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ZikoDrive ZD10UART Series Operating Manual
For Firmware V3.5 and above (dated 10/10/19)
Introduction
OverView
This manual is intended to be used with the ZikoDrive ZD SERIES UART Motor controller running
standard firmware (V3.5 and above) and includes the following UART Commands that can also be
used over RS232 or RS485 using the relevant Break Out Boards:
•
Run at a set speed
•
Run Number of Microsteps
•
Decelerate to Stop
•
Emergency Stop
•
Move to the 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 30Vdc.
•
Up to 5A.
•
Up to128 Microsteps/Step.
•
Modular design connects to many Break Out Boards that can provide options such as
420mA, 0-10Vdc, Optically Isolated inputs, etc...
•
Over-temperature protection and stall detection.
•
Microprocessor controlled enabling exceptional positional accuracy.
Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire,
UK, HX7 5RW
enquiries@Zikodrive.com
–
www.Zikodrive.com
- +44 (0)333 123 1730
1
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Table of Contents
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Summary of Contents for Zikodrive ZD10UART Series
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Page 1: Introduction
Introduction OverView This manual is intended to be used with the ZikoDrive ZD SERIES UART Motor controller running standard firmware (V3.5 and above) 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
- STOP .......................... 19 EMER_STOP (0x04) ..........................19 Example 7 - EMER_STOP ....................... 19 Absolute Commands ..........................20 Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com... - Page 3 Example 16 - M_STEP ........................30 READ_PAR (0x11) ............................31 READ_PAR register layout ........................31 READ_SPD (0x11 0x01) .......................... 32 Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com...
- Page 4 Current ..............................40 RUN_CUR............................40 HOL_CUR ............................40 ACC_CUR ............................41 DEC_CUR ............................41 Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730...
- Page 5 DEC_VAL ............................41 RUN_SPD ............................... 42 M_STEP ..............................42 READ_PAR ............................. 42 Document versions ............................ 43 Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730...
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Page 6: Board View
If you require more information regarding good wiring practice, please contact ZikoDrive enquiries@zikodrive.com. Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com... -
Page 7: Wiring Motor Phase Wires
DC supply is clean (keep wires as short as possible, and shield where required). Once all these connections are complete, the ZD SERIES UART can be powered up. Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com –... -
Page 8: 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. CAUTION – supplying RS485 or RS232 signals directly to the UART pins will damage the controller. If you need to use RS232 or RS485 please ensure you have the appropriate plug in board. -
Page 9: Programming Manual
Register Address, STOP command 0xFB CheckSum Note – as this is a STOP command no DATA bytes are required. Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW 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 = ((ADDRESS + REGISTER + DATA_MSB + DATA_0 + DATA_1 + DATA_LSB) XOR 0xFF) & 0xFF; 1. The Address, the required register, and all the data bytes are added together. - Page 11 0x7A & 0x64 = Header, ASCII code ZD 0xA5 Hardware Code 0x35 Firmware Code 0x25 CheckSum Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730...
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Page 12: Command Complete
When commands are used that require time to perform (i.e., RUN_STPS) a 0x00 command is sent from the ZikoDrive to the Master Controller once the action has been completed. If the command sent is a Speed command, the 0x00 will be sent once the motor has reached the desired speed. No additional commands will be accepted by the controller until the Complete command has been sent. -
Page 13: Example 3 - Command Complete (Run_Spd)
ZikoDrive Address, Set as 0x01 as default 0x01 Register Address, DIR_SPD 0x01 Direction 0x09 Data_0 0xC4 Data_1 0x7F CheckSum Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730... -
Page 14: Shortlist Of Commands
Read Parameter 0x00 sent after initial speed transition (either acceleration or deceleration period) 0x00 sent after the whole command is completed Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com –... -
Page 15: Incremental Commands
Once the required speed is achieved a 0x00 completion command will be sent from the ZikoDrive. Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com... -
Page 16: Run_Spd Formula
Register Address, RUN_SPD 0x01 Direction 0x04 Speed MSB 0xB0 Speed LSB 0x48 CheckSum Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730... -
Page 17: Run_Stps (0X02)
The Microstep size is determined by the value stored in the M_STEP register (please read the M_STEP register for more details). Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com... -
Page 18: Run_Stps Formula
0x01 Direction 0x06 Speed MSB 0x54 Speed MID 0x00 Speed LSB 0xA1 CheckSum Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730... -
Page 19: General Commands
Example 7 EMER_STOP From Master 0x7A 0x64 0x01 0x04 0xF9 From ZikoDrive 0x06 0x00 Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730... -
Page 20: Absolute Commands
Example 9 RST_HOME From Master 0x7A 0x64 0x01 0x06 0xF7 From ZikoDrive 0x06 0x00 Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730... -
Page 21: Mov_Abs (0X07)
Header, ASCII code ZD 0x01 ZikoDrive Address, Set as 0x01 as default 0x07 Register Address, MOV_ABS Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730... -
Page 22: Mov_Home_Rst (0X08)
From ZikoDrive 0x06 //After MOV_HOME_RST has completed stopped and new position SET// From ZikoDrive 0x00 Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730... -
Page 23: Parameter Setup
Current (A) = (DATA x 0.26) + 0.26 Where DATA is the value inserted into one of the current registers. Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com –... -
Page 24: Example 12 - Standard Mode Current Calculation
The value inserted into this register should be equal to or smaller than the phase current stated on the stepper motor manufacturers datasheet. Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com... -
Page 25: Hold_Cur (0X0A)
Acceleration is important for stepper motors as a movement that is too abrupt will stall the motor. For this reason, Zikodrive has 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 26: Dec_Val (0X0E)
138 Decimal = 0x8A Hexadecimal From Master 0x7A 0x64 0x01 0x0E 0x8A 0x66 From ZikoDrive 0x06 0x00 Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730... -
Page 27: Spd_Run (0X0F)
Register Address, SPD_RUN 0x0C SPD_RUN MSB 0x80 SPD_RUN LSB 0x63 CheckSum 0x00 Command Complete Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730... -
Page 28: M_Step (0X10)
This Mode is more suited for lower speed (a couple of hundred RPM) high precision applications. Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com –... -
Page 29: Standard Mode
Half Step 0x0A 1/4 Step Standard Mode 0x0B 1/8 Step 0x0C 1/16 Step Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730... -
Page 30: Example 16 - M_Step
0x06 0x00 NOTE - BE SURE TO CHANGE THE CURRENT AS WELL WHEN CHANGING BETWEEN PRECISION AND STANDARD MODES!!! Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com –... -
Page 31: Read_Par (0X11)
Read Deceleration Value 0x09 READ_SPD_RUN Read Running Speed Read Microstep resolution & 0x0A READ_M_STEP Mode Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730... -
Page 32: Read_Spd (0X11 0X01)
10. So, our speed in RPM is 2490 / 10 = 249RPM Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com... -
Page 33: Read_Pos (0X11 0X02)
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 complement format. Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com... -
Page 34: Read_***_Cur
CheckSum 0x0C in Hexadecimal gives 12 in Decimal. 12 x 0.26 = 3.12 3.12 + 0.26 = 3.38A Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com... -
Page 35: Read_***_Cur Formula For Precision Mode
Vs x 41 = 24 x 41 = 984 Rm x 256 = 1.1 x 256 = 281.1 984 / 281.1 = 3.5A Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com –... -
Page 36: Read_Acc/Dec_Val (0X11 0X07/8)
CheckSum 0x008A Hexadecimal gives 138 in binary RPM/sec 138 x 13.744 1896 RPM/sec Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730... -
Page 37: Read_Spd_Run (0X11 0X09)
Data LSB 0xD2 CheckSum 0x0960 in Hexadecimal gives 2400 decimal 2400 / 10 gives 240RPM Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730... -
Page 38: Read_M_Step (0X11 0X0A)
Microstep resolution. NOTE - BE SURE TO CHECK THE CURRENT AS WELL THE CURRENT VALUES REQUIRE DIFFERENT FORMULA... Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com... -
Page 39: Quick Commands
0x7A 0x64 0x01 0x07 0x01 0x00 0x25 0x80 0x51 9600 CCW 0x7A 0x64 0x01 0x07 0x00 0x00 0x25 0x80 0x52 Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com –... -
Page 40: Stop
HOL_CUR = 1 0x7A 0x64 0x01 0x0A 0x01 0xF3 HOL_CUR = 12 0x7A 0x64 0x01 0x0A 0x0C 0xE8 Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com... -
Page 41: Acc_Cur
DEC = 138 0x7A 0x64 0x01 0x0E 0x00 0x8A 0x66 DEC = 3000 0x7A 0x64 0x01 0x0E 0x0B 0xB8 0x2D Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com –... -
Page 42: Run_Spd
0x7A 0x64 0x01 0x11 0x08 0xE5 READ_SPD_RUN 0x7A 0x64 0x01 0x11 0x09 0xE4 READ_M_STEP 0x7A 0x64 0x01 0x11 0x0A 0xE3 Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com... -
Page 43: Document Versions
Document versions 15/10/18 New document formatted for V3.0 UART Firmware. 10/10/19 Added additional details Zikodrive Motor Controllers, Unit 4B, Top Land Country Business Park, Cragg Vale, Hebden Bridge, West Yorkshire, UK, HX7 5RW enquiries@Zikodrive.com – www.Zikodrive.com - +44 (0)333 123 1730...