4 CN0170 MOTION CONTROLLER
Motor parameter instructions do not directly cause the motors to move. These
include instructions for velocity, acceleration, joystick enable, home direction,
driver resolution, and position preset. These parameters may be changed at
any time in the program, affecting the motion instructions that follow. The
host may query the status of various parameters during motor operation.
Instructions are included for querying motor position, velocity, acceleration
rate, acceleration profile, and ratio rate.
By utilizing the joystick feature of the CN0170 in conjunction with the position
query instructions, the host may implement a teach/learn scheme for motion
control. Motors may be manually jogged to desired locations and the co-
ordinates recorded by the host. By sending the position data back to the
controller in the form of motor positioning instructions, the system is able to
recall the points on the x,y plane provided by the joystick.
Unit numbers are used in systems consisting of more than one motion
controller. In systems requiring only one CN0170, unit numbers may be
ignored. Each CN0170 in the system is assigned a number (0-9) to distinguish
it from the other units in the system. The host then selects one (and only one)
active unit. All commands and instructions are directed to the active unit.
Information sent back to the host is preceded by the unit number of the
controller transmitting the data.
The CN0170 motion controller has an internal time clock that includes day,
month and year as well as time of day function. The clock is set by the host
and remains operational while power is supplied to the controller. The host
uses the clock for real time reference of the machine process. The host must
re-program the clock after power interruption.
The instruction set is listed on page 12 through page 15 of this guide. For a
more detailed explanation consult the CN0170 Operating Manual.
USER INTERFACE (RS-232)
Communication between the step controller and the host is via
serial interface. The CN0170 contains two complete serial ports
brought out to a single “D25” plug connector. The primary
channel is connected to the host processor while the secondary
channel connects to another CN0170 if more than 2 axis of
motion are required. “Unit ID” numbers allow the host to direct
the program instructions to the various controllers in the system,
and to differentiate the data returned to the host by the
controllers. Each CN0170 reads only the instructions intended
for it and relays other data down the chain on its secondary
channel.
SERIAL
TxD B
GND 114
RxD A
TxD A
GND
RTS A
CTS B 13 25
RxD B
RTS B
CTS A
