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WIN\MMIMAN1.WRI 02-02
MMI-8S
MULTI-AXES MOTION SYSTEM
OPERATION AND INSTALLATION
MANUAL
SECTION 1: INTRODUCTION PAGE 2
SECTION 2: SR4 NETWORK CONTROL PAGE 6
SECTION 3: SMC STEP MOTION CONTROL PAGE 15
SECTION 4: MMI MECHANICAL ASSEMBLY PAGE 27
APPENDIX: QUICK REFERENCE GUIDE PAGE 35
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INTRODUCTION MMI Multi-Axes Motion Controllers provide control of up to eight step motors. Each motor controller is independent. Each supports a home sensor, limit safety loop, and six bits of general purpose I/O (input/output). In addition, up to eight MMI motion controllers can be "daisy- chained" together with simple pin-to-pin DB9 serial cables for a total of 64 motors per serial port. The MMI system consists of three major sub-assemblies: two SR4s (Serial Repeater 4-channel) network c
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DANGER SUDDEN AND UNEXPECTED MOTION CAN OCCUR DUE TO PROGRAMMING ERRORS. STAY CLEAR OF THE MOTORS. WARNING It is the user's responsibility to insure that commands are not sent to busy systems. The motion systems can indicate they are busy but have no way to block incoming commmunications which will either be lost or jam (lock-up) the system. In some cases, the system may begin uncontrolled motion. ATTENTION CONTRARY TO POPULAR PRACTICE, IT IS BEST TO READ THIS MANUAL BEFORE ATTEMPTING T
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SECTION 2: SR4 - Serial Repeater 4/channel Assembly CONTENTS PAGE Introduction 7 Hardware Configuration 8 Service Access 8 Table of ID and Status Codes 11 Displays & Controls 12 Mechanical Assembly 14 SR4 (CY 233) COMMAND SET SUMMARY WRITE W Send commands to the motion system. READ R Read status (busy) of the motion systems. ECHO J Used to set SR-4s into pass-through mode. ENTER < Carriage Return terminates commands.
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INTRODUCTION In the MMI system, two SR4 controllers are used. Each can control up to four SMC systems. During operation, a three byte net command (address), consisting of three bytes, is prefixed to a motion control command string. When the selected SR4 detects its address, a serial path is connected to the addressed SMC by a 1 to 4 serial data multiplexer. The motion command is then passed to the SMC. The command terminator character (carriage return) resets the multiplexer. Each mot
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HARDWARE DESCRIPTION The MMI network control contains two CY233 SR4 cards, generally refered to as #0 and #1 which is their binary address. Each card controls four SMC motor systems and includes status LEDs and jumber posts (dip-clips) for setting its ID number. The cards are mounted to a single rail and can be removed as a single unit as required during service. Note: Do not attempt any procedure or remove any screws other than instructed; no user service is possible to the interior asse
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WRITE MODE In general, SR4 mode commands are prefixed to SMC motion commands which are then "passed through" to the motion systems. Only two mode commands are used in this system, the write (W) and the read (R). A write command consists of a mode character (W), an ID number (two hex characters), a command string (motion system data string), and a terminator (carriage return). The ID number consists of two characters; the first or high byte is the system ID. This identifies an MMI net co
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ECHO MODE In the MMI network system, with two network cards, it is necessary to engage the CY233 pass- through (echo-all) mode. This allows commands originating in a motion channel (SMC) to be passed through successive SR4 cards down-stream in the network loop. A typical example is the SMC system query commands. The J command format consists of a mode character (J), the ID number (two hex characters; the second is always F), and the terminator (carriage return). A typical command would be J
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TABLE OF ID AND STATUS CODES
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LED DISPLAYS The displays are used with the test software program to verify and demonstrate correct operation of the MMI. They are located on each SR4 card; inside the MMI. L 1 OUT 1 INDICATES TRANSMIT DATA TO CHANNEL 1 L 2 OUT 2 " 2 L 3 OUT 3 " 3 L 4 OUT 4 " 4 L 5 OUT DATA INDICATES TRANSMIT DATA FROM HOST CPU L 6 IN 1 INDICATES RECEIVE DATA TO HOST CPU 1 L 7 IN 2 " 2 L 8 IN 3 " 3 L 9 IN 4 " 4 L 10 AD 0 INDICATES MOTION CHANNEL ADDRESS 1 L 11 AD 1 " 2 L 12 AD 2 " 3 L 13 AD 3 " 4 ID JUMP
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SECTION 3: SMC - STEP MOTION CONTROLLER ASSEMBLY ALSO REFER TO: Cybernetic Micro Systems - CY 545 Step Motor Controller Manual MMIDEMO program - Software Listings & Comments CONTENTS PAGE Introduction 17 Hardware Configuration 19 Displays & Controls 20 Installation & Test 21 Programming & Listings 25 Serial Cable Diagrams 26 CY 545 COMMAND SET SUMMARY (In the MMI network system, all letter commands must be in lower case) Command Function Note A val 24 set position counter to At value Co
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!!!! ATTENTION !!!! Mis-wiring of motor or power supplies WILL damage motor drivers IMMEDIATELY. Motor coils A or B can be reversed; motor will run in the opposite direction. Pairs can be reversed; pair A in coil B for example. CROSS-WIRING, an A and B wire crossed, WILL damage driver. Allowing exposed motor leads to touch each other, ground, or power MAY damage driver. Refer to Appendix D in the MS driver section for wiring schemes. SMOKE, POPPING, ELECTRONIC ODOR, OR FUSE FAILURE IND
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Introduction The SMC motion control system consists of two basic elements; the controller card and the MS driver card. The controller card (CY5.4) contains the Cybernetic CY 545 or CY 550 Step Motor Controller and a 2K character EEPROM (non-volatile) for storing application routines. Refer to the Cybernetics 545 manual for a description of the 545 microprocessor and its "High-Level" command set (26 characters and symbols). All actions of this system are controlled by these commands. Tw
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Hardware Configuration The SMC controller card contains the CY 545 motion controller, EEprom memory, memory latches (2 each), RS-232 receiver / driver, LED status lites and standard crystal (11 MHZ). Refer to the Rate Table in the CY545 manual. Serial Format The SMC is connected as a RS-232 serial device and communicates with the host computer through the SR4 network. The serial format is configured in the following manner: ASCII characters, 1200 Baud, 8 data bits, no parity, and one stop
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I/O Function. The Cybernetic User Bits are available at the CI cable connectors and can be used as either inputs or outputs dependent on the command. Note that an output can only drive LEDs such as those in Solid-State relays or optical isolation. An input can only be a passive switch or isolated relay contact across the User Bit and User ground. Connecting any device, at a different potential, to this system through the User Bits, WILL damage the User port; opto-isolation is required.
