CST 022 eng - SIGMATEK · C-DIAS STEPPER MODULE CST 022 29.12.2011 Page 11 X2, X5: Power stack control (channel 1 & channel 2) Since the CST 022 module is designed for the control

C-DIAS STEPPER MODULE CST 022

29.12.2011 Page 1

C-DIAS Stepper Module CST 022 for 2 Motors 2 Incremental encoder inputs 2 Output channels for the motor control 6 Digital outputs (2 with Input function) 2 Digital Inputs The CST Module can be used as a control for stepper motors as well as for servo motor power elements. To define the motor control application, the module register need only be configured differently. The CST 022 module can control two motors form two independent channels. An RS 422 connection with the corresponding signal level serves as the output for the control. The digital inputs are designed for the reference path and monitoring the end position (every input has interrupt capability). In addition, the CST 022 has three digital differential outputs per channel. In each case the first output can be digitally read back depending on the configuration of the connection (if the high side switch output is configured). The possibility exists to use only the read back function of the output as a digital input (see terminal assignment). An incremental encoder connection with A/B/R analysis and the corresponding +5V incremental encoder supply is available for each channel.

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CST 022 C-DIAS STEPPER MODULE

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Technical Data Incremental Encoder Input

Number of channels 2

Input signals Incremental encoder signal (A, /A, B, /B, R, /R) RS422–level

150Ω termination 330Ω spreading

Input frequency Max. 125kHz

Count frequency Max. 500kHz

Signal analysis 4x

Counter frequency 16Bit

Encoder supply +5V / 0,5A short circuit protected (per channel)

Status display (A und B Signals)

Green LEDs

Power stack Control Outputs

Number of channels 2

Output signals Control signals (A, /A, B, /B, C, /C) RS422 level

Output frequency Max. 500kHz

Max. allowable continuous current.

40mA

Status display Yellow LEDs

Digital Input Specifications

Number 2 per channel

Interrupt function Configurable for every input

Input voltage Typically +24V Maximum +30V

Signal level Low: <5,3V High: >+13,7V

Switch hysteresis Maximum 8,4V

Input current 5mA at +24V

Input display Typically 0,1ms

Status display Green LEDs

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Digital Differential Output Specifications

Number 3 per Channel

Wiring Potential free (output 1usable as either re-readable or input)

Switch Voltage Maximal +30V DC

Current capacity Maximal 100mA

Residual voltage <2V at 100mA

Status display Yellow LEDs

Electrical Requirements

Supply voltage +24 V1 18 – 30V DC

Current consumption Voltage supply +24 V1

<350mA (incl. Supply of the Incremental encoder)

Supply from C-DIAS-Bus +5V

Current consumption of C-DIAS-Bus (+5 V-supply)

Typically 400mA Maximum 480mA

Status display None

IMPORTANT:

This module exceeds the standard current consumption for C-DIAS modules! (+5V: 150mA and +24V: 150mA).

If this C-DIAS module is mounted on an 8x module carrier (CMB 08x), the total current of

the C-DIAS module used must be determined and tested.

The current consumption value is found under “Electrical Requirements” in the technical documentation for the respective module.

The total current for the +5V supply must not exceed 1,2A (150mA per slot).

The same is true for the total current for the +24V supply, which also must not exceed 1,2A (150mA per slot).

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IMPORTANT:

La consommation de courant de ce module dépasse les valeurs typiques pour les modules

C-DIAS! (+5 V: 150 mA et +24 V: 150mA)

Si ce module C-DIAS est monté sur un fond de panier de taille 8 (CMB 08x), le courant total des modules utilisés doit être déterminé et vérifié.

Les données de la consommation de courant sont mentionnées dans la documentation

technique du module respectif dans le paragraphe "Spécifications électriques".

Le courant total de l'alimentation +5 V ne peut pas dépasser 1,2A (150mA/module). Cela vaut également pour le courant total de l'alimentation +24 V, lequel ne peut également

pas dépasser 1,2A (150mA/module). Miscellaneous

Article number 12-014-022

Hardware version 1.x

Standardization UL (E247993)

Environmental Conditions

Storage temperature -20 – +85°C

Operating temperature 0 – +60°C

Humidity 0 – 95 %, uncondensed

EMV-stability Per EN 61000-6-2 (Industrial area)

Shock resistance EN 60068-2-27 150m/s²

Protection type EN 60529 IP 20

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Mechanical Dimensions

104

,10

(me

asu

rem

ent

inc

l. C

ove

r)129

109,

2

24,90


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Terminal Assignment

X1 Incremental Encoder (channel 1)

X2 RS422 Control (channel 1)

X3 Digital in and output (channel 1)

X4 Incremental Controller Input (channel 2)

X5 Power stack Control outputs (channel 2)

X6 Digital in and output (channel 2)

X7 External Supply

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X1, X4: Incremental Encoder Input (channel 1 & channel 2)

X2, X5: Power stack Control (channel 1 & channel 2)

X3, X6: In and Output (channel 1 & channel 2)

X7: Supply (external)

Pin Function 1 A- 2 A+ 3 B- 4 B+ 5 R- 6 R+ 7 GND 8 +5 V-Encoder

Pin Function (RS422) Stepper Servo 1 A- Clock- Pulse- 2 A+ Clock+ Pulse+ 3 B- Direction- Sign- 4 B+ Direction+ Sign+ 5 C- Enable- n.c. 6 C+ Enable+ n.c.

Pin Function 1 Input 1 2 Input 2 3 Output Q1- (Input 3) 4 Output Q1+ 5 Output Q2- 6 Output Q2+ 7 Output Q3- 8 Output Q3+

Pin Function 1 +24 V 2 GND

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Applicable Connectors Connectors with spring terminals: 6-pin. Weidmüller-plug B2L 3,5/8 8-pin. Weidmüller-plug B2L 3,5/8 2-pin. Phoenix Contact FK-MCP 1,5/ 2-ST-3,5 Connector with screw terminal: 2-pin. Phoenix Contact: MC 1,5/ 2-ST-3,5

The complete C-DIAS connector set CKL 131 with spring terminals is available at SIGMATEK under the article number 12-600-131.


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Status Display

LED Nr. LED Color Description

1 YELLOW Output „RS422 – A“

2 YELLOW Output „RS422 – C“

3 YELLOW Output „RS422 – B“

4 GREEN Input „INC – A“

5 GREEN Input „INC – B“

6 GREEN Input 1

7 GREEN Input 2

8 YELLOW Output 1

9 YELLOW Output 2

10 YELLOW Output 3

Cha

nnel

1

11 YELLOW Output „RS422 – A“

12 YELLOW Output „RS422 – C“

13 YELLOW Output „RS422 – B“

14 GREEN Input „INC – A“

15 GREEN Input „INC – B“

16 GREEN Input 1

17 GREEN Input 2

18 YELLOW Output 1

19 YELLOW Output 2

20 YELLOW Output 3

Cha

nnel

2


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Wiring Guide General The 0V connection of the voltage supply must be connected to the 0V collection point over the shortest route possible. The signal lines must be shielded or twisted at the very least.

For fault free operation, the external +24V supply (+24V V1) and the +5V incremental encoder supply are required.

Pour un fonctionnement sans défaut, l'alimentation externe +24 V (24 V V1) et

l'alimentation +5 V du codeur incrémental sont nécessaires. X3, X6: Outputs (Channel 1 & Channel 2) As previously mentioned, these outputs operate as digital differential outputs whereas contact with a digital input switch is provided. This results in three connection possibilities:

• Positive switch (High Side): Pin 4, 6 or 8 are connected to the voltage supply. Pin 3, 5 or 7 are connected to the load. with this configuration, output 1 (pin 3 & 4) can be re-read.

• GND switch (Low Side): Pin 4, 6 or 8 are connected to the load. Pin 3, 5 or 7 are connected to earth.

• Digital input application: Pin 4 is not connected (open terminal). Pin 3 is wired as a normal input (as with Pin 1 & 2). Outputs 2 & 3 can be used as normal differential outputs. Note: for this digital input, no status display LED is available.


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X2, X5: Power stack control (channel 1 & channel 2) Since the CST 022 module is designed for the control of stepper motors and servo motor power elements, there are several connection and control possibilities available. Example:

• Step motor control: A+, A- Cycle; B+, B- Rotational direction; C+, C- Enable (Boost is not available with the CST022);

• Servo motor control: A+, A- Pulse (cycle); B+, B, Sign (Rotational

direction); C+, C- Reserved (not connected);

Further possibilities for the control variant can be found in the register documentation.

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Control Variant (Power stack Control Signal) Mode 0 – (equal to mode 2) Pulse with a 90° phase s hift Mode 1 – CW / CCW Pulse Command Mode 3 – Pulse / Sign Command

HI

LO

HI

LO

HI

LO

Right

Left

HI

LO

A

B

A

B

HI

LO

HI

LO

HI

LO

90° leading “Left rotation

90° lagging “Right rotation

A

B

B

HI

LO HI

LO

Left rotation Right rotation

A

B

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Incremental Encoder–RS422–Signals Count UP Count DOWN Reference pulse (Zero Position)

HI

LO HI

LO

HI

LO

HI

LO

A

/A

B

/B

90° lagging

HI

LO HI

LO

HI

LO

HI

LO

A

/A

B

/B

90° leading

HI

LO HI

LO

R

/R


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Addressing Channel 1

Address Access Function

16#00 – 16#03

WRITE/

READ

DOUBLE Servo output pulse time [1 LSB = 7,8125 ns] (-16,77 s .. +16,77 s)

½ Period for output mode 1 or 3

¼ Period for output mode 0 (= 2)

0 = Output pulse deactivated

16#04 – 16#05 WRITE WORD Servo instruction pulse time (lower WORD!)

16#04 – 16#05 READ WORD Incremental encoder counter The counter value represents the number of the rising and falling flanks of the encoder signal (A, B = signs). Depending on byte 16#06/ bit 5..4 a one, two or four flank analysis is executed.

16#06 WRITE/

READ

BYTE Servo control register 0 (output mode, incremental encoder) Bit 1..0: Servo output mode

0 or 2 = 2-Phase Pulse with 90° Phase shift (between

Phase A and B)

1 = CW/CCW output mode

3 = Pulse/Sign output mode

Bit 3: Incremental encoder B Phase inversion

0 = Phase B not inverted

1 = Phase B inverted

Bit 5..4: Incremental encoder flank recognition

0 = Incremental encoder off

1 = 1 flank

2 = 2 flanks

3 = 4 flanks

16#07 WRITE BYTE Servo control register 1 Bit 1: Enable

Bit 2: Boost (only for CST021)

16#07 READ BYTE Servo Status Register 1 Bit 1: Enable


Bit 4: Incremental encoder Null-Position

Bit 5: Incremental encoder Null-Position Stored

16#08 – 16#09 READ WORD Incremental encoder, stored Stores the incremental encoder counter at set result (memory register)

16#0A – 16#0B READ WORD 16 Bit Pulse counter

Counts the number of output steps

16#0C – 16#0D READ WORD 16 Bit pulse counter latched Saves the point counter value at set event


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16#0E – 16#0F WRITE/

READ

WORD Minimum pulse width [7,8125 ns]* Defines the minimum output pulse width "Low" or "High" time. Has to be set in the initialization.

*Attention: The reset value x“003C“ is the lowest value allowed. It is very important that the minimum pulse width is

smaller than the minimum periode-3*clk_cnt (clk_cnt = 7,8125 ns). This register is available from FPGA version V1.3 .


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Channel 2


16#10 – 16#13

WRITE/

READ

DOUBLE Servo output pulse time [1 LSB = 7,8125 ns] (- 16,7 7 s .. +16,77 s) ½ Period for output mode 1 or 3

¼ Period for output mode 0 (= 2)

0 = Output pulse deactivated

16#14 – 16#15 WRITE WORD Servo output Pulse time (lower WORD!)

16#14 – 16#15 READ WORD Incremental encoder counter The counter value represents the number of the rising and falling flanks of the encoder signal (A, B = signs). Depending on byte 16#06/ bit 5..4 a one, two or four flank analysis is executed.

16#16 WRITE/

READ

BYTE Servo control register 0 (output mode, incremental encoder) Bit 1.0: Servo output mode

0 or 2 = 2-Phase Pulse with 90° Phase shift (between

Phase A and B)

1 = CW/CCW output mode

3 = Pulse/Sign output mode

Bit 3: Incremental encoder B Phase inversion

0 = Phase B not inverted

1 = Phase B inverted

Bit 5.4: Incremental encoder flank recognition

0 = Incremental encoder off

1 = 1 flank

2 = 2 flanks

3 = 4 flanks

16#17 WRITE BYTE Servo control register 1 Bit 1: Enable


16#17 READ BYTE Servo Status Register 1 Bit 1: Enable


Bit 4: Incremental encoder Null-Position

Bit 5: Incremental encoder Null-Position stored

16#18 – 16#19 READ WORD Incremental encoder, stored Stores the incremental encoder counter value at a set event (Interrupt Input Register)

16#1A – 16#1B READ WORD 16 Bit pulse counter Counts the number of output steps

16#1C – 16#1D READ WORD 16 Bit Pulse counter latched Stores the pulse counter value at a set event


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16#1E – 16#1F WRITE/

READ

WORD Minimum pulse width [7,8125 ns]* Defines the minimum output pulse width "Low" or "High" time. Has to be set in the initialization.

*Attention: The reset value x“003C“ is the lowest value allowed. It is very important that the minimum pulse width is

smaller than the minimum periode-3*clk_cnt (clk_cnt = 7,8125 ns). This register is available from FPGA version V1.3 .


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Latch Register Channel 1


16#25 READ BYTE Latch source register (Bits are set only when the corresponding enable register is set. This register is acknowledged when read)

Bit 0: Change in input 1 Motor 1


Bit 2: Change in re-readable output 1 Motor 1

16#26 WRITE/

READ

BYTE Latch enable rising Flank Bit 0: Rising flank at input 1 Motor 1

Bit 1: Rising flank at input 2 Motor 1

Bit 2: Rising flank on re-readable output 1 Motor 1

16#27 WRITE/

READ

BYTE Latch Enable falling Flank Bit 0: Falling flank at Input 1 Motor 1

Bit 1: Falling flank at Input 2 Motor 1

Bit 2: Falling flank on re-readable output 1 Motor 1

Latch Register Channel 2


16#29 READ BYTE Latch source register (Bits are set only when the corresponding enable register is set. This register is acknowledged when read)




16#2A WRITE/

READ

BYTE Latch Enable Rising Flank Bit 0: Rising flank at input 1 Motor 2


Bit 2: Rising flank at re-readable output 1 Motor 2

16#2B WRITE/

READ

BYTE Latch Enable falling Flank Bit 0: Falling flank at input 1 Motor 2

Bit 1: Falling flank at input 2 Motor 2

Bit 2: Falling flank at re-readable output 1 Motor 2


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IRQ Input Register


16#20 READ BYTE Digital input Status register Bit 0: Input 1 Motor 1

Bit 1: Input 2 Motor 1

Bit 2: Re-readable output 1 Motor 1



Bit 5: R Re-readable output 1 Motor 2

Bit 6: Incremental encoder 5 volt ok (1 = ok)

Bit 7:External 24 volt ok (1 = ok)

16#21 READ BYTE Interrupt source register (Bits are set only when the corresponding enable register is set. This register is acknowledged when read)



Bit 2: change in re-readable output 1 Motor 1




Bit 6: Change of the incremental encoder 5 Volt ok Status

Bit 7: Change of the external 24 Volt ok Status

16#22 WRITE/

READ

BYTE Interrupt enable rising Flank Bit 0: Rising flank at input 1 Motor 1






Bit 6: Rising flank of the incremental encoder 5 volt ok Status

Bit 7: Rising flank of the external 24 volt ok Status

16#23 WRITE/

READ

BYTE Interrupt Enable falling Flank Bit 0: Falling flank at input 1 Motor 1






Bit 6: Falling flank of the incremental encoder 5 Volt ok Status

Bit 7: Falling Flank of the external 24 volt ok Status


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Outputs, JTAG Interface and FPGA Version


16# 2C

WRITE/

READ

BYTE Output register Bit 0: Output 1 Motor 1

Bit 1: Output 2 Motor 1

Bit 2: Output 3 Motor 1 (as input in re-readable Input register)



Bit 6: Output 3 Motor 2 (as input in re-readable Input register)

16#FA READ/WRITE

BYTE JTAG Master-Input FPGA Update Function

16#FB READ BYTE FPGA Version

Interrupt Function The module offers the possibility to report changes in the condition of the digital inputs through a hardware interrupt. The module can be configured through the software in order to enable this function. For this function, the interrupt request register (IRQ) and/or input register are available. With this register, the inputs can be defined individually as interruptible as well as having their condition read. The possibility also exists to choose the flanks at which an IRQ is triggered. After the initialization of an input, the interrupt capability is activated in both registers. By setting both registers, an input's rising and falling flanks can be evaluated. The interrupt source register resets (and/or acknowledges) the IRQ and specifies the source; the register is also cleared when read.

Latch – Function This function is principally used for the reference path. With help from the latch register, the inputs can be configured to store the value from the incremental and pulse counter at the time point of the IRQ. To accomplish this, two enable registers are used to set the respective flanks and activate the input latch function.


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Data in the EEPROM Module data (organized by Byte)

Address Data Description

$00 $xx Check sum

$01 123 Identification

$02 12 Module group 12 = CST

$03 2 Variant 2 = CST022

$04 2 Channel number

$05 $10 Hardware version $10 = HW-V1.0, $11 = HW-V1.1, …

$10 Serial number

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Documents

CST 022 eng - SIGMATEK · C-DIAS STEPPER MODULE CST 022 29.12.2011 Page 11 X2, X5: Power stack control (channel 1 & channel 2) Since the CST 022 module is designed for the control