Cytron SD02C Bedienungsanleitung
SD02C
2A Stepper Motor Driver
User’s Manual
V1.0
APRIL 2016
ROBOT . HEAD to TOE
Product User’s Manual – SD02C
Index
1. Introduction and Overview 3
1.0 Introduction of SD02C 3
1.1 System Overview 4
1.2 General Description 5
2. Packing List 6
3. Product Specification and Limitations 7
4. Board Layout 9
4.1 Dimension 10
5. Installation (hardware) 11
5.1 Connecting Driver to a Stepper Motor 11
5.2 Connecting to microcontroller using Signal Input Pin 13
5.3 Connecting to switches (without microcontroller) 14
5.4 Connecting to microcontroller through UART 15
5.4.1 Connecting SD02C to controller 15
5.4.2 Connecting SD02C to computer 17
5.5 Enable and Disable the driver 20
6. Installation (software) 21
6.1 Sample Program for Computer 21
6.2 Sample Program for dsPIC30F4013 24
7. Getting Started 25
7.1 Using SD02C with computer 25
7.2 Using SD02C with microcontroller 27
7.3 Using SD02C with Arduino 29
7.4 SD02C UART Protocol 30
8. Warranty 37
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Product User’s Manual – SD02C
INTRODUCTION AND OVERVIEW
1.0 Introduction of SD02C
SD02C is the enhanced version from SD02A and SD02B. SD02C is designed to drive unipolar or
bipolar stepper motor. The board incorporates most of the components of the typical applications.
With minimum interface, the board is ready to Plug and Play. Simply add in power, this driver is
ready to drive unipolar or bipolar stepper motor. SD02C will actually drive stepper motor in
bipolar method. However, since unipolar stepper motor can also be used as bi-polar stepper motor,
thus this driver can be used to drive both unipolar and bipolar stepper motor. This stepper motor
driver has been designed with capabilities and features of:
●New! Now comes with UC00A/UART interface for easier communication between the
user’s circuit (or PC) and SD02C. By using the new UART control, user can
○On/Off, Run/Brake and change motor’s rotation direction
○Set motor speed
○Request for encoder value
○Track an encoder value and brake the motor
○Set new baud rate for the driver
★Not familiar with UART communication? Fret not, sample source code for
UART control is provided for dsPIC30F4013 (C language), Arduino and
VB.net!
●Support up to 2A (peak) and 1A(continuous) per phase.
●Smoother stepper motor rotation with 2, 4 and 8 micro-stepping.
●Able to drive stepper motor from 6V to 20V.
●Single power input for both motor and on board controller.
●5V logic level compatible inputs.
●Detect up to 1KHz pulses at PULSE input pin.
However, the maximum speed a stepper motor can step is also depending on the
motor's performance. For stepper motors available in Cytron store, the max
stepping speed can be up to 2-4kHz without load (free run).
●Enable/Disable pin for low power consumption mode.
●UART baud rate are saved in the non-volatile memory
memory (Factory default is baud rate = 9600).
Dimension: 7.4 cm x 6.6 cm
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Product User’s Manual – SD02C
1.1 System Overview
SD02C is the enhanced version from SD02B. One of the additional features for SD02C
compare to SD02B is the onboard microstepping mode and UC00A interface for easiest uart
communication or connect directly to SKXBee. UART is provided in SD02C for easier
communication between user’s circuit (microcontroller/Arduino) and SD02C.
By using UART function on SD02C, user is able to have more extensive control of the motor
driver and stepper motor. User can leave most part of the motor control algorithm to SD02C and
let it takes care of the encoder supervisory job. It saves much software resources on the host.
For example by sending some commands, SD02C is able to accelerate the stepper motor from the
specified initial speed to final speed at desired acceleration rate. While the stepper motor is
accelerating, the host may take care of other routines. In order to know the stepper motor has been
accelerated to the final speed, the host can send another command to check the status of SD02C.
Besides, host can brake the stepper motor at the desired step by just sending a command together
with a 16-bit encoder value (send in two 8-bit values) to SD02C and let it counts the steps for you.
Besides that, the UART baud rate is stored in the non-volatile flash memory. This setting only
need to be configured once and will remain the same even though the power has been turned off.
Please refer to section 7.4, SD02C UART Protocol for the UART commands and descriptions.
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Product User’s Manual – SD02C
1.2 General Description
Driving stepper motor is common necessity in most robotic project. A stepper motor is a
brushless, synchronous electric motor that can drive a full rotation into a large number of steps.
Stepper motor is ideally suit for precision control. This motor can operate in
forward/reverse with controllable speed stepper driver. There are various kinds of stepper motor,
some example are variable reluctant stepper motor, permanent magnet stepper motor,
bipolar/unipolar stepper motor, bifilar stepper motor and hybrid stepper motor. For more
description of stepper motor, user is advice to refer to Wikipedia at:
http://en.wikipedia.org/wiki/Stepper_motor. This driver, SD02C is design to drive bipolar
stepper motor.
SD02C is designed to drive stepper in 1, 2, 4 or 8 micro steps. This will offer smoother rotation of
the stepper motor. Of course, the step angle will depend on the specification of stepper motor
being drive. As an example, if the stepper motor being drive is 1.8° per step and use 1/8
micro-stepping, the smallest step (1 pulse) is 0.225°. This will offer much better resolution
(°/step).
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2. PACKING LIST
Please check the parts and components according to the packing list. If there are any parts
missing, please contact us at [email protected] immediately.
SD02C comes with:
• 1 x SD02C board with every component is soldered properly and tested before board
is shipped.
• User’s Manual and sample source codes (in VB.net and C language) can be
downloaded from http://www.cytron.com.my/p-sd02c.
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Product User’s Manual – SD02C
3. PRODUCT SPECIFICATION AND LIMITATIONS
Power Input Pins Function Description
Label
Definition
Function
VM
Motor Supply
Voltage
VM is one of SD02C power sources. VM will supplies power
to both stepper motor and SD02C circuit. Although SD02C
provides protection against wrong polarity for this input,
user must ensure the voltage and polarity of connection are
correct before providing the power so that SD02C can function
correctly.
GND
System Ground
Common ground for both logic operation and stepper motor
power source.
*If power is connect correctly, the PWR LED should light up.
Signal Input Pins Function Description
Label
Definition
Function
DIR
Stepper Motor
Rotating
Direction
Input Pin
Input for stepper motor to rotate CW (clockwise) or CCW
(counterclockwise). This pin is TTL/CMOS logic (5V and
0V). The direction is depends on the connection sequence
of stepper motor wires to SD02C. For example:
DIR = 0V CW
DIR = 5V CCW
EN
Stepper Driver
Enable Pin
Input pin to enable SD02C. This pin is TTL/CMOS logic
(5V and 0V). 5V will enable the motor driver further hold
the shaft of stepper motor while 0V will disable the motor
driver and release the shaft of the stepper motor. By
default, the driver is disabled for power saving.
PULSE
Stepping Pulse
Input Pin
Input to drive the stepper motor. This pin is
TTL/CMOS logic (5V and 0V). Each pulse (logic
change from 0 to 1) will drive the stepper motor 1step.
SD02C has 2/4/8 micro stepping.
GND
System Ground
Common ground for both logic operation and stepper motor
power source.
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UART/UC00A Pins Function Description
Label
Definition
Function
DTR
SD02C RESET
Pin via 0.1uF
capacitor
Connected to Reset pin via 0.1uF capacitor. Suitable to act
as software reset of SD02C.
TX
SD02C UART
Transmit Pin
This is SD02C’s UART transmit pin. It should be
interfaced to 5V logic UART. It should be connected
to host’s receive pin.
RX
SD02C UART
Receive Pin
This is SD02C’s UART receive pin. It should be
interfaced to 5V logic UART. It should be connected
to host’s transmit pin.
VSEL
System 5V
Connected to 5V board. Suitable to power up SKXBee.
CTS
NC
Not connected to any pin.
GND
System Ground
Common ground for both logic operation and also
stepper power source.
Absolute Maximum Rating
No
Parameter
Max
Typical
Min
Unit
1
Output Current per phase, Iphase
1.8*
1
-
A
2
Case Operating Temperature, TC
70
-
0
°C
3
Storage Temperature, TSTG
80
-
0
°C
* For momentary peak current. Driving at this condition may trigger overheat or over-current cut-off.
No
Parameter
Max
Typical
Min
Unit
4
VM Voltage
20
-
6
V
5
VM Current
2.53
-
0.11
A
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Product User’s Manual – SD02C
4.BOARD LAYOUT
Label
Function
Label
Function
A
Micro stepping selector
F
Push button to reset SD02C
B
Connector to stepper motor
G
Push button to test SD02C
C
Stepper motor coil power indicator
(4 LEDs)
H
Small green LED as VCC indicator
D
Manufacturing test point
I
Voltage input
E
UART communication
J
Connector to Host (Signal)
A – A DIP switch used to select Micro stepping for SD02C.
B – A 6 ways connector for user to connect particular stepper motor. Please skru the
wire properly by referring to chapter 5, Hardware Installation.
C – 4 red LEDs acting as indicator for stepper motor coil. These LEDs will indicate
which coil is being powered at a moment
.
D – Manufacturing test point for SD02C. The header pin is not soldered since it is meant
for production test point. Please DO NOT connect or shorted any of these pins.
E – UART communication between SD02C and microcontroller circuit or PC’s Serial
Communication Interface (SCI).
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F – A push button acting as reset button to SD02C. If this button is pressed, SD02C will
be reset to initial stage. Please DO NOT pressed this button during operation
.
G – A push button to activate self test on SD02C. When it is pressed and hold, SD02C will
start to drive stepper motor. If power supply is connected and this button is pressed,
LEDs at C will illuminate sequentially.
H – A small green LED to indicate status of power. If power is connected and voltage,
this LED will light ON.
I – Voltage input for the power source.
J – A 2510 4 ways connector to host. Please refer to chapter 5, Hardware installation
for details.
4.1 DIMENSION
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