Table of Contents
Advertisement
Quick Links
ZikoDrive ZD10UART Series Operating Manual
Introduction
OverView
This manual is intended to be used with the ZikoDrive ZD SERIES UART Motor controller running
standard firmware (1.1) and includes the following UART Commands that can also be used over
RS232 or RS485 using the relevant Break Out Boards:
• Run at set speed
• Run Number of Microsteps
• Decelerate to Stop
• Emergency Stop
• Move to Home position
• Reset Home Position
• Move to Absolute Position
• Move to Home input Limit Switch
• Setting STD motor Parameters including Running Current, Holding Current,
Acceleration/Deceleration Current, Acceleration/Deceleration Rates and Microstepping
resolution.
Specifications
• Up to 35Vdc.
• Up to 5A.
• Up to128 Microsteps/Step.
• Modular design, connects to many Break Out Boards that can provide options such as 4-
20mA, 0-10Vdc, Optically Isolated inputs etc...
• Over temperature protections and stall detection.
• Microprocessor controlled enabling exceptional positional accuracy.
ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd
Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT
enquiries@ZikoDrive.com
–
www.ZikoDrive.com
- +44 (0)1422413673
Advertisement
Table of Contents
Related Manuals for Zikodrive ZD10UART Series
Summary of Contents for Zikodrive ZD10UART Series
- Page 1 Introduction OverView This manual is intended to be used with the ZikoDrive ZD SERIES UART Motor controller running standard firmware (1.1) and includes the following UART Commands that can also be used over RS232 or RS485 using the relevant Break Out Boards: •...
-
Page 2: Table Of Contents
Precision Mode ......................... 25 Standard Mode .......................... 25 M_STEP register layout ......................26 ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com –... -
Page 3: Important Note
It is critically important to not exceed the recommended input voltages as this may cause un- repairable damage to the ZikoDrive ZD SERIES UART Motor Driver. The max voltage recommended for any digital or analogue inputs is 5Vdc. DO NOT APPLY Higher Voltage PWM as this will damage the board. -
Page 4: Components
Components Board View ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com – www.ZikoDrive.com - +44 (0)1422413673... -
Page 5: Setting Up
Once all these connections are complete, the ZD SERIES UART can be powered up. ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com... - Page 6 ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com – www.ZikoDrive.com - +44 (0)1422413673...
-
Page 7: Connections To Box Header (Uart)
Inverting receiver input and inverting driver output Ground Note - If shielded cables are used between the Master Controller and the ZikoDrive please ensure only one end of the shielding is grounded to ensure no Ground loops. ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com... -
Page 8: Programming Manual
Programming Manual The UART Protocol The protocol used is non-standard and derived by the ZikoDrive engineers to provide fast and efficient data transfer. The Data is transmitted and received in 8bit binary Bytes which in this manual we will displayed in a Hexadecimal format. -
Page 9: The Zikodrive Protocol
Note – as this is a STOP command no DATA bytes are required. ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com... -
Page 10: Checksum Formula
CheckSum formula Each command sent to the ZikoDrive controller must be followed with a CheckSum byte or the data will be rejected. CHECKSUM = ((RS485_ADDRESS + REGISTER + DATA_MSB + DATA_0 + DATA_1 + DATA_LSB) XOR 0xFF) & 0xFF; The RS485 Address, the required register and all the data bytes are added together. - Page 11 0x06 //After RUN_SPD has completed Acceleration ONLY// From ZikoDrive 0x00 ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com – www.ZikoDrive.com...
-
Page 12: Shortlist Of Commands
0x00 sent after initial speed transition (either acceleration or deceleration period) 0x00 sent after whole command is completed ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com... -
Page 13: Incremental Commands
Graph 1 RUN_SPD, STOP & EMER_STOP Between each speed transition (RUN_SPD1, RUN_SPD2...) the ZikoDrive controller will run the ACC_VAL and DEC_VAL values. The EMER_STOP has no deceleration where the STOP command will decelerate the motor smoothly to a STOP using the DEC_VAL. -
Page 14: Run_Spd Formula
Speed MSB 0x64 Speed LSB 0x98 CheckSum ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com – www.ZikoDrive.com - +44 (0)1422413673... -
Page 15: Run_Stps (0X02)
DEC_VAL rate and then stop when the number of Microsteps is achieved, and then a 0x00 completion command will be sent from the ZikoDrive. Any command sent to the ZikoDrive before the 0x00 completion command is sent will be disregarded. -
Page 16: Run_Stps Formula
Speed MID 0x00 Speed LSB 0x98 CheckSum ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com – www.ZikoDrive.com - +44 (0)1422413673... -
Page 17: General Commands
The STOP command, typically used after the RUN_SPD command will bring the motor to a dead stop using the DEC_VAL. Once stopped the ZikoDrive will apply the HOLD_CUR current to ensure the motor does not move from externally applied loads. -
Page 18: Absolute Commands
Care must be taken when using the Absolute commands that the M_STEP register is not changed during the use of the Absolute Commands. This is because the ZikoDrive uses the M_STEP resolution as an incremental counter from the HOME position and when the M_STEP register changes the counter becomes meaningless. -
Page 19: Mov_Abs (0X07)
MOV_ABS LSB 0xDE CheckSum 0x00 Command Complete ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com – www.ZikoDrive.com - +44 (0)1422413673... -
Page 20: Mov_Home_Rst (0X08)
//After MOV_HOME_RST has completed stopped and new position SET// From ZikoDrive 0x00 ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com –... -
Page 21: Parameter Setup
Parameter Setup The parameter setup includes motor criteria that the ZikoDrive controller needs to know in order for the motor to function correctly within the application. IMPORTANT NOTE: Care must be taken when setting these parameters as if any of these parameters were to be setup incorrectly unrepairable damage can be caused to either the motor, the ZikoDrive controller or other equipment connected to the motor. -
Page 22: Standard Mode Current Formula
From Master 0x7A 0x64 0x01 0x09 0x42 0xB2 From ZikoDrive 0x06 0x00 ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com –... -
Page 23: Run_Cur (0X09)
PLEASE NOTE - When running Standard Mode, even a value of 0x00 in the HOLD_CUR will not completely turn the motor current off. To ensure the ZikoDrive outputs high impedance state you must run a STOP or a EMER_STOP command. -
Page 24: Acc_Val (0X0D)
Acceleration is important for stepper motors as a movement that is too abrupt will stall the motor. For this reason ZikoDrive have ensured that for any speed change made a smooth transition is performed. Every time the ACC_VAL is implemented it assumes the ACC_CUR acceleration current. -
Page 25: Spd_Run (0X0F)
SPD_RUN LSB 0x62 CheckSum 0x00 Command Complete ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com – www.ZikoDrive.com - +44 (0)1422413673... -
Page 26: M_Step (0X10)
PERMANANTLY DAMAGE THE ZIKODRIVE OR THE MOTOR... Precision Mode The precision mode allows the ZikoDrive controller to drive stepper motors with a very smooth and very accurate position ability with 128 Microsteps per step resolution. The precision mode operates by sending a PWM voltage into each motor phase to obtain the high resolution. However, as this mode does not directly monitor the motor current, the motor may be more susceptible to motor resonance. -
Page 27: M_Step Register Layout
BE SURE TO CHANGE THE CURRENT AS WELL WHEN CHANGEING BETWEEN PRECISION AND STANDARD MODES!!! ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com... -
Page 28: Read_Par (0X11)
Read Running Speed Read Microstep resolution & 0x0A READ_M_STEP Mode ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com – www.ZikoDrive.com... -
Page 29: Read_Spd (0X11 0X01)
The READ_POS works the same as the MOV_ABS register in its format, ie The MSB (of the entire 22bits) is used as a negative sign – IE, two's compliment format. ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com... -
Page 30: Read_***_Cur
0x0C in Hexadecimal gives 12 in Decimal. 12 x 0.26 = 3.12 3.12 + 0.26 = 3.38A ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com –... -
Page 31: Read_***_Cur Formula For Precision Mode
0x008A Hexadecimal gives 138 in binary RPM/sec 138 x 13.744 1896 RPM/sec ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com –... -
Page 32: Read_Spd_Run (0X11 0X09)
0x09 0x60 0x0960 in Hexadecimal gives 2400 decimal 2400 / 10 gives 240RPM ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com –... -
Page 33: Read_M_Step (0X11 0X0A)
BE SURE TO CHECK THE CURRENT AS WELL THE CURRENT VALUES REQUIRE DIFFERENT FORMULA... ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com... -
Page 34: Quick Commands
0x7A 0x64 0x01 0x03 0xFA EMER_STOP 0x7A 0x64 0x01 0x04 0xFA ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com –... -
Page 35: Home
0x7A 0x64 0x01 0x0C 0x29 0xC8 DEC_CUR = 82 0x7A 0x64 0x01 0x0C 0x52 0xA0 ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com –... -
Page 36: Acc & Dec
0x7A 0x64 0x01 0x11 0x09 0xE4 READ_M_STEP 0x7A 0x64 0x01 0x11 0x0A 0xE2 ZikoDrive Motor Controllers is a trading name of Round Bank Engineering Ltd Suite 7, Unit 1D The Craggs Country Business Park, Hebden Bridge, West Yorkshire, HX7 5TT enquiries@ZikoDrive.com –...