1、CQPUSI ROBOT CONTROL SYSTEM YANLAN AUTOMATION TECHNOLOGY PUMAO AUTOMATION TECHNOLOGY UserManualPMC007xx SeriesMiniature Integrated Stepper Motor ControllerPMC007xx Miniature Integrated Stepper Motor ControllerDateAuthorVersionRemark2014-10-19huangchengV0.1.0Initial2014-11-25LiurV0.1.1Fix typo2014-12

2、-08huangchengV0.1.2Add system control object. Signal interface J1 adds BOOT and RESET signal description. Merge external emergency stop enabled and external emergency stop trigger mode object into an object. Modify the screenshot tool and add the relevantfunctional instructions.2015-5-6huangchengV0.

3、1.3PDO function supplement2016-6-15wentaoV0.1.4Add senseless stall detection2016-12-7LiurV0.1.7Add close loop1.Version Control 1）Update RecordsCQPUSI Robot Control SPage 46 of 53Catalog1 Introduction61.1 Statement of intellectual property right61.2 Disclaimer62 Overview72.1 Gen

4、eral Description72.2 Features72.3 Production & Ordering Information73 Connector Description83.1 Terminal port location83.2 Motor connection J283.3 Power connection J383.4 Signal connectionJ183.5 RS485 Network Operation93.6 CAN Network Operation93.7 Homing Switch Connection104 CANopen communication11

5、4.1 CANopen introduction114.2 CAN frame structure124.3 CAN communication configuration134.3.1 Node ID134.3.2 Baud rate134.4 System information acquisition134.4.1 Device node name134.4.2 Hardware version144.4.3 Software version144.4.4 System control144.5 Motor control parameters144.5.1 Error status14

6、4.5.2 Controller status154.5.3 Rotation direction154.5.4 Maximum speed164.5.5 Relative displacement command164.5.6 Absolute displacement command164.5.7 Stop stepping command174.5.8 Operation mode174.5.9 Start speed174.5.10 Stop speed174.5.11 Acceleration coefficient184.5.12 Deceleration coefficient1

7、84.5.13 Microstepping194.5.14 Maximum phase current194.5.15 Motor position194.5.16 Current attenuation204.5.17 Motor enable204.5.18 Stall set204.5.19 Stall parameters214.6 External emergency stop214.7 General IO port224.7.1 General IO port set224.7.2 General IO port value244.8 Offline programming244

8、.8.1 Offline programming parameter 1244.8.2 Offline programming parameter 2255 User-defined program285.1 User Instruction Set Summary285.2 User command description295.2.1 CNTI，CNTC command295.2.2 JMP command295.2.3 JNE，JEQ command295.2.4 WAIT command295.2.5 OUT command305.2.6 CMP command305.2.7 RESE

9、T_EN 和 PAUSE_EN command306 Introduction to Debug Tool306.1 Installation preparation306.2 Software installation306.2.1 Driver installation306.3 Software instructions316.3.1 Preparation for using316.3.2 Main interface316.3.3 Motor motion control interface326.3.4 Offline programming interface326.3.5 PD

10、O mapping336.3.6 Firmware upgrade346.3.7 Scripting language support357 Electrical Characteristics368 Dimensions379 Appendix 1PMC007xx Object dictionary table3810 Appendix 2CANOPEN Communication example4510.1 SDO Reading and writing example4510.1.1 SDO Read4510.1.2 SDO Write in4611 Appendix 3 PDO con

11、figuration example4911.1 PDO Overview4911.1.1 The structure PDOMapping parameter4911.1.2 The structure PDOCommunication parameter5011.1.3 PDO Trigger mode5111.2 PDO Configuration example5212 Appendix 4 SDO abort code error531 Introduction1.1 Statement of intellectual property rightPMC007xx series co

12、ntroller has been applied for the following national patent: Controller scheme and method have been applied for the protection of the invention patent. Controller circuit has been applied for the protection of utility model patent. Controller appearance has been applied for the protection of appeara

13、nce patent protection.Since PMC007xx series controller has embedded firmware code, it would be considered as a violation of intellectual property protection act and regulations that any behavior of trying to destroy the function of firmware code protection. If this behavior acquires the software or

14、other achievements of intellectual property protection without authorization of CQPUSI, CQPUSI has the right to stop such behavior by filing a lawsuit according to the act.1.2 DisclaimerThe using method of the device and other content in the description of this manual is only used to provide conveni

15、ence for you. To ensure the application conforms to the technical specifications is the responsibility of your own. CQPUSI does not make any form of statement or guarantee to the information, which include but not limited to usage, quality, performance, merchantability or applicability of specific p

16、urpose. CQPUSI is not responsible for these information and the consequences result caused by such information. If the CQPUSI device is used for life support and/or life safety applications, all risks are borne by the buyer. The buyer agrees to protect the CQPUSI from legal liability and compensatio

17、n for any injury, claim, lawsuit or loss caused by the application.2 Overview2.1 General DescriptionPMC007xx is a kind of miniature integrated stepper motor microstepping controller, which can be directly installed in the rear of 42/57/86 etc series stepper motor. The series controller provides a va

18、riety of models which can be chosen based on bus control of RS485/CAN and different current value. It is easy to achieve industrial control network of as many as 120 nodes, which can achieve closed-loop control based on encoder according to the requirements of user.2.2 Features Wide range of 12-48V

19、single voltage supply Outputcurrent0.4A6A,Adjustable phase current by commands Automatic control of S curve acceleration and deceleration Start/stop speed can be configured by commands 2 external switches input ports for configurable emergency stop Support 0/2/4/8/16/32/64/128/256 microstepping reso

20、lution 7 GPIO ports, direction and pullup/pulldown register of each port can be separately configured Senseless stall detection. Burning and off-line automatic executionof custom program closed-loop control based on encoder(a additional module support is required) Configurable instruction of automat

21、ic current attenuation function Miniature size 42mmx42mmx18mm Precisionaluminumshell, conducive to the protection and heat dissipation Control routines and the underlying driver based on VC+2.3 Production & Ordering InformationIn order to serve you quicker and better, please provide the product numb

22、er in following format when ordering PMC007xx：PMC007C3(S/E)Peak Current：3=3A；6=6ABus Interface： B=RS485；C=CAN Controller versionStepping motor controllerRemarks：S: IO strapped down version; E: Close loop version;Please be sure to contact the sales staff to confirm whether the required model is in a

23、normal state of supply before placing an order.3 Connector Description3.1 Terminal port location3.2 Motor connection J2Figure 3-1M10M11M20M21Pin no:1234Designator:Description:M10，M11：the stepper motor phase AM20，M21：the stepper motor phase BWARNING: Incorrect connection of power or phase will perman

24、ently damage the controller!3.3 Power connection J3Pin no:12VCCGNDDesignator:Description:VCC：Supply voltage,1248VDC; GND：Supply voltage ground;3.4 Signal connectionJ1GNDEXT3/ENC1ENC2CANHCANL56789VDDEXT2EXT1GPIO8FSETPin no:01234Designator Pin no:DesignatorDescription:GPIO8： Generic I/O port； DVDD：Vol

25、tageoutput(+5V); GND：Digital ground;EXT1：External limit switch signal input 1; EXT2： External limit switch signal input 2 (open loop); CANH： Connect to the CAN transceiver module; CANL：Connect to the CAN transceiver module;ENC1-2: Encoder input; ENC1 also can be used as EXT3; FSET: Restore factory s

26、ettings, Active low level;WARNING：The voltage of all signal ports must be between -0.3V+5.3V.3.5 RS485 Network OperationIt provides a network scheme which uses RS485 bus to connect multiple PMC007xx controllers in the figure 3-2. Maximum communication distance of the scheme is 1200 meters. If the tr

27、ansmission distance is over 50 meters when using a pair of twisted pair to connect all the nodes, both ends of the network should be terminated with 120 terminating resistors to prevent signal reflection and overshoot. Meanwhile, the RS485 of host and the controller of each node must be common-groun

28、ded.Warning: The upper and lower limit of the signal threshold of RS-485 is 200mV.That is, when A-B200mV, the bus state should be expressed as 1; when A- B-200mV, the bus state should be expressed as 0. However, when the A-B is betweenPTA2B200mV, the bus state is not determined. So in the actual net

29、work, it is recommended that the user set pull-up and pull-down resistance in the A, B line, to avoid this uncertainty.120100199010919J1J1 VCCVCCFigure 3-2The PTA2B in the diagram is a USB-RS485 conversion module provided by the third party.3.6 CAN Network OperationUsing the CAN bus connection can r

30、each a maximum 5000 meterstransmissiondistance. It provides a network scheme that uses CAN bus to connect multiple PMC007xx controllers in the figure 3-3, which are compatible with CAN2.0A and CAN2.0B two technical specifications, and can be connected to 127 nodes.PTA2CNote: it is recommended to use

31、 the CAN bus specified 120 ohm shielded twisted pair, and the ends of the twisted pair are required to connect a 120 ohm termination resistor. In addition, The PTA2C in the diagram is a USB-CAN conversion module provided by the third party.120100199010919J1J1VCCVCCFigure 3-3PMC007xx supports standar

32、d DS301 CANopen protocol, CQPUSI provides a dedicated debugging tool software PUSICAN for debugging PMC007xx network. The tool software currently supports a variety of USB2CAN modules which has been mainstream brands on the market. And also can add support of other CAN converters according to the ne

33、eds of users.3.7 Homing Switch ConnectionThere are two dedicated pins Ext1 and Ext2 in PMC007xx controller, which are used to connect the external homing(zero point, position Home) switch. The trigger mode of each pin can be selected by the instruction. Default trigger mode is falling edge trigger.

34、The user can also open or close any of the limit switches by the instruction.There are two kinds of trigger mode, which are the rising edge trigger and falling edge trigger. When falling edge trigger is selected, make the internal pull-up resistor enable. The input pins can be directly connected to

35、the collector of optical coupler as shown in Figure 3-4 left; when rising edge trigger is selected, make the internal pull-down resistor enable to clamp the input port to low reliably in the absence of trigger state, such as figure 3-4 right.The stability and accuracy of detection on the external li

36、mit switch are related to the waveform slope (Slew rate) of the sensor output. A Schmidt shaping24V6k8SWJ1VCC24V6k8SWJ1VCCcircuit is built into the EXT1 and EXT2 pins of PMC007xx controller for improving the precision of the trigger position. At the same time, in order to reduce the probability of f

37、alse triggering, user can set the controllers trigger stable time through the PUSICAN tool software.010919010919GND24GND24圖 3-4Above illustrated connection is suit for the case in which the optical emitter is normally open, however, in some of scenarios such as ram pump driver. The optical emitter i

38、s normally closed. When the block moves to a certain position, receiver is disconnected. So when using the falling edge trigger, configuring pull-down resistor enable, input pin can be connected directly to the emitter of opticalcoupler as Figure 3-5 left; when using the rising edge trigger, configu

39、ring pull-up resistor enable, input pin can be connected directly to the collector of opticalcoupler as Figure 3-5 right.24V24V6k86k8GND24GND24100199010919J1J1VCCVCCFigure 3-54 CANopen communication4.1 CANopen introductionCAL provides all network management services and message protocols, but it doe

40、s not define the contents of objects or the kind of objects being communicated(it defines how, not what).This is where CANopen enters the picture. CANopen is builton top of CAL, using a subset of CAL services and communication protocols, and providing an implementation of a distributed control syste

41、m. It does this in such a way that nodes can range from simple to complex in their functionality without compromising the interoperability between the nodes in the network.Central concept in CANopen is the Device Object Dictionary(OD), a concept used in other fieldbus systems as well(Profibus，Interb

42、us-S). CANopen communication through the object dictionary (OD) can access all the parameters of the driver. Note that the Object Dictionary of CAL, it is an implementation aspect of CANopen. The Object Dictionary which PMC007 is supported is shown in Appendix 1.CANopen communication model defines t

43、he following messages (communication objects);AbbreviationFull nameDescriptionSDOService Data ObjectUsed for non time critical data, such asparameters.PDOProcess Data ObjectUsed to transfer time critical data(Setting values, Control word, status information,etc).SYNCSynchronization MessageUsed to sy

44、nchronize CAN nodes.EMCYEmergency MessageUsed for alarm event of a transport driver.NMTNetwork ManagementUsed for CANopen network management.HeartbeatError Control ProtocolUsed for monitoring the life status of allnodes.4.2 CAN frame structureHeaderArbitration domainControl domainData domainCheck fi

45、eldResponse domainTail frameCOB-ID(communicationobject identifier)RTR(remoterequest)CAN Data is transmitted between the host (controller) and the bus node through the data frame. The following table is the structure of the data frame.1bit11or29 bits1bit6 bits08byte 16bits2 bits7bits When the transce

46、iver is realized through the software，except to the COB-IDand data domain，the other bits in the frame structure are completed by the hardware of CAN transceiver controller. So Users only need to limit the COB-ID and data domain.Note: This drive uses standard frame format, COB-ID is 11 bits. Remote f

47、rame is not supported temporarily.The distribution of COB-ID is as follows:Function CodeNODE ID(Node address)109876543210The controller parameters are accessed by the SDO read and write objects. For thedrive，that status information is needed to report to the main station in real time can be achieved

48、 by configuring the PDO.4.3 CAN communication configurationPMC007 factory default settings: node ID is 5, the baud rate is 125Kbit/s. The user can modify the settings by supporting the CANOPEN master debugging tool.4.3.1 Node IDObject nameNode IDSDO ID0x2002Object typeU8,rwRange1-127Storage typeROMD

49、efault value54.3.2 Baud rateObject nameBaud rateSDO ID0x2003Object typeU8,rwRange0,1,2,3,4,5,6,7,8Storage typeROMDefault value5puRelationship between each index and the baud rate is as follows: 0：20Kbit/ss1：25Kbit/s 2： 50Kbit/s 3： 100Kbit/s 4： 125Kbit/s 5： 250Kbit/s 6： 500Kbit/s 7： 800Kbit/s 8： 1000

50、Kbit/s4.4 System information acquisition4.4.1 Device node nameObject nameDevice node nameSDO ID0x1008Object typestring,roRange-Storage typeROMDefault value-4.4.2 Hardware versionObject nameHardware versionSDO ID0x1009Object typestring,roRange-Storage typeROMDefault value-4.4.3 Software versionObject

51、 nameSoftware versionSDO ID0x100AObject typestring,roRange-Storage typeROMDefault value-4.4.4 System controlObject nameSystem controlSDO ID0x2007Object typeU8,roRange1，2，3Storage typeRAMDefault value-System control values are defined as follows: 1: Jump to bootloader2: Save Object Dictionary paramet

52、ers 3: Reset factory settingsNote: the Storage type in the Object Dictionary which is ROM parameter is temporarily stored in memory after written by SDO. If you need to keep it permanently, you need to perform power down save operation for the Object Dictionary parameter.4.5 Motor control parameters

53、4.5.1 Error statusObject nameDriving stateSDO ID0x6000Object typeU8,rwRangebitStorage typeRAMDefaultvalue0Driver state are defined as follows: Bit0：UVLO, low voltage fault Bit1：BERR, coil B error Bit2： AERR, coil A error Bit3：BOC, B over current Bit4：AOC, A over currentBit5：TSD, over temperature shu

54、tdownWrite 1 to the corresponding bit, the corresponding error state will be cleared.4.5.2 Controller statusObject nameController statusSDO ID0x6001Object typeU8,rwRangebitStorage typeRAMDefaultvalue0Controller status is defined as follows: Bit0: External stop 1puBit1: External stop 2 Bit2: Stall state Bit3: busy stateEach bit except for busy state can be written 1 to clear the response state.4.5.3 Rotation directionObject namerotation directionSDO ID0x6002Object typeU8,rwRange0,1Storage t