Parker PDFX Stepping Drive - 10
Description
This is a driver for the Parker PDFX Series Mini Stepping Drive.
It sends the command "1GOTO(MAIN)" to the Controller when start recording is performed. It polls the driver every 0.1 second using the "1R(EP)" or "1R(PE)" command for the current reading of the angle decoder.
The latter command is sent if the the NEW version of the driver entry is chosen. This angle is decoded and made available to the rest of Qinsy.
See below for the software that was downloaded in the driver.
Driver Information
| Driver | Parker PDFX Stepping Drive | Interface Type | Serial | Driver Class Type | Terminated <LF> |
|---|---|---|---|---|---|
UTC Driver  | No | Input / Output | Input (two-way) | Executable | DrvParkerPDFX.exe |
| Related Systems |
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| Related Pages | |||||
Decoding Notes
Data is decoded and passed on unscaled.
System Configuration
See the following page for a list of the software that was uploaded to the PDFX driver:
1K 1CLEAR(ALL) 1START: 1DECLARE(MAIN) ;Declare Programs 1DECLARE(DATUM) 1OFF ;switch motor off 1W(MR,4000) ;Set motor resolution 1W(MC,70) ;Set motor current 1W(MS,50) ;Set standby current 1W(ER,400) ;Set encoder resolution 20000/50 1W(DU,1) ;Set to operate in encoder steps 1HOME1(+,0,+5.00,100.00,3) ;Set homing parameters 1LIMITS(3,1,0,200.0) ;Disable limits 1ON ;Turn motor on ;1GOSUB(DATUM) 1MI ;Motion Incremental 1D20000 ;Set distance for 360 degrees 1V1.00 ;Velocity 1VS0.25 1A250.00 1AD300.00 ;1LOOP(MAIN,0) 1END 1MAIN: ;Main program ;1R(EP) 1G ;Begin motion 1T0.50 ;Pause when motion complete 1H ;Change direction 1END 1DATUM: ;Homing routine 1W(CQ,0) ;Set for continuous execution mode 1O(1XXXXXXX) ;Turn output 1 on 1GH ;Go home 1T0.20 1O(0XXXXXXX) ;Turn output 1 off 1T0.20 1O(1XXXXXXX) ;Turn output 1 on 1T1.00 1TR(IP,=,1) ;Wait until motion has ceased 1W(PA,0) ;Set position to Zero 1W(CQ,1) ;Turn off continuous execution 1END 1ARM1 ;Run start program on power up 1SV
Notes:
- If the movement that occurs every time when recording is performed, has to be changed, modify the "1main:" section of the program. Refer to the PDFX manual for available commands.
- To start in a predefined position, execute the datum routine.
This can be done in the following way:- Use a terminal program or, the Easi-tools to send the command "1GOTO(DATUM) to the drive.
- Modify the above program. Uncomment the statement ";1GOSUB(DATUM)" (remove the ";" character). Now the motor will go to a predefined position every time the driver is powered on.
Interfacing Notes
The interface cable is a non-standard RS-232 two-way cable.
See the diagram below for wiring details. Communication parameters are 19200 or 9600, 8, None, 1.
Note that the echo switch must be ON.
DB-25 | Sensor | DB-9 | COM | DB-25 | COM | ||
|---|---|---|---|---|---|---|---|
Pin 4 | RXD | ----- | Pin 3 | TXD | Pin 2 | TXD | |
Pin 5 | TXD | ----- | Pin 2 | RXD | Pin 3 | RXD | |
Pin 3 | SG | ----- | Pin 5 | SG | Pin 7 | SG |
Database Setup
Add an angle observation with the following properties to the system:
The scale factor is set up for a 20000 pulse per revolution encoder (400 / 20000 = 0.02).
Online
Controller Setup
The motor will start and perform the main routine when the record command is received.
Normally the main command will perform a single revolution, each time in an alternating direction.
This is subject to the software in the motor driver.
Drivers IO Notes
Type168
If this option is active then the driver will send the new "1R(PE)" command to ask for the current angle value.
This command is different depending on the Parker Controller type: the new 168 expects the "1R(PE)" command while the older type 167 expects "1R(EP)"