Introduction
The SMC motion control system consists of two basic elements; the controller card and the MS driver card. The controller card (CY5.4) contains the Cybernetic CY 545 or CY 550 Step Motor Controller and a 2K character EEPROM (non-volatile) for storing application routines. Refer to the Cybernetics 545 manual for a description of the 545 microprocessor and its "High-Level" command set (26 characters and symbols). All actions of this system are controlled by these commands.
Two of the eight User Bits of the 545 (USRB 0-7) are assigned to a specific function. The remainder are for general purpose Input and Output functions (I/O) such as controlling relays or valves (output) and reading switches (input). The command set of the Cybernetic 545 contains instructions such as Test, Wait, Delay, Loop which are used along with the motion instructions to provide a wide range of machine operations. The SMC system can also be discribed as a "mini- PLC with motion".
The Step pulses and the Direction signal from the CY5.4 controller are connected to the motor driver. Additionally, the Stop (PWR LED) signal shifts the driver from Park power to Full power. A Home Sensor channel is also part of the system.
Each system includes a CI cable (controller interface cable). This 20 pin cable is divided into two sections. The I/O section contains + 5 v power and ground as well as six User Bits. The Chassis section connects the Home Sensor, User Bit 2, Jog Switch, and Limit Loop signals back to the controller. Refer to Appendix A for details.
This system is self-contained and can operate independently or under the direct command of a host computer. In Memory Mode, the host computer is used to "teach" the system by sending a string of commands which are stored, for later execution, in the on-board memory of the controller card. In Direct Mode, the host commands are executed immediately by the CY545. A combination of these two modes is also possible; typically macro command strings are loaded to memory and then executed as required by the host.
See Appendix A for CI cable
See Appendix B for homing / limits See Appendix C for current adjust
See Appendix D for motor wiring See Appendix E for driver card See Appendix F for home sensor