GS-C200 datasheet(12/31 Pages) STMICROELECTRONICS

12 / 31 page

12/31

To optimize the motor torque during the accelera-

tion and deceleration (t1 and t3) it is convenient to

use a phase current profile as shown in fig. 6.

During the SLEW phase (t2) when the motor rotates

at constant speed, the current is reduced to the

minimum value necessary to compensate the sys-

tem losses (friction) and the load inertia. During the

STALL phase (t0 and t4) the current is further re-

duced to the bare value necessary to maintain the

load in the right mechanical position. By using this

current profile the power dissipation of the Se-

quencer-Driver and motor is optimized.

This profile can easily be implemented by using the

utility signals:

MOV

Movement in execution.

RAMP

Ramp in execution.

Figure 6. Phase Current-Time Profile.

Figure 7. USER Output Applicative Example

The status of these two outputs can be used to set

the appropriate phase current value for the power

driver, by a simple but effective interface circuit that

is described in detail in fig. 11 of paragraph PHASE

CURRENT PROGRAMMING on page 24.

THE USER INTERFACE

The USER interface consists of three inputs and

three outputs which are TTL compatible. They can

be read and/or activated during the execution of a

program under the complete user control; therefore

they condition a program execution.

These signals allow the implementation of complex

movements, minimizing the program length and the

use of external hardware. The start of a movement

or of a sequence can be conditioned by a logic level

applied to one or more inputs, thus performing the

”mechanical tree” function.

The USER outputs logic state is set by program

instructions and this information can be used by

other controllers to synchronize multiple move-

ments or to control external drivers.

By using only these signals, it is possible to build

up simple systems which implement cyclic move-

ments and create a true stand-alone system. The

example reported in figure 7 shows one of the

possible utilization of USER output. The example

refers to a complete motion control system imple-

mented by using the GS-C200 controller and the

GS-D200 Sequencer-Driver. The USER output

UO1 is used to enable the GS-D200 (UO1 High) or

to inhibit it (UO1 Low).

The USER output UO2 is used to select the motor

current decay inherent to the chop mode control of

GS-D200. When UO2 is high a slow decay is im-

posed to the phase current during recirculation;

when UO2 is low a fast decay is selected.

The USER output UO3 allows the selection between

the half and full-step mode of operation of the

GS-D200. Half-step occurs when UO3 is high.

The GS-C200S is capable of executing a jump

command either direct or conditioned by the logic

status of the USER inputs. This capability is very

useful because it allows complex programs to be

written by using a limited number of instructions. This

feature makes also possible to have a segmented

program contained in the internal memory; the selec-

tion and the subsequent execution of the needed

program segment is started by a specific logic status

applied to the USER inputs.

THE S.I.M.P.L.E. COMMAND INTERPRETER

AND EXECUTOR AND THE PROGRAMMING

LANGUAGE

The GS-C modules contain an interpreter program

named S.I.M.P.L.E., acronym for SGS-THOMSON

Interactive Stepper Motor Program Language and

Executor, that recognizes simple mnemonic com-

mands, verifies the correctness of the received com-

mands and executes the instruction sequences of each

command or a complete command sequence by trans-

lation into complex executable instructions. The inter-

preter recognizes three different types of commands:

DIRECT EXECUTION COMMAND

DELAYED EXECUTION COMMAND

UTILITY COMMANDS

GS-C200 / GS-C200S

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