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MOTKA MK-200C User Manual

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Revision 1.1
MOTKA LLP

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Summary of Contents for MOTKA MK-200C

  • 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..................11 2.5. Connecting Stepper Motor................13 2.6. Connecting the Limits..................14 2.7. Connecting the Home Indicator ...............15 2.8. Testing Our Connections .................16 2.9.
  • Page 3 Figure 4 – Power supply scheme ................10 Figure 5 – RS-232C-to-RS232C interface with host ...........11 Figure 6 – Connecting to a brushless servo motor to MK-200C .......12 Figure 7 – Connecting to a brushed servo motor to MK-200C ......13 Figure 8 – Connecting to a stepper motor to MK-200C ........13 Figure 9 –...
  • Page 4 List of Tables Table 1 – MK-200C terminal definitions ..............9 Table 2 - Document revision history...............25...

  • Page 5: Introduction

    It is suitable for scientific, industrial automation, robotic applications and hobby. MK-200C is a fully functional motion controller requiring only an external amplifier to complete a position control application. It is driven by a host through an asynchronous serial port (RS-232C). Figure 1 shows the elements of motion control application using MK-200C.

  • Page 6: Figure 2 - The Mk-200C 2-Axis Motion Controller

    Small footprint (116.2 x 62.9 x 24.18 mm) with screw terminals for ease of integration and maintenance Lightweight with only 150 gram +5 V operation and typical current consumption of 300 mA. Figure 2 – The MK-200C 2-Axis Motion Controller...
  • Page 7 Related documents • Command Reference. • MOTKA Motion Companion User’s Manual.

  • Page 8: Getting Started

    Getting Started The terminal layout and definitions of MK-200C are shown in Figure 3 and Table 1 respectively. The instructions illustrated from Section 2.1 through Section 2.8 represent a typical application. Fault Figure 3 - MK-200C...
  • Page 9 Axis B Stepper select +5V supply Power Ground Fault FT,AL Reserved. Do not use. Receive RS-232 Transmit Ground Table 1 – MK-200C terminal definitions P = Power, I = Input, O = Output FT = Five voltage Tolerant AL = Active Low...

  • Page 10: Connecting The Power Supply

    2.1. Connecting the Power Supply The MK-200C requires a +5 V operating voltage. It is highly recommended to separate the power supply used for the MK-200C and the motor amplifiers to eliminate noise interference. Power Supply MK-200C Fault Fault Figure 4 – Power supply scheme 2.2.

  • Page 11: Selecting Servo Or Stepper

    Figure 5 – RS-232C-to-RS232C interface with host 2.3. Selecting Servo or Stepper The MK-200C supports 2 axes, namely Axis A and Axis B. Each axis can be configured to operate with a servo or stepper motor, depending on the jumper, STEPPER SEL (Axis A and Axis B), setting. Inserting the jumper configures the Axis to support stepper motor.

  • Page 12: Figure 6 - Connecting To A Brushless Servo Motor To Mk-200C

    Figure 6 and Figure 7 show the typical connections of a brushless and brushed servo motor to an MK-200C’s axis respectively. The jumper of STEPPER SEL for the respective axis must be removed. MK-200C Amplifier Brushless Motor Motor A Motor B...

  • Page 13: Connecting Stepper Motor

    Direction mode. When stepper operation is selected, MK-200 does not support encoder inputs (CHA and CHB). Figure 8 shows the typical connection of stepper motor to an MK-200C’s axis. The jumper of STEPPER SEL for the respective axis must be inserted.

  • Page 14: Connecting The Limits

    2.6. Connecting the Limits There are two directional limits per axis, which can be used to prevent collision due to over travelling. Leave these limits unconnected (inactive) if we do not wish to use them. Both Forward and Reverse limits are active low. If the Forward Limit (FL) is active, it inhibits the forward motion immediately.

  • Page 15: Connecting The Home Indicator

    MK-200C Figure 9 – Connecting to forward and reverse limits to MK-200C 2.7. Connecting the Home Indicator The MK-200C 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: Testing Our Connections

    ‘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-200C Figure 10 – Connecting to home indicator Forward home search...

  • Page 17: Design Examples

    The first instruction is to check for Motor Type (MT). The response of ‘1’ indicate that MK-200C is configured Axis A to operate in servo mode. Next we disable Acceleration Limit (AL) by setting it to zero. Before we can move the motor, it must be enabled by sending the Servo Enable (SE) instruction to Axis A.
  • Page 18 Example 1 – Tuning of Controller This example assigns the PID parameters to Axis A and read back for confirmation. CSerial port; If(port.open(2, 115200)) // Open serial port and configured // to baud 115200 bps char Kp[7] = “KP 100”; // Set Proportional gain for Axis A Kp[6] = 0x0D;...
  • Page 19 SL[5] = 0x0D; // Terminate with Carriage Return char SL[10] = “SL, 30000”; // Speed limit SL[9] = 0x0D; // Terminate with Carriage Return char AL[11] = “AL, 100000”; // Acceleration limit AL[10] = 0x0D; // Terminate with Carriage Return char DL[11] = “DL, 100000”;...
  • Page 20 port.send(MR, sizeof(MR)); // Move motors Example 4 – Reading of Position The position of any axis can be queried with the GP instruction. CSerial port; If(port.open(2, 115200)) // Open serial port and configured // to baud 115200 bps char query[7] = “GP ?,?”; // Get position –...
  • Page 21 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; // Terminate with Carriage Return char MC[15] = “MC 1000, -2000”; // Speed and direction MC[14] = 0x0D;...

  • Page 22: Package Information

    Package Information Figure 12: MK-200C package outline...

  • Page 23: 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 for details.

  • Page 24: 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 25: 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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