User Manual. UIM62HXX Series CAN2.0 Bus Instruction Controlled High speed Step Servo Module with PVT

Transcription

1 User Manual UIM62HXX Series CAN2.0 Bus Instruction Controlled High speed Step Servo Module with PVT

2 UIM62H04/08 Please pay attention to the following before using the UIROBOT products: UIROBOT products meet the specification contained in their particular Data Sheet. UIROBOT will only work with the customer who respects the Intellectual Property (IP) protection. Attempts to break UIROBOT s IP protection feature may be a violation of the local Copyright Acts. If such acts lead to unauthorized access to UIROBOT s IP work, UIROBOT has a right to sue for relief under that Act. Information contained in this publication regarding controller applications and the like is provided only for your convenience and may be superseded by updates. It is your responsibility to ensure that your application meets with your specifications. UIROBOT MAKES NO REPRESENTATIONS OR WARRANTIES OF ANY KIND WHETHER EXPRESS OR IMPLIED, WRITTEN OR ORAL, STATUTORY OR OTHERWISE, RELATED TO THE INFORMATION, INCLUDING BUT NOT LIMITED TO ITS CONDITION, QUALITY, PERFORMANCE, MERCHANTABILITY OR FITNESS FOR PURPOSE. UIROBOT disclaims all liability arising from this information and its use. Use of UIROBOT products in life support and/or safety applications is entirely at the buyer s risk, and the buyer agrees to defend, indemnify and hold harmless UIROBOT from any and all damages, claims, suits, or expenses resulting from such use. No licenses are conveyed, implicitly or otherwise, under any UIROBOT intellectual property rights. [Trade Mark/ Layout-design/Patent] The UIROBOT name and logo are registered trademarks of UIROBOT Ltd. in the P.R. China and other countries. UIROBOT s UIM62HXX series Step Motor Controllers, UIM25XX series CAN-RS232 Converter and their layout designs are patent protected. [UIM62HXX Ordering Information] In order to serve you quicker and better, please provide the product number in following format. UIM62HXX PART NUMBERING SYSTEM UIM62H 04 A X Peak Current 04 = 4.0A 08 = 8.0A Encoder Type A = Incremental *B = Absolute Motor Frame 57 = NEMA23 86 = NEMA34 Motor Length 42mm 76mm 78mm Gear Box X Harmonic * Y Planet Empty None *indicates a fixed product. Examples: UIM62H04A5776; UIM62H04A5776X; UIM62H08B8678Y; 2 M CN UI Robot Technology Co. Ltd.

3 UIM62H High Speed Integrated Step Servo Control Module UIM62H 04 / 08 CAN2.0 Bus Instruction Control High Speed Step Servo Module with PVT Distributed Modular Design Integrated driver and controller, compact structure, easy to install and use Mechanical and electrical interfaces are very simple Compact size 57 mm x 57 mm x 20 mm Stable and reliable DSP hardware which has 64 bit calculation precision Simple and reliable control system Rich, simple and intuitive instruction sets Intelligent control, fool-proof user interface Internal user programming space, can work without master computer providing System Development Kit SDK and host computer bottom control driver Rich VC++,C,C#,VB sample codes Motor Driving Characteristics Wide supply range 24 ~ 48VDC Current up to 8A, instruction adjustable H bridge bipolar constant current,full to 16th micro-step resolution Precise subdivision and current control Over current / over voltage / over heat / reverse / surge protection Network Communication characteristics CAN2.0B 2 wires,1mbps rate,10km distance High noise immunity, supporting 100 networking nodes High speed closed loop motion control High positoning accuracy, high speed, quick response, speed up to 6000 rpm PVT third curve interpolation, points Non-synchronous error < 3 us among 60 controllers Absolute optical encoder (20 bit single turn and 16 bits turns) Incremental quadrature encoder ( lines/rev) JOG control, point to point PTP, positionvelosity-time PVT curve interpolation control User programmable,offline execution of user programe Power lost positon feedback protection Backlash compensation I / O coordinated control (no PC) 4 digital input and output ports,1 analog port (12 bits) 3 trigger modes(continuous / interval / single) One 5V/60mA output port Input trigger interrupt notification Each I / O port trigger related 16 user preset actions other Features Emergency system lock down Integrated with motor design, precision casting aluminum alloy casing,durable and easy to heat radiation UI Robot Technology Co. Ltd. M CN 3

4 UIM62H04/08 Introduction UIM62HXX is a high speed and high performance step servo control module for robots, it can also be used in other precision mechanical systems. UIM62HXX provides a reliable, simple, convenient and miniature robot control system solution. Integrated Framework UIM62HXX Servo Module comprises of a high speed stepper motor,an absolute optical encoder( or an incremental encoder),a motion controller and a piece of 300W motor driver circuit. The length of the entire module is 40mm longer than a normal stepper motor. The drive and control system of the UIM62HXX module is encapsulated in one 57x57x22mm sized metal shell, all motion control functions can be realized with only 4 physical conductors. Motor Driving Circuit The motor driving circuit of the module, if capabel to drive a stepper motor to a speed up to 6000rpm while still maintains the high output torque and high efficiency. The driving circuit also contains rich protection circuits to achieve features like over current, over voltage, over heat,reverse, surge etc. The motor driving circuit supports UIM62HXX s excellent overall performance in sophisticated and harsh industrial environments. Motion Control The motion control DSP s hardware and firmware includes following functions and features: 1) Simple-CAN 3.0 communication. 2) JOG control, PTP control. 3) PVT interpolation control, with 256 route points. 4) High speed and precise time synchronization algorithm, realizing <3us and non cumulative synchronization error without any hardware synchronization cables. 5) Maximum 36 bit multi turn absolute optical encoder. Deployment and Using Steps of using UIM62HXX module in building a robot or other industrial control system are as easy as ABC: A. Mechanical mounting: fix the modules using screws. B. Electrical : Connect 4 wires (two for power, two for CAN communication) C. Programing: install the software drive and SDK provided by UIROBOT for free D. Or, Install the evaluation software (StepEvaX) provided by UIROBOT for free Communication Protocol and Instruction Set User can either use any CAN BUS based master computer through UIROBOT s SimpleCAN3.0 protocol to realize "motor - sensor - the third party actuator network,or use UIROBOT s standard gateway products like UIM2503, USBC9100 or PCIC120 to control the network through RS232 ASCII instruction or SimpleCAN 3.0 protocol. One gateway product can control up to 100 UIM62HXX modules and / or other similar modules. Development Assistance UIM62HXX has a internal high performance DSP processing system, rich, simple and intuitive instruction sets. To suppport user application development, UIROBOT provides free multi-patform VC++, C, C#, VB sample codes,sdks. UIROBOT also has a efficient and powerful R&D team, ready to help on customized applications at any time. 4 M CN UI Robot Technology Co. Ltd.

5 Terminal Description Figure 0-1: Terminal Description UIM62H High Speed Integrated Step Servo Control Module Control Terminals Terminal No. Designator Description 1 V+ Positive for Supply voltage DC 24V - 48V 2 GND Ground for Supply voltage 3 CANH CAN signal dominant high 4 CANL CAN signal dominant low 5 AG Analog ground for sensors 6 P1 I/O port 1 7 P2 I/O port 2 8 P3 I/O port 3 9 P4 I/O port 4 10 P5 5V / 60mA output Motor Terminals Designator Description A+ / A- Connect to the stepper motor phase A B+ / B- Connect to the stepper motor phase B WARNING: Mis-connection of phase winds will permanently damage the controller! Resistance between leads of different phases is usually > 100K. Resistance between leads of the same phase is usually < 100. WARNING:Except for the power supply and motor ports, voltage on any other port must be in the range of -0.3V ~ 5.3V, otherwise it will damage the controller permanently. UI Robot Technology Co. Ltd. M CN 5

6 UIM62H04/08 Typical Application The connection mode of the UIM62HXX module is shown in Figure 0-2. CANH and CANL should be used 120 impedance twisted pair. Figure 0-2: UIM62HXX Module Connection Figure 0-3 illustrates a method of using a UIM2503 gateway to connect multiple UIM62HXX modules(other gateway products such as USB-CAN, PCI-CAN etc. are also availble for selection). Furthermore: All nodes should be connected using a twisted wire pair. Star connection should be avoided. The length of each node tap should not exceed 10 cm, and the shorter the better. Both ends of the twisted wire pair should beterminated by a 120 resistor, a 120 impedance shielded twisted wire pair is highly recommended if the wire length is over 50 meters.. Figure 0-3: Network Connection Mode VDC UIM2503 RS232 Control Room CANL CANH Factory 120 Tap Length < 5cm CANH CANL VDC UIM62HXX VDC UIM62HXX VDC UIM62HXX 6 M CN UI Robot Technology Co. Ltd.

7 Instruction Set Summary UIM62H High Speed Integrated Step Servo Control Module Type Instruction Description Instruction Code(Decimal) Communication Protocol system parameter PP[X] Communication parameters setting 1 IC[X] UIM controller power-up state setting 6 IE[X] Interrupt enable 7 ML Model query 11 SN[X] Serial number query 12 TM Set system time (us) 14 ER[X] Error information query 15 QE[X] Encoder parameters 61 Motor Parameter MT[X] Motor setting 16 Motion Control I/O Control Feedback System MO Motor enable 21 BG Instruction executing 22 ST Emergency stop 23 MF Motion parameter setting window 24 AC Acceleration 25 DC Deceleration 26 SS Starting Speed 27 SD Stop deceleration 28 JV Speed mode 29 SP PTP speed 30 PR Position relative 31 PA Position absolute 32 OG Origin 33 MP[X] PVT motion setting 34 PV PVT mode 35 QP[X] PVT position setting 37 QV[X] PVT speed setting 38 QT[X] PVT time setting 39 BL Backlash Compensation 45 DV[X] Desired Value Report 41 LM[X] Maximum velocity / limit position 44 IO[X] Port Function Control 51 IL[X] Input/Output Logic 52 TG[X] Sensor Trigger 53 AI Analog Input 54 DI Digital input / output settings 55 TI Temperature Query, set temperature alarm value 58 RT Active feedback 90 UI Robot Technology Co. Ltd. M CN 7

8 UIM62H04/08 Characteristics Absolute Maximum Ratings Specifications Supply voltage Voltage on P1/P2/P3/P4 with respect to GND Maximum output current sink / sourced by P1/P2/P3/P4 DC 24V - 48V -0.3 V +5.3V 20mA Ambient temperature under bias Storage temperature NOTE: Working under environment exceeding the above maximum value could result in permanent damage to controller. Working under conditions at the maximum value is not recommended as operation at maximum value for extended period may have negative effect on device reliability. Electrical Characteristics Ambient Temperature 25 C Supply Power Voltage Motor Output Current Driving Mode Stepping Resolution 24V ~ 48VDC Max 4A/8A per phase (instruction adjustable) PWM constant current full-step, half-step, 1/4, 1/8 and 1/16 step Communication (Ambient Temperature 25 C Protocol Active CAN 2.0B (CAN 2.0A optional) Wiring method 2-wire CANH CANL, twisted wire pair CAN bus drive Supports 1 Mb/s operation, up to 100 nodes can be connected ISO standard physical layer requirements Short-circuit protection, High voltage transient protection, Automatic thermal shutdown protection Differential bus, high noise immunity Environment Requirements Cooling Working environment Free air Avoid dust, oil mist and corrosive gases Working temperature -40 C ~ 85 C Humidity <80%RH no condensation, no frosting Vibration 3G Max Storage temperature -50 C ~ 150 C Size and Weight Size Controller part 57 x 57 x 22 mm Encoder part 57 x 57 x 17 mm motor part undetermined Weight Controller and Encoder part 0.15 kg, motor part undetermined 8 M CN UI Robot Technology Co. Ltd.