1,General 

The mobile stage controller/driver is used for driving 2-phase  stepper motor. It can drive 4 motors independently at most. You can use its controlling stick to make motors run/stop manually. It also can be controlled by a PC through RS232 interface.

2,Connection 

(1)  X -DIR:Connect this port to X direction stepper motor of mobile stage using a DB9(female)-DB9(male) cable. Connection/Disconnection only when POWER OFF!

(2)   Y -DIR:Connect this port to Y direction stepper motor of mobile stage

using a DB9(female)-DB9(male) cable. Connection/Disconnection Only when POWER OFF!

(3)   Z -DIR:Connect this port to Z direction stepper motor of mobile stage using a DB9(female)-DB9(male) cable.Connection/Disconnection only when POWER OFF!

(4)   L -DIR:Connect this port to L direction stepper motor of mobile

stage using  a DB9(female) -  DB9(male)  cable.

Connection/Disconnection only when POWER OFF!

(5)   RS232:RS232 port, Connecting to RS232 port of PC.

(6)   DC18V3A(Power Supply):Using AC adapter in accessory.

3,Programming

(1)  The mobile stage controller/driver communicates with PC using interface of RS232;

(2)   RS232 prototype:Baud rates 57600,no parity,8data bits,1stop bits;

(3)   Method:PC sends 1 byte to the mobile stage controller/driver, then waits for the mobile stage controller/driver sending back a byte of 0Dh(ASCII of Return), until now the PC can send next byte to the mobile stage controller/driver. Repeat former procedure to finish a 4-byte-command.

 (4)   Send a synchronous command before sending programming command.

 The synchronous command is: 55h, 55h, AA h, 55h;

Byte of any value of, but it can not be omitted .

(6) Example 1: Set X axis motor speed value to 280.

Sending synchronous command:

Sending 55h, waiting 0Dh; Sending 55h, waiting 0Dh; Sending AA h, waiting 0Dh; Sending 55h, waiting 0Dh;

Sending programming command: Sending 00h, waiting 0Dh; Sending 00h, waiting 0Dh; Sending 01h, waiting 0Dh; Sending 18h, waiting 0Dh;

(7) Example 2: Upload position value and forward/backward limit bits to PC. Suppose current display is:

1234567     -5789123

7654321     -3219876

Sending synchronous command:

Sending 55h, waiting 0Dh; Sending 55h, waiting 0Dh; Sending AA h, waiting 0Dh; Sending 55h, waiting 0Dh;

Sending programming command: Sending 01h, waiting 0Dh;

Sending ××h (Any value, NO omitted.), waiting 0Dh; Sending ××h (Any value, NO omitted.), waiting 0Dh; Sending ××h (Any value, NO omitted.), waiting 0Dh;

PC receiving 33 bytes from the mobile stage controller/driver:

1st byte:

bit0=0, X reached backward limit position; bit0=1, X not reached backward limit position; bit1=0, X reached forward limit position; bit1=1, X not reached forward limit position;

bit2=0, Y reached backward limit position; bit2=1, Y not reached backward limit position; bit3=0, Y reached forward limit position; bit3=1, Y not reached forward limit position; bit4=0, Z reached backward limit position; bit4=1, Z not reached backward limit position; bit5=0, Z reached forward limit position; bit5=1, Z not reached forward limit position; bit6=0, L reached backward limit position; bit6=1, L not reached backward limit position; bit7=0, L reached forward limit position; bit7=1, L not reached forward limit position;

2nd ~9th byte:  X position value in ASCII.

In the example X= 1234567, so it is: 20h,31h,32h,33h,34h,35h,36h,37h;

10th  ~17th byte: Y position value in ASCII.

In the example   Y=-5789123, so it is: 2Dh,35h,37h,38h,39h,31h,32h,33h;

18th  ~25th byte: Z position value in ASCII.

In the example Z= 7654321, so it is: 20h,37h,36h,35h,34h,33h,32h,31h;

26th~33rd byte:L position value in ASCII.

In the example L=-3219876, so it is: 2Dh,33h,32h,31h,39h,38h,37h,36h;

(8) Example  3: Set Y axis motor to go 100 micro steps(1 micro step=1/12800 round).

Sending synchronous command:

Sending 55h, waiting 0Dh; Sending 55h, waiting 0Dh; Sending AA h, waiting 0Dh; Sending 55h, waiting 0Dh;

Sending programming command: Sending 05h, waiting 0Dh; Sending 00h, waiting 0Dh; Sending 00h, waiting 0Dh; Sending 64h, waiting 0Dh;