OVERVIEW
The CCB-25 is a low cost driver and smart
controller board suitable for operating small
stepper motors. It utilizes a flexible phase
sequence generator and unipolar power
drivers with ratings up to 3 amps per phase.
This all-in-one package is designed for OEM
applications using high volume production
linear actuators, rotary steppers and solenoid
or valve drivers. Built in phase step
sequences include Full, Half, and Wave
drives. A custom, user sequence capability
provides a means to sequence 8 states with up
to four devices.
The CCB-25 has an instruction set of over 30
commands that include loop on port, count
delays, and set/clear ports. In addition to 6
general-purpose ports, jog, limit and home
sensor inputs are also available.
The CCB-25 has several features not found in
other controllers. In addition to the
customizable phase sequence, auxiliary step
pulse/direction inputs allow motion
generation via external pulse sources, with
limit switch protection and position counter
tracking.
For evaluation and medium volume
production, a companion "mini-mother"
board simplifies product interface. The dual
axis board has an RS-232 interface,
expandable for multiple axes. The
communication, power and I.O. signal
connectors provide for real-world interface.
FEATURES
Small in size
3 amp current output
Absolute/relative position commands
Bi-directional ramping between speeds
User I.O. ports; 4 inputs and 3 outputs
Speeds to 23,000 steps per second
Speed alterable "on the fly"
Soft decelerate stop command & input
Motion output signal
Receive/send commands while moving
Step register of over 16M steps
Enable signal polarity (programmable)
Special "Home" function at any step rate
Read position counter while moving
Limit and home switch inputs
2k non-volatile memory
19.2k Baud selectable
Programmable trip point
Selectable "Party
Line" serial mode
Limit switch polarity (programmable)
16-way branch (on ports 1-4)
TERMINAL INTERFACE
By using a simple RS-232 buffer, motion
sequences can be programmed from a
standard terminal or host PC. Command lines
consist of an ASCII character followed by a
number. The input line editor provides a user-
friendly interface. The DCMB (mother
board) includes an RS-232 interface.
PARTY LINE MODE
"Party Line" communication protocol is
required when a host computer application,
other then "dumb" terminal mode, is used.
This protocol greatly reduces communication
time and supports between 1 and 60 axes of
motion connected in parallel from a single
serial port.
NON-VOLATILE MEMORY
2k byte of non-volatile memory is available
via the Go command to store user programs
for future execution. Any number of
programs may co-exist, limited only by the
available memory space. By implementing
non-volatile memory, all parameters, such as
initial velocity, ramp, step mode, etc., may be
set as defaults then modified "on the fly"
during program execution.
CCB-25
3 AMP/PHASE
STEPPER MOTOR
DRIVER
AND
INTELLIGENT
CONTROLLER
RESET
Upon hardware reset all parameters (set by commands
B,D,E,H,I,K,T,V) most recently saved are down-loaded into the
working registers of the controller. Both Jog and Go inputs are then
active. During reset all outputs are off.
TRIP POINT
The trip point is a programmable position that allows pre-defined
operations to be triggered when the motor position matches the
established trip point position. During motion the position counter is
continuously updated and compared to the programmed trip position.
EASI DISKETTE
AMS provides free application development software; featuring:
Program Editor
Syntax Checker Loader
Microsoft "C" Source Code
Pull-Down Menus
Dumb Terminal Emulation
Quick Basic Information Program
Speed, Distance, Accel/Decel Plots
SUMMARY OF COMMANDS
ASCII
Range
Description
Bytes
ESC
N/A
Abort/Terminate
A
0-129
Port Set/Increment/Read
2
B
0-255, 0-255
Jog Speed/30: Slow, Fast
3
C
0-8
Restore, Clear Page
D
0-255
Divide Factor
2
E
0-15
Enable, Limit Sense
2
F
0/1,0-23,000
Find Home: Sense Speed
3
G
0-2,048, 0/1
Go (Address/Branch), Trace
3
H
0 8
Select phase table
2
I
14-23,000
Initial Velocity-SPS
3
J
0-2,047, 0-255
Jump To Address,
Repetition
4
K
0-255, 0-255
Ramp Slope
3
k
0-63
Trip Output Values
2
L
0-2048, 0-9
Loop On Port Condition
3
M
14-23,000
Constant Velocity-SPS
3
O
0-8,388,607
Set Origin
4
P
0-2,047
Program Mode
Q
0-2,047
Query Program
R
0-8,388,607
Relative Move
4
S
N/A
Store Parameters
1
T
0-8,388,607
Set Trip Point
4
V
14-23,000
Slew Velocity-SPS
3
W
0-65, 535
Wait n Milliseconds
3
X
N/A
Examine Settings
Z
0/1
Read Position Once/Repeat
1
+
0-16,777,215
+ Step Command
4
-
0-16,777,215
- Step Command
4
\
0-2,047
Write To NV Memory
[
0-2,047
Read NV Memory
]
N/A
Query Hardware Status
1
^
N/A
Query Motion Status
1
@
N/A
Soft Stop
1
PHASE SEQUENCE
The H command sets the phase switching sequence:
Sequence
1
2
3
4
5
6
7
8
Full (H0)
1010 1001 0101 0110 1010 1001 0101 0110
Half (H1)
1010 1000 1001 0001 0101 0100 0110 0010
Wave (H2)
1000 0001 0100 0010 1000 0001 0100 0010
Bin. (H3)
0000 1000 0100 1100 0010 1010 0100 1110
Res 0 (H4)
0010 0010 0010 0010 0010 0010 0010 0010
Res 1 (H5)
0011 0011 0011 0011 0011 0011 0011 0011
Res 2 (H6)
1010 1010 1010 1010 1010 1010 1010 1010
Res 3 (H7)
0110 0110 0110 0110 0110 0110 0110 0110
ELECTRICAL SPECIFICATIONS
D.C. Characteristics: (Vcc= 5V 10%)
Description
Condition
Min
Max
Unit
Icc: Supply current
40.0
Ma
Vil: Input low voltage
-.05
0.8
V
IiI: Input low current
Vil=0.45V
-500.0
a
Vih: Input high voltage
2.0 Vcc+0.5
V
Vol: Output low voltage
IoI=1.6ma
0.45
V
Voh: Output high voltage
Ioh= -80a
2.4
V
Drive Outputs
Description
Min
Max
Unit
4 unipolar transistors (continuous)
3.0
Amp
Motor Power Supply (Vmm):
Bypass internal regulator (regulated)
5
Vdc
Using internal regulator (standard)
8
28
Vdc
BLOCK DIAGRAM - PHYSICAL DIMENSIONS
(3.38 x 2.58 inches)
.
P1
CLAMP
PH0
PH3
PH2
PH1
CONTROL
ENABLE
5V SERIAL
VMM*
(POWER)
MOTOR
3.375
2.09
I/O
POWER
RESET
NV MEM
SMC-25
REG.
8-28V
5V/40ma
2
.
2
0
.
3
8
P1 (40 PIN EDGE CONNECTOR) SIGNALS
Pin Name
Funct.
Sig.
Pin
Name
Funct.
Sig.
1
Gnd
Power
Com
2
N/C
3
Port 4
Input
5v
4
Home
Input
5v
5
Moving
Output
OD
6
Limit A
Input
5v
7
Port 5
Output
5v
8
Limit B
Input
5v
9
Port 3
Input
5v
10
Jog 2 In
Input
5v
11 Port 1
Input
5v
12
Jog 1 In
Input
5v
13 Jog
Speed
Input
5v
14
Port 6
Output
5v
15 Port 2
Input
5v
16
Soft Stop
Input
5v
17 Go
Input
5v
18
Port 4
Output
5v
19 Vcc 5v
In/Out
5v
20
Ext. Dir.
Input
OD
21 Dir.
Output
OD
22
Step
Pulse
Output
5v
23 Ext Step Input
5v
24
Enable
Input
5v
25 Party
Line
Input
5v
26
Gnd
Power
Com
27 Vcc 5v
In/Out
5v
28
TXD
Output
5v
29 RXD
Input
5v
30
N/C
31 Ph 3
Drive
Output
Vm
32
Ph 3
Drive
Output
Vm
33 Ph 2
Drive
Output
Vm
34
Ph 2
Drive
Output
Vm
35 Ph 1
Drive
Output
Vm
36
Ph 1
Drive
Output
Vm
37 Ph 0
Drive
Output
Vm
38
Ph 0
Drive
Output
Vm
39 Vm
Power
12-20v
40
Gnd
Power
Com
SIGNAL PIN DESCRIPTIONS
Input Hardware
Unless otherwise stated, all inputs are 0-5 volt logic, with 10k pull-up
resistors to Vcc. A 3.3k series resistor affords some protection from
input surges to the CMOS series input buffers.
Output Hardware
Unless otherwise stated, all outputs are 0-5 volt logic. Open drain
outputs have 10k pull-up resistors to Vcc.
WARNING! Exceeding the input or output ratings will damage the
CCB-25 and may void any warranty.
Pin#
1, 26, 40
Power Gnd is common for power supply and all signals.
39
Vmm Input : (Power Supply)
a)
Supplies clamp voltage for output transistor
protection.
b)
Supplies a low voltage 5 volt regulator for logic
power (Vmm range: 8 volts to 28 volts maximum).
11, 15, 9, 3 Four General-Purpose 5 Volt Input Ports for
applications such as reading switches or other signals.
18, 7, 14
Three General-Purpose 5 Volt Output Ports for
applications such as valve control or logic signals.
4
Home Input is used by the Find Home command. It may
be read by the host as a general-purpose input.
5
Moving: an open drain status output low while moving. It
may be or'ed with other axis.
6, 8
Limit Switch Inputs inhibit motion in pertinent direction
only.
10, 12, 13 Jog Control provides a dual speed jog in both directions.
17, 16
Go and Soft Stop Inputs for control of pre-stored
sequences.
21, 22
Step and Direction Outputs for use with external power
drivers or devices such as position display.
20, 23
External Step and Direction Inputs for "slave" or
remote signals. The motor steps in the selected direction
in response to each step pulse. The position counter tracks
the position and limit switches are operative. Erratic step
rates must not produce stall condition
24
Driver Chop Input has a built in pull-DOWN resistor.
Applying a logic High will shut off all output transistors,
bypassing the micro controller.
25
Party Line Select Input: A low will place the pre-
addressed axis into the Party Line communications mode.
28, 29
TXD Out and RXD In: These 5 volt serial signals are
used for programming and interface with a host computer.
31, 32
Phase 3 Drive Out: *
33, 34
Phase 2 Drive Out: *
35, 36
Phase 1 Drive Out: *
37, 38
Phase 0 Drive Out: *
*These outputs are used to drive the step motor. The step
sequence is determined by the selectable state table within
the controller or non-volatile memory.
A small series resistor affords some protection to the output of
the 74HC buffers.
2 Townsend West, Nashua, NH 03063-1277 603-882-1447 FAX 603-881-7600
2 AXIS MOTHER BOARD (MODEL DCMB)
The DCMB is an accessory to the CCB-25. It contains the interface
for one or two axis of motion control. The expansion connector
provides the ability to add more axis in a microprocessor based
system.
Two axis interface
Expansion connector for multi-axis
1 amp 5 volt regulator for additional load
DB25 connector for input/output signals
DC or 9-18 VAC input for low cost power
Separate motor and power supply inputs
RJ45 connector for RS-232 input
An RS-232 input converts standard serial voltages to TTL levels to
drive up to 10 axis using Advanced Micro System's party line
protocol. The open drain TXD outputs from each axis are wire-or'd ,
providing a party line communication method. Prior to operation each
axis must be assigned a one character name that is stored in the CCB-
25 NV memory. Removing the "party" jumper and inserting one axis
at a time facilitates name assignment.
DCMB CONNECTORS
J1 - RS232 Interface
The J1 modular RJ45 connector serves as an RS-232 interface.
The receiver and transmitter signals meet EIA specifications.
TTL serial data levels are connected to the expansion bus (J2)
and both CCB-25 edge connectors. An available "SIN-7A"
adapter module and cable allows convenient plug compatibility
to a standard 25 pin computer "D" connector.
Pin
Signal
1
Moving
2
Gnd
3
RXD (from computer)
4
TXD (to computer)
5,6,7,8
N/C
J2 - TTL Expansion Bus
J2 is a 10 contact ribbon cable connector that allows multiple axis to
be interconnected without additional electronic hardware. The cable
length between each additional DCMB should be as short as possible,
not exceeding 6 inches.
Pin
Signal
Pin
Signal
1
Gnd
2
Vcc
3
N/C
4
N/C
5
RXD -TTL
6
N/C
7
TXD-OD
8
Mvg -OD
9
Vcc
10
Gnd
All signals are 5v logic levels.
J3 - AC Input
A standard 5.5 mm jack provides input options for low cost AC power
transformers. A 9V (1 amp or higher) AC transformer can be used for
typical 12Vdc motors. A DC supply may also be applied but
approximately 1.5 volts will be lost in the 1 amp rectifiers. The
unregulated voltage (approx. 12Vdc) is available on J4.
J4 - DC Input
This input can be used as a power input in place of J3.
Pin
Signal
1
Vmm (8-28 Vdc)*
2
Gnd (0 volts)
*Voltage levels below 8 volts require a separate 5 volt source. For 5
volt operation VMM and VCC can be connected to a single power
supply.
J6 Motor Connector
A 6 pin power connector is designed to accept each wire from a 6
conductor motor.
Pin
Signal
1
Ph 3
2
Ph2
3
Ph1
4
Ph0
5
Vmm (center tap Ph0 and Ph1)
6
Vmm (center tap Ph2 and Ph3)
I.O. 1, and I.O. 2 Input/Output Signals
Two convenient DB25 connectors provide access to all input and
output signals. All signals are 5v logic levels rated at 1ma source or
sink. Inputs have a 10k pull-up resistor.
Pin
Name
Funct.
Sig.
Pin
Name
Funct.
Sig.
1
Port 2
Input
5v
14
Vcc
Power
5v
2
Port 4
Input
5v
15
Home
Input
5v
3
Moving
Out
OD
16
Limit A
Input
5v
4
Port 5
Out
5v
17
Limit B
Input
5v
5
Port 3
Input
5v
18
Jog 1
Input
5v
6
Port 1
Input
5v
19
Jog 2
Input
5v
7
Jog Spd
Input
5v
20
Port 6
Output 5v
8
Gnd
Power
Com
21
Soft Stp
Input
5v
9
Go
Input
5v
22
Port 4
Output 5v
10
Ext Dir.
Input
5v
23
Dir.
Output OD
11
Step
Output 5v
24
Gnd
Power
Com
12
Ext Step Input
5v
25
Gnd
Power
Com
13
Chop
Input
5v
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