Precizní kontrolér DC a krokových motorů Multidrive 16

Mul­ti­dri­ve 16

Mul­ti­dri­ve 16 is a uni­ver­sal sys­tem for con­t­rol­ling and dri­ving DC or step­per motors as well as rota­ry or linear actua­tors. The devi­ce has a modu­lar, modern design and is capa­ble of con­t­rol­ling up to 16 motors or actua­tors.

Ori­gi­nally, the devi­ce was deve­lo­ped to con­t­rol pre­ci­si­on actua­tors at opti­cal posi­ti­o­ning sys­tems used main­ly by the aca­de­mic and R&D sec­tor. However, due to its ver­sa­ti­li­ty and the ran­ge of motors it can con­t­rol, the devi­ce is also sui­table for deman­ding industrial appli­cati­ons.

The devi­ce con­sists of the sys­tem unit and indi­vi­du­al out­put modu­les.

Sys­tem Unit

The core of the sys­tem unit is the Main sys­tem board, which hou­ses the following functi­o­nal blocks: CPU Main­Bo­ard based on an industrial PC, Input/output board pro­vi­ding for com­mu­ni­cati­on between the CPU Main­Bo­ard and other cir­cu­its, par­ticu­lar­ly out­put modu­les, LCD con­t­rol and power cir­cu­its, and cir­cu­its that gal­va­ni­cally sepa­ra­te tri­g­ger sig­nals from the exter­nal com­mu­ni­cati­on sig­nals.

The CPU unit direct­ly con­t­rols an LCD dis­play, an exter­nal moni­tor (stan­dard PC), 3.5″ flop­py dri­ve, exter­nal and inter­nal key­bo­ard and a spe­a­ker. The sys­tem unit also inclu­des a con­necti­on board with 16 free slots for out­put modu­les.

The devi­ce is power sup­plied from a switch mode power unit.

The devi­ce can be ope­ra­ted either as a stand-alo­ne sys­tem, in which case it is con­t­rolled throu­gh an inter­nal 16-key key­bo­ard or an exter­nal stan­dard PC key­bo­ard, or remo­te­ly over a serial RS-232 line. Pre-pro­gra­m­med sequen­ces of motor moti­ons can be also tri­g­ge­red by exter­nal TTL or opti­cal impul­ses.

The housing of the sys­tem unit is made of a high-qua­li­ty metal­lic case of the stan­dard 19″ dimensi­on. It can be either fast moun­ted in 19″ racks or ope­ra­ted in free table top posi­ti­on.

Out­put Modu­les

Out­put modu­les gene­ra­te power and con­t­rol sig­nals for a spe­ci­fic type of motor (actua­tor). They are designed and opti­mi­sed to ensu­re accu­ra­te homing of the motor in a defi­ned posi­ti­on or to ensu­re an accu­ra­te linear move­ment by a defi­ned len­gth allowing at the same time to set up the velo­ci­ty pro­fi­le. As a stan­dard, DC MOTOR and STEPPER MOTOR out­put modu­les are sup­plied.

Velo­ci­ty pro­fi­le gene­ra­tor gene­ra­tes tem­po­rally depen­dent con­t­rol sig­nals corre­spon­ding to the requi­red velo­ci­ty of the motor. The velo­ci­ty pro­fi­le is defi­ned by 5 para­me­ters (acce­le­rati­on, dece­le­rati­on, max and min velo­ci­ty, stop­ping distan­ce). The sig­nals from the velo­ci­ty pro­fi­le gene­ra­tor are used to gene­ra­te con­t­rol vol­tage (for DC motors) or clock pul­ses (for the step­per motor) that con­sequent­ly con­t­rol the out­put dri­ver. The out­put dri­ver has an in-built PWM out­put current sta­bi­li­sati­on. The posi­ti­on of the motor is moni­to­red by the pul­se coun­ter with the pul­ses coming either from the enco­der (if the actua­tor inclu­des an enco­der) or from the pul­se gene­ra­tor (in the case of step­per motors without an enco­der).

The sys­tem is regu­la­ted by a feedback sys­tem.

Out­put modu­les also con­ta­in cir­cu­its for chec­king of the stop posi­ti­on sta­tus or for pro­ces­sing home posi­ti­on iden­ti­fi­cati­on sig­nals (in the case of some actua­tors).

Com­pa­ti­ble Motors and Actua­tors

The following list shows some com­pa­ti­ble motors or actua­tors. For the latest infor­mati­on, ple­a­se con­tact our com­pa­ny or click here.

Devi­ce Ope­rati­on and SW

Ope­ra­ting of the devi­ce is very intu­i­ti­ve and sim­ple. The devi­ce can be easi­ly con­fi­gu­red. By selecting a motor from the data­base, which is a stan­dard part of the basic soft­ware pac­kage, opti­mum ope­rati­o­nal para­me­ters can be set up. For more con­ve­ni­en­ce, indi­vi­du­al chan­nels of the devi­ce can be given sym­bo­lic names.

All settings, con­fi­gu­rati­on, etc. are auto­ma­ti­cally saved in the devi­ce. The data can be also saved to (or loa­ded from) a 3.5″ flop­py disc or they can be transferred to an exter­nal com­pu­ter over a serial line.

The devi­ce also inclu­des basic SW for con­t­rol­ling the serial com­mu­ni­cati­on with the devi­ce. The sys­tem and appli­cati­on SW is under con­ti­nu­ous deve­lo­p­ment. For the latest infor­mati­on click here.

No of out­put chan­nels

8, 16 or per the customer’s spe­ci­fi­cati­ons

Out­put modu­les

DC MOTOR/STEPPER MOTOR

Stan­dard indi­ca­ted reso­lu­ti­on

0.1 microns/0.001 °

Tra­vel ran­ge

depen­ding on the motor type

Sin­gle step

depen­ding on the motor type

Limit sta­tus check

yes

Home & Index sig­nals

yes

Out­put vol­tage (DC)

0 to ±12 V

Out­put vol­tage (STEPPER)

30 V (PWM)

Inter­nal key­bo­ard

16 keys

Exter­nal key­bo­ard

stan­dard PC key­bo­ard

Dis­play

VGA mono/colour

Exter­nal moni­tor

stan­dard PC (15-way D-sub)

Flop­py dri­ve

stan­dard 3,5″

No of moti­ons per sequen­ce

up to 10

Sequen­ce tri­g­ge­ring

manu­al, exter­nal (serial line), tri­g­ger sig­nal

Tri­g­ger input

TTL (BNC, 50 Ω) or opto (FC/PC)

Tri­g­ger out­put

TTL (BNC, 50 Ω) or opto (FC/PC, 62.5)

Com­mu­ni­cati­on

RS-232 (TxD, RxD, GND), D-sub 9

Baud rate

9600 Bd

Com­mu­ni­cati­on details

8 bit, 1 stop bit, no pari­ty

Power

230 VAC, 50/60 Hz, 40 VA

Dimensi­ons

19″ × 6U × 280 mm (483 × 264 × 280 mm)

Wei­ght 12 kg

List of Com­pa­ti­ble Motors and Actua­tors
(Rev. March 2003)

New­port Cor­po­rati­on

CMA-12PP, CMA-25PP, CMA-12CCCL,
CMA-25CCCL, M-TM25PP1, M-UTM50PP1,
M-UTM100PP1, M-UTM150PP1, M-UTM25PP.1,
M-UTM50PP.1, M-UTM100PP.1, M-UTM150PP.1,
M-UTM25PE1, M-UTM50PE1, M-UTM100PE1,
M-UTM150PE1, M-UTM25PE.1, M-UTM50PE.1,
M-UTM100PE.1, M-UTM150PE.1, M-URM80PP,
M-URM80PE, M-URM100PP, M-URM100PE

Thor­labs Inc.

Z606, Z612, Z612B, Z625B

Spect­ra-Phy­s­ics Inc. (Oriel)

Enco­der Mikes
18222, 18223, 18224, 18225, 18237, 18254, 18255, 18256

Latest SW Infor­mati­on
(Rev. 22. 4. 2003)

1. Sys­tem SW
(Ver. 2003 — 1.a)

List of Com­mands

ID

Com­mand Name

Key­bo­ard Code

Descrip­ti­on

Notes

1

ArrowUp

<↑>

Chan­nel selecti­on and cur­sor locati­on in edi­tor modes

A, B, C

2

Arrow­Down

<↓>

Chan­nel selecti­on and cur­sor locati­on in edi­tor modes

A, B, C

3

ArrowLeft

<←>

Sin­gle step to outer dimensi­on, cur­sor locati­on in edi­tor modes

A, B, C

4

ArrowRight

<→>

Sin­gle step to inner dimensi­on, cur­sor locati­on in edi­tor modes

A, B, C

5

Goto

<CTRL> + <G>
or <F8>

Input of desti­nati­on posi­ti­on (referred ro Rela­ti­ve Posi­ti­on). Input num­bers are modi­fied with respect to motor/actuator type.

A, B, C

6

Run­To

<CTRL> + <F9>
or <F9>

Run to the posi­ti­on defi­ned by Goto com­mand

A, B, C

7

Stop

<spa­ce bar>

Stop of current­ly run­ning motor or actua­tor, Emer­gen­cy stop

A, B, C

8

Absolute_Counter_Reset

<CTRL> + <A>
or <F3>

Reset of Abso­lu­te Coun­ter

A, B, C

9

Relative_Counter_Reset

<CTRL> + <R>
or <F4>

Reset of Rela­ti­ve Coun­ter

A, B, C

10

Homing

<Home>

Run to the “Home” posi­ti­on

A, B, C

11

Name_Editor

<CTRL> + <N>

Name edi­tor – input of chan­nel iden­ti­fi­cati­on names

B, C

12

Motor_Editor

<CTRL> + <M>

Motor edi­tor – selecti­on of con­nec­ted motors or actua­tors

B, C

13

Sequence_Editor

<CTRL> + <S>

Sequen­ce edi­tor – defi­ni­ti­on of “Sequen­ce” (1–10 motor run­nings)

B, C

14

Start_Sequence

<CTRL> + <T>

Per­for­man­ce of “Sequen­ce”

A, B, C

15

Remote_Control

<F6>

Remo­te Con­t­rol Mode ON/OFF

A, B

16

Save_Config_Ext

<CTRL> + <C>

Saves con­fi­gu­rati­on files on flop­py disc

B

17

Load_Config_Ext

<CTRL> + <L>

Retrie­ves con­fi­gu­rati­on files from flop­py disc

B

18

Save_Config_Serial_1

X

Wri­tes 1st con­fi­gu­rati­on file on serial line

B, C

19

Save_Config_Serial_2

X

Wri­tes 2nd con­fi­gu­rati­on file on serial line

B, C

20

Save_Config_Serial_3

X

Wri­tes 3rd con­fi­gu­rati­on file on serial line

B, C

21

Load_Config_Serial_1

X

Reads 1st con­fi­gu­rati­on file from serial line

B, C

22

Load_Config_Serial_2

X

Reads 2nd con­fi­gu­rati­on file from serial line

B, C

23

Load_Config_Serial_3

X

Reads 3rd con­fi­gu­rati­on file from serial line

B, C

24

Load_Moto_DB_Ext

X

Reads motor data­base file from flop­py disc

B

25

Load_Moto_DB_Serial

X

Reads motor data­base file from serial line

B, C

26

Save_Positions_Ext

X

Saves current posi­ti­ons on flop­py disc

B

27

Load_Positions_Ext

X

Retrie­ves current posi­ti­ons from flop­py disc

B

28

Save_Positions_Serial

X

Wri­tes current posi­ti­ons on serial line

B, C

29

Load_Positions_Serial

X

Reads current posi­ti­ons from serial line

B, C

30

S_Set_Channel

Acti­va­tes a new chan­nel

C

31

S_Read_Channel

Reads acti­ve chan­nel

C

32

S_Read_Pos_Abs

Reads Abso­lu­te Coun­ter Posi­ti­on of acti­ve chan­nel

C

33

S_Read_Pos_Rel

Reads Rela­ti­ve Coun­ter Posi­ti­on of acti­ve chan­nel

C

34

S_Read_Pos_Abs_All

Reads Abso­lu­te Coun­ter Posi­ti­ons of all chan­nels

C

35

S_Read_Pos_Rel_All

Reads Rela­ti­ve Coun­ter Posi­ti­ons of all chan­nels

C

36

S_Read_Limit_Status

Reads sta­tus of limits of acti­ve chan­nel

C

37

S_Read_Limits_All

Read sta­tus of limits of all chan­nels

C

38

S_Counter_Preset_Abs

Pre­sets Abso­lu­te Coun­ter Posi­ti­on of acti­ve chan­nel

C

39

S_Counter_Preset_Rel

Pre­sets Rela­ti­ve Coun­ter Posi­ti­on of acti­ve chan­nel

C

Notes
A … inter­nal key­bo­ard com­mand
B … exter­nal key­bo­ard com­mand
C … serial line com­mand
D … TTL I/O com­mand
E … opti­cal I/O com­mand

2. m16t.exe
Sim­ple ter­mi­nal for serial con­t­rol (DOS)

3. Multidrive16_Terminal (*)
Ter­mi­nal for serial con­t­rol (Win­dows)

4. M16_LIBC (*)
C, C++ dri­vers and lib­ra­ries

5. M16_DLL (*)
DLL for Win­dows

Mul­ti­dri­ve 16 – Sys­tem Unit

Mul­ti­dri­ve 16 – Out­put Modu­le

http://www.fotons.cz/pdf/foe21216.pdf