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)
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1st byte
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2nd byte
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3rd byte
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4th byte
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Description
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00h
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00h－X speed
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Bit15~bit8 of
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Bit7~bit0 of
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Set speed of axis of X 、
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Programming command．Each programming command is composed of 4 bytes，described in following table：
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01h－Y speed 02h－Z speed 03h－L 速度
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speed
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speed
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Y 、 Z 、 L ， value between-512 to +511， using 16bits signed hexadecimal.
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01h
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××h*
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××h*
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××h*
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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.
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04h
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Bit23~bit16 value of distance
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of X
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Bit15~bit8 value of distance
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of X
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Bit7~bit0 value of distance
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of X
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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。
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05h
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Bit23~bit16 value of distance
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of Y
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Bit15~bit8 value of distance
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of Y
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Bit7~bit0 value of distance
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of Y
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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。
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06h
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Bit23~bit16 value of distance
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of Z
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Bit15~bit8 value of distance
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of Z
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Bit7~bit0 value of distance
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of Z
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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。
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07h
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Bit23~bit16 value of distance
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of L
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Bit15~bit8 value of distance
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of L
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Bit7~bit0 value of distance
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of L
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Set L axis motor to run certain distance in micro steps of stepper motor, value of distance between -223~223-1 ，
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