Motion controller KZ-100

Motion controller KZ-100

Motion Controller

Motorized Stage

SPECIFICATION:

1、General

The mobile stage controller/driver is used for driving 2-phase stepper motor. It can drive 4 motors independently at most. You can use its controlling stick to make motors run/stop manually. It also can be controlled by a PC through RS232 interface.

2、Connection

(1) X-DIR：Connect this port to X direction stepper motor of mobile stage using a DB9(female)－DB9(male) cable. Connection/Disconnection only when POWER OFF!

(2) Y-DIR：Connect this port to Y direction stepper motor of mobile stage

using a DB9(female)－DB9(male) cable. Connection/Disconnection Only when POWER OFF!

(3) Z-DIR：Connect this port to Z direction stepper motor of mobile stage using a DB9(female)－DB9(male) cable. Connection/Disconnection only when POWER OFF!

(4) L-DIR：Connect this port to L direction stepper motor of mobile

stage using a DB9(female) － DB9(male) cable.

Connection/Disconnection only when POWER OFF!

(5) RS232：RS232 port, Connecting to RS232 port of PC。

(6) DC18V3A(Power Supply)：Using AC adapter in accessory。

3、Programming

(1) The mobile stage controller/driver communicates with PC using interface of RS232；

(2) RS232 prototype：Baud rates 57600，no parity，8data bits，1stop bits；

(3) Method：PC sends 1 byte to the mobile stage controller/driver, then waits for the mobile stage controller/driver sending back a byte of 0Dh(ASCII of Return), until now the PC can send next byte to the mobile stage controller/driver. Repeat former procedure to finish a 4-byte-command。

(4) Send a synchronous command before sending programming command.

The synchronous command is: 55h, 55h, AAh, 55h;

(5)

1st byte	2nd byte	3rd byte	4th byte	Description
00h	00h－X speed	Bit15~bit8 of	Bit7~bit0 of	Set speed of axis of X 、

Programming command．Each programming command is composed of 4 bytes，described in following table：

	01h－Y speed 02h－Z speed 03h－L 速度		speed		speed		Y 、 Z 、 L ， value between-512 to +511， using 16bits signed hexadecimal.
01h	××h*		××h*		××h*		Upload forward/backward limit signal bits and position value of axis of X，Y，Z， L. The definition of uploaded data are describe in the following example.
04h	Bit23~bit16 value of distance	of X	Bit15~bit8 value of distance	of X	Bit7~bit0 value of distance	of X	Set X axis motor to run certain distance in micro steps of stepper motor, value of distance between -223~223-1 ， using 24 bits of signed hexadecimal. ， 1microstep=1/12800 round of stepper motor。
05h	Bit23~bit16 value of distance	of Y	Bit15~bit8 value of distance	of Y	Bit7~bit0 value of distance	of Y	Set Y axis motor to run certain distance in micro steps of stepper motor, value of distance between -223~223-1 ， using 24 bits of signed hexadecimal. ， 1microstep=1/12800 round of stepper motor。
06h	Bit23~bit16 value of distance	of Z	Bit15~bit8 value of distance	of Z	Bit7~bit0 value of distance	of Z	Set Z axis motor to run certain distance in micro steps of stepper motor, value of distance between -223~223-1 ， using 24 bits of signed hexadecimal. ， 1microstep=1/12800 round of stepper motor。
07h	Bit23~bit16 value of distance	of L	Bit15~bit8 value of distance	of L	Bit7~bit0 value of distance	of L	Set L axis motor to run certain distance in micro steps of stepper motor, value of distance between -223~223-1 ，

using 24 bits of signed hexadecimal. ， 1microstep=1/12800 round of stepper motor。

* ××h： Byte of any value of, but it can not be omitted 。

(6)Example 1: Set X axis motor speed value to 280。

Sending synchronous command：

Sending 55h, waiting 0Dh; Sending 55h, waiting 0Dh; Sending AAh, waiting 0Dh; Sending 55h, waiting 0Dh;

Sending programming command： Sending 00h, waiting 0Dh; Sending 00h, waiting 0Dh; Sending 01h, waiting 0Dh; Sending 18h, waiting 0Dh;

(7) Example 2: Upload position value and forward/backward limit bits 移to PC. Suppose current display is：

1234567 -5789123

7654321 -3219876

Sending synchronous command：

Sending 55h, waiting 0Dh; Sending 55h, waiting 0Dh; Sending AAh, waiting 0Dh; Sending 55h, waiting 0Dh;

Sending programming command： Sending 01h, waiting 0Dh;

Sending ××h (Any value, NO omitted.), waiting 0Dh; Sending ××h (Any value, NO omitted.), waiting 0Dh; Sending ××h (Any value, NO omitted.), waiting 0Dh;

PC receiving 33 bytes from the mobile stage controller/driver:

1st byte：

bit0=0, X reached backward limit position; bit0=1, X not reached backward limit position; bit1=0, X reached forward limit position; bit1=1, X not reached forward limit position;

bit2=0, Y reached backward limit position; bit2=1, Y not reached backward limit position; bit3=0, Y reached forward limit position; bit3=1, Y not reached forward limit position; bit4=0, Z reached backward limit position; bit4=1, Z not reached backward limit position; bit5=0, Z reached forward limit position; bit5=1, Z not reached forward limit position; bit6=0, L reached backward limit position; bit6=1, L not reached backward limit position; bit7=0, L reached forward limit position; bit7=1, L not reached forward limit position;

2nd ～9th byte: X position value in ASCII.

In the example X= 1234567, so it is： 20h，31h，32h，33h，34h，35h，36h，37h；

10th ～17th byte: Y position value in ASCII.

In the example Y=-5789123, so it is： 2Dh，35h，37h，38h，39h，31h，32h，33h；

18th ～25th byte: Z position value in ASCII.

In the example Z= 7654321, so it is： 20h，37h，36h，35h，34h，33h，32h，31h；

26th～33rd byte：L position value in ASCII.

In the example L=-3219876, so it is： 2Dh，33h，32h，31h，39h，38h，37h，36h；

(8) Example 3: Set Y axis motor to go 100 micro steps(1 micro step=1/12800 round)。

Sending synchronous command：

Sending 55h, waiting 0Dh; Sending 55h, waiting 0Dh; Sending AAh, waiting 0Dh; Sending 55h, waiting 0Dh;

Sending programming command： Sending 05h, waiting 0Dh; Sending 00h, waiting 0Dh; Sending 00h, waiting 0Dh; Sending 64h, waiting 0Dh;

ADVANTAGE:

PDV has many different motorized linear translation stage including motorized translation stage, motorized linear stage,High Precision Motorized Goniometer StagesHigh Precision Motorized XY Stages、High quality China Motorized Linear Stage.They can be any combination, building block structure, can satisfy any scene usage requirement.

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