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General Setup

The following connections are required

  1. RJ45 network connector can go to either IN or OUT connector as the Ethernet controller is setup as a switch.
  2. Programming ribbon connector connects to i-Jet.
  3. 4 pin power connectors to 24V power supply. Power supply is wired in picture below.
  4. USB on the motor is not required.
    1. This is used to configure the network setup. This can be set in the program as shown below in the Socket Setup.
    2. It is also used to load a firmware image

General usage

  1. The MAC address on the two motors are set to to 70-B3-D5-96-E0-05 and 70-B3-D5-96-E0-06. If these are not read from the EEPROM they will need to be set in the program.
  2. There is a bootloader which is separate to the main code. If the code is set to execute from flashrom in IAR Embedded Workbench it will overwrite the bootloader.
    1. Development should be done using the RAM Debug option.
    2. Once development is complete it can be loaded as an image through the USB.


Image Added

Connections

  1. 120V INPUT
    1. Broqwn → L
    2. Blue → N
    3. Green → Ground
  2. 24V OUTPUT
    1. White + Gray → -V
    2. Yellow + Orange → +V

Socket API

Socket Setup

There are 4 sockets available in firmware. In the supplied firmware Socket1 is used for direct communication to the motor. Socket2 is used for Modbus-TCP communication. They can be reassigned as needed.

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The motor can be controlled to target positions by setting the following in the MotorControlStruct passed.

VariableDescription
MotionGenerator

Sets the motion control type.

0 - no motion type
3 - position control
11 - torque control

Controlword

The control word is used as bits. Only B0 is used in Torque mode.

BitValueDescription
0


0
0 → 1
1

New set point

target changes will not be processed
Transition required after error or first move
Change in any target values will be processed immediately

1


0
1

Halt

Motion can be executed
Halt motion and prohibit further motion

2


0
1

Relative

Absolute mode
Relative mode

3


0
1

Speed

Position mode
Speed mode

4


0
1

Disable

Motor enabled
Motor disabled

5


0→ 1

Clear Error

Clear error on rising edge from 0 to 1


TargetPos

Set the target position in a position control move.

Example:

TargetPos=1000

will set the target position to 1000 counts.

  • Typically the motor resolution is 1000 counts/
re

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  • revolution (register K37) so the above example will rotate the motor 1 revolution.
  • The target position will be absolute unless incremental mode is selected in the controlword
TargetSpeed

Set the target speed in the resolution set. This is typically 1000 counts/revolution with a speed unit of 100counts/s. This will also set the maximum allowed speed in torque mode.

Example

TargetSpeed = 10

will set the target speed to 1000 as the default unit is 100counts/s. This will rotate the motor at 1 revolution/s. Max speed is 3000 rpm. I.e. TargetSpeed=500 is max value at default resolution (register K37)

  • Setting a -ve speed will only affect speed mode. This will run it CCW.


TargetAcc

Set the target acceleration in 1000 counts/s2. 

Example

TargetAcc = 100

will set the target acceleration to 100000 counts/s2.

TargetDec

Set the target deceleration in 1000 counts/s2. 

Example

TargetAcc = 20

will set the target deceleration to 20000 counts/s2.

TargetTorque

Set the target torque in 0.1% of rated torque.

Example

TargetTorque = 1250

will set the tarqet torque to 125% of rated which is peak torque. Range is ± 1250. Only torque mode uses a -ve torque. Setting a negative torque will run the motor CCW.


Code Block
languagec#
titleExample to run the motor to an absolute position
//First set the motion generator to 3.
MotionGenerator = 3

//Set all targets
TargetPos = 100000
TargetSpeed = 10
TargetTorque = 1250
TargetAcc = 10
TargetDec = 10

//set the controlword= 1 to start the motion
ControlWord = 1

//at any point change the speed, acceleration or position to change the profile
TargetPos = -10000	//run to absolute -10000