Service Manuals, User Guides, Schematic Diagrams or docs for : Keithley 501 501_900_01B
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STEP1 and STEP2
Stepper Motor Control Modules
Control of a stepper motor requires both STEP1 and STEP2 modules. This documenta-
tion treats the STEP1 and STEP2 modules as a unit.
The STEP1 and STEP2 modules (see Figures 1 and 2) enable the IBM PC version of the
Series 5001Soft500 package to independently control up to eight stepper motors. The
STEP modules can set motor speed and direction and perform absolute and relative
positioning of the motor shaft. A single STEP1 communicates with up to four STElYs,
each of which connects to a single external stepper motor drive. The motor drive
translates the STEP2's control signals into the proper phase codes and wattage for the
selected motor.
The STEP2 module is compatible with a wide variety of motor drives requiring TTL
level pulse and direction control signals. The STEP2 provides low-true and high-true
outputs for pulse (STEP and STEP) and direction control (CWKCW and CWKCW). A
complete motor control system can be assembled using a STEP1 and STEP2, a TTL
compatible motor drive, and a stepper motor compatible with the drive.
A single Series 500 can control a total of eight stepper motors if stepper control is the
only function. For such applications, the system does not require analog input or A/D
converter modules. It can, therefore, hold two STEP1 modules and eight STEP2
modules.
The STEP1 module contains a separate command buffer for each STEP2. A computer
can issue several commands to a stepper motor almost instantaneously. However, the
commands themselves may take seconds or minutes to be completed. Each command
buffer receives all the pending commands for its associated motor, and passes the com-
mands to the motor sequentially.
The STEP1 module contains a status register for each of its corresponding STEP2
modules. These registers enable a program to read the status of each motor. Status flags
include "motor ready for command", direction, positioning mode, limit status, "motion
complete", and motor ID.
Each STEP2 has a TTLlevel LIMIT input which, when taken to logic low, halts the cor-
responding motor immediately. Execution of the limit condition is totally controlled by
the STEP2 hardware. Triggering the limit input updates the limit flag in the status
register and disables the motor. The motor will remain disabled until the control pro-
gram resets the status register limit flag to "NO LIMIT". The STEP module instruction
sets include commands for this purpose.
The LIMIT input responds to a switch closure to ground, or to a low-going edge from a
TTLlevel signal. The STEP2 also enters a limit condition if the system is powered up
with a limit sensor already tripped. Once a limit condition has been set, the LIMIT in-
Document Number: 501-900-01 Rev. B STEP-1
put will only be affected by another switch closure or low-going TTL level. You may
reenable and operate the the motor via software commands, even if the LIMIT input re-
mains at logic low. The LIMIT input must recycle to provide another switch closure or
low-going TTL edge to initiate another limit condition.
CARD-EDGE CONNECTOR
FOR RIBBON CABLE FROM
STEP 2
7
Figure 1. STEP1 Module
CARD-EDGE CONNECTOR
FOR RIBBON CABLE FROM
STEP 2 7
RIBBON CABLE
TO ADJACENT
STEP 1 OR STEP 2
Figure 2. STEP2 Module
STEP-2
User-Configured Components
The STEP1 and STEP2 modules have no jumpers or any other user-configurable corn-
ponents. However, the STEP2 module must be connected to a motor drive which itself
may require configuration. Therefore, read the motor drive documentation thoroughly,
and configure the motor drive before connecting it to the STEP2 module.
Motor control systems may require protection devices such as resistors or diodes for
suppression of voltage surges or spikes from the stepper motor. Normally, the motor
drive circuitry contains these devices; however, they may also be user-installed. Consult
the motor drive documentation for specific instructions on any required protection
devices.
Connections and Installation
CAUTION: Always turn off the system before installing or removing modules. After
installingor removing modules, always replace the top cover and secure it with the
screws. To reduce the possibility of EM1 radiation, never operate the system with the
top cover removed.
The outputs of the STEP2 module are compatible with motor drives having LS-TTL
compatible control inputs. A logic high level from a STEP2 output is a minimum of
2.7V with a maximum current drive capability of OAmA. Each STEP2 output can sink a
maximum current of 4mA from the control inputs of the motor drive. For reliable
operation, the voltage measured at a given control input of the motor drive should not
exceed 0.4V when pulled to a logic low state by the STEP2.
Remove the output terminal block from each of the STEP2 modules. These are quick-
disconnect terminals. A terminal block can be removed by pulling it from the STEP2
module in a perpendicular direction with a firm, even pressure.
Consult the motor drive documentation as to whether the motor drive requires high-
true or low-true drive signals. Connect the STEP2's DIGITAL GROUND and appropriate
STEP and CWKCW output terminals to the motor drive.
Connect the LIMIT input terminal to any limit sensors required for the application.
Limit switches or sensors are not a requirement for using the STEP modules. If the ap-
plication uses more than one limit sensor, connect all limit sensors in parallel across the
LIMIT input and DIGITAL GROUND.
When you have completed the connections, reinstall the terminal block on the STEP2
module. Repeat this operation for each STEP2.
The STEP modules must be installed in the Series 500 mother board contiguously, and
in a specific order. You will need a number of consecutive slots equal to the total
number of STEP1 and STEP2 modules. If necessary rearrange the other modules in the
Series 500. (Be sure to reassign slot designations in the configuration table if existing
cards in the Series 500 are moved. You must also update the old slot designations in
existing programs to the new slot designations.)
STEP-3
Plug STEM into the highest-numbered slot you have set aside. Plug the STEP2's in the
next lower-numbered slots (see Figure 4). For a STEP1 plugged into slot n, the first
STEP2 must be plugged into slot n-2, the second STEP2 into slot n-2, etc. A typical ap-
plication might have a STEP1 in slot 8, and STEP2's in slots 7, 6, 5, and 4. The STEP2
closest to the STEP1 will control motor A, the next STEP2 will control motor B, etc.
Each STEP2 has a short ribbon cable and socket which fits a card-edge connector on
top of the STEP1 or STEP2 module in the next higher slot. The ribbon cables and
physical position of each STEP2 automatically configure the STEP2 for its associated
motor. (You must also enter the module types and placement into the Soft500 con-
figuration table.)
Connect the ribbon cable on the first STEP2 to the card-edge connector on top of the
STEPI Connect the ribbon cable on the second STEP2 to the card-edge connector on
top of the first STEP2. Repeat this operation for the remaining STEP2 modules installed
in the system.
52
CWCCW B
cwiccw 7
DIG GND 6
DIG GND 5
DIG GND 4
LIMIT 3
STEP 2
STEP I
Figure 3. STEP2 Input and Output Terminals
STEP-4
Figure 4. Installation of STEP1 and STEP2 in Series 500
STEP1 and STEP2 Programming Commands
The STEP1 and STEP2 modules are supported by Soft500 Version 4.0 or higher. Eight
high-level commands control the operating parameters for the stepper motors. The Soft
500 software manual describes these high-level commands.
STEP-5
You can also program the STEP1 and STEP2 modules directly using BASIC's PEEK and
POKE statements, or the corresponding memory read and memory write statements of
other languages. Fourteen commands can be written to the STEP1 module in this man-
ner. This technique is useful for running the STEP1 and STEP2 modules with older ver-
sions of Soft500, or for controlling STEP modules with programs which do not run
under Soft500.
When you program a STEP module set with PEEKS and POKES, you must address all
commands to the STEP1 module. This applies regardless of which STEP2 the command
is intended for. In contrast, some Soft500 commands aye sent to STEP2's according to
the command function and the designated motor.
Each slot in the Series 500 mother board is assigned two command locations: CMDA
and CMDB. CMDA and CMDB are slot-specific memory addresses which provide for
communication with a module plugged into a given slot. Table 1 shows the addresses
CMDA and CMDB for the Series 500 slots 1 through 10. The computer can check the
status of the motors by reading address CMDA for STEPS. It can send commands to the
STEP module set by writing data to address CMDB for the STEPl.
Table 1. Ch4DA and CMDB Addresses Comsponding to Series 500 Slots l-10
Slot CMDA CMDB
CFFBO CFF81
CFF82 CFF83
CFF84 CFF85
CFF86 CFF87
CFF88 CFF89
6 CFF8A CFFBB
7 CFFBC CFFBD
i CFFBE CFWF
9 CFDO CFF91
10 CFF92 CFF93
(If you reset the interface card to another base memory address, you must change the
first three characters of the address (CFF). For instance, if you relocate the interface to
address segment AFIQ the addresses in the table would range from AFWO to AFF93.)
Low-Level Stepper Commands Addressed Through CMDB
The following low-level commands enable you to program the STEP modules via PEEKS
and POKES to address CMDB for the STEPl. You may POKE values in either decimal
or hexadecimal format. Observe the proper syntax for poking values as hexadecimal
numbers: each value must begin with "&H" or "&h'! Consult the computer's BASIC
manual for more information on PEEKS, POKES, and numerical formats.
It is only necessary to reprogram a particular operating mode or parameter if its current
status is not the desired status. At power up the default states for the STEP modules
are as follows:
STEP-6
Positioning Mode = Relative
Direction = CW
Continuous Speed = 0
Maximum Ramp Speed = 4096 sps (Range 0)
Motor Status Register Selected = A
Some commands written to CMDB require parameters. Any parameters accompanying a
STEP command must be two bytes long regardless of the number of bytes needed to
represent the parameter. Therefore, you must transfer a total of three bytes to CMDB
for these types of commands: one byte for the command and two bytes for the
parameter. The bytes are sent in the order command, high parameter by&and low
parameter byte. For any parameter which is less than than 256(decimal) or lOO(hex), the
first byte sent will be 0.
You can calculate the contents of the high and low parameter bytes as follows:
HIGH BYTE = INTEGER ( n / 256 )
LOW BYTE = n - ( HIGH BYTE x 256 )
where n = the decimal equivalent of the parameter to be sent. BASIC's HEX$ function
can be used to convert a decimal number directly to hexadecimal notation.
Table 2. STEPlISTEPZ Low-Level Command Set
Command Byte (HEX)
Function to CMDB - Motors
A, B, C, D
SET RELATIVE POSITION MODE 4 1, 2, 3
REMARKS: In relative positioning mode, motor can be commanded to move up to
65,535 steps CW or CCW. All moves are based on the present position, which is con-
sidered "0" in relative positioning mode.
The selected motor will remain in this mode until the mode is changed, It is only
necessary to issue this command if the currently programmed mode is not the
desired mode.
Move motor to new position with "MOVE TO POSITION" command. Motor will
move in the last programmed direction.
Relative Position Mode is the default mode at power-up.
PARAMETERS: None
SET ABSOLUTE POSITION MODE 8, 9, A, B
REMARKS: In absolute positioning mode, motor may be commanded to move to a
new step position 0 to 65,535.
Present position must first be set as a value from 0 to 65,535 with the "SET PRESENT
POSITION TO A VALUE" command, or set as "HOME" (position 32,678) with the
"SET PRESENT POSITION TO HOME" command.
STEP-7
The selected motor remains in this mode until the mode is changed. It is only
necessary to issue this command if the currently programmed mode is not the
desired mode.
Move motor to new position with "MOVE TO POSITION" command. If the new
position is numerically higher than the present position, motion will be in a CW
direction. If the new position is numerically lower than the present position, motion
will be in a CCW direction. The STEP modules calculate the direction automatically
when the motor is commanded to move.
PARAMETERS: None
SET CONTINUOUS SPEED 90, 91, 92, 93
REMARKS: Motor will rotate in the direction last programmed at the speed
designated by the accompanying parameter bytes. Issue direction only if the currently
programmed direction is not the desired direction.
Parameters: 0 - 65,535 steps per second.
MOVE TO POSITION 98, 99, 9A, 9B
REMARKS: If motor is in relative positioning mode, it will move in the last pro.
grammed direction to the position designated by the parameter bytes.
If the motor is in absolute positioning mode, it will move in whatever direction is
necessary to relocate to the position designated by the parameter bytes.
Parameters: Position value of 0 - 65,535.
TAKE A SINGLE STEP 20, 21, 22, 23
REMARKS: Motor will move one step in the programmed direction. Direction need
only be programmed if the desired direction is not the currently programmed
direction.
Parameters: None
SET CW DIRECTION 28, 29, 2A, 2B
REMARKS: When, a direction has been programmed, it will remain in effect until a
new direction is programmed.
CW direction is the default direction at power-up
Parameters: None
SET CCW DIRECTION 30, 31, 32, 33
REMARKS: When a direction has been programmed, it will remain in effect until a
new direction is programmed.
Parameters: None
STEP-8
SET PRESENT POSITION AS "HOME" 38, 39, 3A, 38
REMARKS: Used only for absolute positioning. Sets the present position as the
center position (32,768) in the absolute positioning mode's 65,535-&p motion range.
PARAMETERS: None
RETURN To "HOME" 40, 41, 42, 43
REMARKS: Used only in absolute positioning mode. Moves the motor to position
32,768.
PARAMETERS: None
SET MAXIMUM POSITIONING SPEED C8, C9, CA, CB
REMARKS: Limits the maximum rotational speed which a motor may achieve during
a move. Maximum positioning speed does not affect maximum steady-state rotation
speed as programmed with the "SET CONTINUOUS SPEED" command. Maximum
positioning speed must be programmed at least once, and before any positioning
commands are issued.
PARAMETERS: 1 - 16,000 steps per second
SET PRESENT POSITION TO A VALUE DO, Dl, D2, D3
REMARKS: Used only in absolute positioning mode. Sets the present position of the
motor to a selected position value in the absolute positioning mode's 65,535-&p mo-
tion range.
PARAMETERS: position value of 0 - 65,535.
SELECT STATUS REGISTER 2c, 34, 3c, 44
REMARKS: Makes a given motor's status register available to the STEPl's output
register. Status can then be read by PEEKing address CMDA of STEP1 (status of all
motors connected to a module set are read through the STEPl).
PARAMETERS: None
STOP/PURGE UNEXECUTED COMMANDS 4C, 54, SC, 64
REMARKS: Halts selected motor without ramp-down, resets limit indicator to "NO
LIMIT': and purges unexecuted commands from motor's command buffer.
If motor has tripped a limit, this command reenables the motor, resets the limit in-
dicator, and purges the command buffer.
PARAMETERS: None
STEP-9
SET RAMP RATE 94 (SETS ALL
MOTORS)
REMARKS: Sets the ramp rate in steps per second squared (spss) for all motors con-
trolled by a given STEPl. This parameter must be set at least once, before any posi-
tioning commands are issued, to match the dynamics of the motor. Default is 4096
spss (range 0).
PARAMETERS: Two bytes must be sent. First byte will always be 0. Second byte will
be 0 - 14.
0=4096 spss
1=4369 spss
2=4681 spss
3=5041 spss
4=5461 spss
5=5957 spss
6=6553 spss
7=7281 spss
8=8192 spss
9=9362 spss
10=10922 spss
11=13107 spss
12=16384 spss
13=2x345 spss
14=32768 spss
Stepper Status Accessed Through CMDA
The status of a motor can be read back from address CMDA of the STEP1 module.
Operational status flags include "motor ready for commands", limit condition, position-
ing mode, direction, and "motion complete': The motor status register also provides
motor ID.
In order to read a motor's status, you must first assign the motor's status register to the
STEWS output register. POKE the appropriate SELECT STATUS REGISTER command
byte to address CMDB of the STEPl. (See the previous section on commands addressed
through CMDB). Once you assign a motor's status register to the STEPl's output
register, it remains the active register until you select another motor's status register.
Read the status of a motor by PEEKing the value at address CMDA of the STEPl. The
status register updates automatically as the motor status changes, and can be read at
any time.
You must logically "AND" the value PEEKed from CMDA with the decimal values 16, 8,
4, 2, or 1 to determine the operating status of the motor. The motor ID can be deter-
mined by doing a simple division and integer function on the status byte. The following
table shows how to determine the motor status and ID:
STEP-10
Table 3. Stepper Motor Status as Read Fmm CMDA
MOTOR READY If ((PEEK (CMDA)) AND 16) = 0, then motor is not ready for com-
mand, else motor is ready.
LIMIT SWITCH: If ((PEEK (CMDA)) AND 8) = 0, then limit switch has not been
tripped, else limit is tripped.
MODE: If ((PEEK (CMDA)) AND 4) = 0, then motor is in absolute positioning mode,
else motor is in relative positioning mode.
DIRECTION: If ((PEEK (CMDA)) AND 2) = 0, then rotation is CCW, else motor rota-
tion is CW.
MOTION COMPLETE: If ((PEEK (CMDA)) AND 1) = 0, then motor motion not com-
plete, else motion is complete.
ID = MOTOR A: If INT (PEEK (CMDA) / 64) = 0, then status register is for Motor A.
ID = MOTOR B: If INT (PEEK (CMDA) / 64) = 1, then status register is for Motor B.
ID = MOTOR C: If INT (PEEK (CMDA) I 64) = 2, then status register is for Motor C.
ID = MOTOR D: If INT (PEEK (CMDA) / 64) = 3, then status register is for Motor D.
Service Information
Correct system operation relies not only on the STEP1 and STEP2 modules, but also on
the motor drive and stepper motor. As a first step in troubleshooting a malfunctioning
stepper control system, make sure the motor drive and motor are properly connected,
and in good operating condition.
The STEP1 and STEP2 modules do not contain any user-serviceable components,
calibrations screws, jumpers, or test points. The STEP module operating characteristics
are controlled by firmware programmed into the STEPl's Read Only Memory This can
complicate hardware troubleshooting. Therefore, servicing the STEP modules is confin-
ed to diagnosing which module is faulty. Diagnosis consists of simple signal checking
and substitution of a known good module for a suspected module.
Troubleshooting
First, check that all components in the stepper motor system are compatible. The STEP
modules are intended for motor drives having LS-TTLcompatible control inputs. Con-
necting the STEP2 to other types of motor drives may cause problems.
A STEP2 module may be checked by testing its output levels with a DMM or
oscilloscope. Use the low-level commands of Soft500 to command a motor to move at a
speed of one step per second in a CW direction.
STEP-II
The STEP and STEP outputs should produce pulse trains consisting of square waves
with a frequency of Mz. The outputs of STEP and STEP should be the inverse of each
other.
When the motor is rotating in a clockwise direction, CWiCCW should be at a logic high
level, while CWlCCW is low. Reversing the direction through sofhvare should exchange
the levels at the CWKCW and CWlCCW outputs.
Test the limit switch input of a STEP2 by manually shorting the input to ground. This
should immediately stop the motor and set the limit flag in the motor's status register.
In systems which contain more than one STEP2, a problem with one motor may in-
dicate a single faulty STEP2. If the suspected STEP2 and a known good STEP2 are ex-
changed and the problem follows the STEP2, the STEP2 is very likely faulty. If the pro-
blem remains with the same motor, either the motor drive, motor, or STEP1 are faulty.
STEP1 and STEP2 Specifications
Configuration: One SlXPl required to drive 1 to 4 STEP2 Modules
Channels: One motor channel per STEP2 module
STEP2 Outputs: LS TIZ compatible, high or low true
Output High: OAmA source @ 2.7V min.
output Lav: 4mA sink @ 0.4v max.
Output Signals: four; cwlccw, ccwlcw, pulse and pX
Pulse Signal Duration: 50% duty cycle
STEP2 Limit Input: LS `ITL compatible, low true or switch closure to ground (internal
pull-up resistor provided)
Input High: 3.2V min.
Input Low: OAmA @ 0.9V max.
Signal Duration: 250ns
Slew Rate: 1 to 65,535 steps per second maximum in lsps increments, software
programmable
Speed Accuracy: 0.01% of full scale frequency
Positioning Modes:
Absolute: 65,535 positions
Relative: +65,535 steps
Positioning Speed: 16,OOOspsmaximum, software programmable
Ramp Rates: 15 rates, software selectable from 4,096~~~' to 32,768'
STEP1 on-board Microprocessor: 68809 8116 bit
Command Buffer Size: approx. 66 commands per motor (233 bytes)
Commands: 14 high level commands callable from BASIC and fully integrated with
Keithley Data Acquisition and Control's Soft500 extended BASIC measurement and
control software.
STEP-12
STEP1 PARTS LIST
Part Number Title Remarks
C-22-22pF Capacitor C8, C9
C-237-.1 Capacitor Cl1
C-237-1 Capacitor c2, c3
C-314-22 Capacitor Cl0
C-361-2.2 Capacitor c7
C-365-.1 Capacitor Cl, C4, C6, CU.,
Cl6
CR-24-1 Crystal Y2
CR-27 CNStd Y3
K-515 In<. Circuit (74HCT74) u30
z-337 Int. Circuit (74HC74) UlO
IC-338 Int. Circuit (74HC373) u19
IC-351 Int. Circuit (74HCOO)
IC-354 Int. Circuit (74HC04j ::4
IC-397 Int. Circuit (74HCT374) u17
IC-398 Int. Circuit (74HCTI38) U5. U24
IC-399 Int. Circuit (74HC'IDO) US
K-444 Int. Circuit (74HCTO4) II25
IC-482 Int. Circuit (74HC377) U18
IC-483 ht. Circuit (74HCT244) U6
K-486 Int. Circuit (74HC161) U3. U23
IC-487 Int. Circuit (74HC379) Ui
K-488 Int. Circuit (74HC688) Ul5
K-489 Int. Circuit (74HC244) Ul2
IC-490 Int. Circuit (74HC20) Ill3
IC-491 Int. Circuit (74HC245) u4
IC-492 Int. Circuit (74HC123) u7
500-800 Program
500-801 Memory
LSI-52 Int. Circuit (2764-20)
MC-419 Label
LSI-58 (6166) u22
LSI-65 (MC68809) U16
R-76.1OOk Resistor Rl, R5, R6
R-76.lOk Resistor R2. R7
R-263~1.96k Resistor R8'
TF-179-l Thick Film R4
TF-180-l Thick Film R3
500-396 Shield, Component Side
STl43-1 Standoff
500-397 Shield, Solder Side
STXV2 Standoff
500-398 Insulator, Solder Side Shield
4-40x Vs PPH Screw, 4-40xVs Phil Pan Head
STEP-l3
STEP1 COMPONENT LAYOUT
STEP-14
STEP2 PARTS LIST
Part Number Title Remarks
C-365-.1 Capacitor Cl-C3, C6, C8-Cl2
CA-43-l Cable Assembly 1'1
cs-521-4 Connector J2
CT-8 Ferrite Bead El, E2
r-144 Int. Circuit (74LS74) U29
K-337 Int. Circuit (74HC74) U24, U32
IC-351 Int. Circuit (74HCOO) ua
K-354 Int. Circuit (74HC04) Ul
IC-451 Int. Circuit (74HCl25) UlO
IC-475 Int. Circuit (7497) Ul%U19
IC-476 Int. Circuit (74HCl54) U25
IC-463 Int. Circuit (74HC32) u30, u31
IC-477 Int. Circuit (74HC191) Ull-Ul3, U26
IC-478 Int. Circuit (74HC684) U6, U27
r-479 Int. Circuit (74HC73)
IC-480 Int. Circuit (74HC40103) :;16
IC-481 Int. Circuit (74LS169) u14, u20
IC-482 Int. Circuit (74HC377) u2, u3, U28
IC-483 Int. Circuit (74HCT244) u15
IC-513 Int. Circuit (74HCI32) U9
R-76-1Ok Resistor R2-R5, R7
R-263-2.10k Resistor R6
500-397 Shield, Solder Side
SlXW2 Standoff
500-398 Insulator Solder Side Shield
4-40x3/,, I'I'H Screw, 4-40x3/,, Phil Pan Head
500-323 Clamp Assembly
500-322 Strip Rubber
6-32x'/,, PPH 6-32x'/,, Phillips
Pan Head Screw
STEP-15
STEP2 COMPONENT LAYOUT
STEP-16
0
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