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GS-C200S Scheda tecnica(PDF) 11 Page - STMicroelectronics |
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GS-C200S Scheda tecnica(HTML) 11 Page - STMicroelectronics |
11 / 31 page Error code Type of error 1 Parity error when receiving one or more characters, checksum error, or too long a command string. 2 Command argument out of limit or not requested. 3 Storage capacity overflow. 4 Not allowed or not executable command. 5 Overflow error during program execution (GS-C200 only). 6 EEPROM programming error. The number following the ”V” code depends on the type of the received command. When the GS-C answers to a ”V1” request (feed- back the actual absolute position against the Home position), the answer will be: Vxxxxxxx ↓ where the xxxxxxx represent the absolute position. When the GS-C answers to a ”V2” request (feed- back the USER input/output status), the answer will be: Vxy ↓ where the x and y meaning is: x = 1 User Input 1 = 1 x = 2 User Input 2 = 1 x = 4 User Input 3 = 1 y = 1 User Output1 = 1 y = 2 User Output 2 = 1 x = 4 User Output 3 = 1 The logic values of the inputs and outputs are added together. For example the answer: V36 ↓ indicates the following USER I/O status: UI1 = 1 UO1 = 0 UI2 = 1 UO2 = 1 UI3 = 0 UO1 = 1 36 The presence of Checksum character, whose value is calculated by using the method described in the previous example, is conditioned by the CHS pin status. When CHS is grounded (either by a logic signal or by a strap to ground) the checksum is deleted. The string terminator is, as in the previous case, a Carriage Return. 11/31 THE SEQUENCER-DRIVER INTERFACE The interface to the Sequencer-Driver and, through it, to the mechanical environment, consists of eight logic signals (5 outputs and 3 inputs) which enable the GS-C intelligent controller to interface the GS- D200 or the GS-D200S modules as well as any Sequencer Drivers currently available. The eight signals can be divided into two groups, named respectively: PRIMARY SIGNALS UTILITY SIGNALS The primary signals are those necessary for the correct system operation: RESET Output to reset the Sequencer- Driver. CLOCK Step clock output. DIR Direction output. ENABLE Step enable input. The function of each signal is described in detail in section PIN DESCRIPTION on page 4/31; it will be shown later that the Step Enable Input in conjunc- tion with the position sensor of the motor, allows the implementation of closed loop systems (see para- graph Closed Loop Operation on pag. 27). The Utility signals allow the optimization of the driving system and the minimization of the hardware. They are: MOV Movement in execution output. RAMP Ramp in execution output. EOT Mechanical End of Travel input. HOME Electrical Home Position input. By using these signals it is possible to correctly define the system starting point or reference posi- tion, or to change the current in the motor windings during the acceleration and deceleration phases in order to optimize the motor performance. A typical example of the utility signals implementa- tion is given here. Let’s suppose that the required speed profile is as shown in fig. 5. Figure 5. Speed-Time Profile. GS-C200 / GS-C200S |
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