 09-April-2015 Initial release. 18-Feb-2016 Added Section 2.9 – Design Examples. Table 2 - Document revision history...

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