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Controller
No Longer Available
See VXM controller
Model NF90 Controller
The NF90 is a low cost programmable stepping
motor controller for running three motors, one-at-a-time. The Controller
incorporates a single chip "Super Microprocessor" that has on-chip
RAM. The RAM is available for temporary storage of a user-entered
program and motion parameters. Commands and data are entered through
the RS-232 interface from a host computer, terminal, or programmable
controller. Specialized Commands provide simple and efficient entry
of a complex, yet compact, program.
NF90 Features:
- A complete microprocessor-based Controller
with motor drives for one, two, or three motors.
- Low cost and small size.
- 400 steps per revolution (0.9o step angle)
resolution.
- Linear type
motor and logic power supplies result in low Electromagnetic Interference
(EMI).
- A Digitizing function can be utilized
with a host terminal connected as a readout of motor position.
- A three wire RS-232 allows a host to enter
Commands (ASCII characters) and Data, Poll for status, and Read
Position information. A ten-foot serial cable with a 25 to 9 pin
adapter for PCs comes standard.
- The NF90 will run in an interactive or stand-alone
mode.
- Acceleration/Deceleration settable from 2,000
to 100,000 steps/sec2 in 2,000 step/sec2 increments.
- Speed programmable from 1 to 6000 steps/sec.
in 1 step/sec increments. NOTE: Most motors have low torque above
2000 steps/sec.
- Incremental Index distance is programmable
from ±1 to ±1,048,575 steps.
- Programmable Return-to-Zero position.
- Programmable pauses from 100 milliseconds
to 13 minutes.
- Six powerful Loop Commands provide from one
to continuous repeat operations, performing simple functions like
auto-reverse, raster scans and other complex XY matrix patterns.
- A User Output can be programmed to turn On
and Off an external solid state relay, or interface to other logic
level devices.
- A User Input can be utilized in a program
as a WAIT for external switch or relay closure.
- Backlash Compensation can be set to automatically
finish every index approaching from the positive direction.
- Run, Limit switch, Remote Jog, Output, Input,
RS-232 and Motor connections are accessible at unpluggable connectors
on the front panel.
- Optional push-button jog controller available.
- RS-232 baud rate settings are switch settable
to 300, 1200, 4800, or 9600.
- Terminal, Diagnostic, LabVIEW drivers, and
BASIC, C, and Pascal Example Programs for PCs on diskette are
included.
- A User program can be put in EPROM by Velmex
for a nominal fee.
- As many as 255 controllers can be "daisy-chained"
together allowing the host to address each one from just one serial
port.
- The NF90 can be set to signal the host when
a limit switch has been encountered.
- Automatic Power Down reduces power consumption
by de-energizing the motors when at a standstill.
- Single Step mode is provided for debugging
a program or as a controlled interrupt.
- Completely wired and tested for direct connection
- The NF90 can be polled for its status at any
time; additionally a prompt ("^") is automatically sent to the
host when a program has finished.
- The NF90 can be programmed to send a pulse
or character at preset distances without stopping or slowing the
motor.
- Motor position can be read while motor is
in motion.
- Limit Switches for CW and CCW directions are
provided with plug-in connection to UniSlide limit switch assemblies.
- Two year Limited Warranty.
Specifications:
| Functional |
| Packaged Controller/Driver,
using Microcomputer control of stepping motors. Unipolar series
resistance (L/R) driver. Operates one to three (dependent on
model) motors, one-at-a-time. |
| Motor Compatibility |
| 1.8o PM 6 or 8 lead
stepping motors, 4.7 Amp/phase max. Factory matched for a particular
motor current, motors on each axis to be the same Amp/phase
value. |
| Physical |
| Weight: |
7.2 lbs. (
3.2 kg ) |
| Height: |
5.0 inches
( 12.7 cm ) |
| Width: |
10.8 inches
( 27.4 cm ) |
| Depth: |
7.8 inches
( 19.8 cm ) |
| Electrical Requirements |
90 to 130 VAC 50/60Hz, 150 watts
210-250V 50 Hz. available on request |
| Environmental |
| 35o to 95o F ( 2o to 35o C )
Convection cooled |
| Models |
Model # NF90-1
One motor version
Model # NF90-2 Two motor version
Model # NF90-3 Three motor version |
| Options |
Remote Manual
Push-button Control
19" Rack Mount Kit
Mouse control for NF90-1& NF90-2 on next page |
Command Summary:
| Command |
Function |
| lmMx |
Set steps to Index a motor CW
(positive), m= motor# (1,2,3), x=1 to 1048575 |
| lmM-x |
Set steps to Index a motor CCW
(negative), m= motor# (1,2,3), x=1 to 1048575 |
| lmM0 |
Index a motor to absolute zero
position, m=motor# (1,2,3) |
| SmMx |
Set Speed of a motor, m = motor#
(1,2,3), x=1 to 6000 steps/sec. |
| AmMx |
Acceleration/deceleration, m
= motor# (1,2,3), x=1 to 50 |
| L0 |
Loop continually from the beginning |
| L-0 |
Sets the Loop-to-marker at the
current location in the program |
| Lx |
Loop from beginning or Loop-to-marker
x-1 times (x =2 to 255) |
| L-x |
Loop from beginning or Loop-to-marker
x-1 times, alternating direction of motor 1 |
| LM-2 |
Loop once from beginning or
Loop-to-marker reversing index direction of motor 2 |
| LM-3 |
Loop once from beginning or
Loop-to-marker reversing index direction of motor 1 and motor
2 |
| Px |
Pause x tenths of a second and
output if output enabled (x=0 to 8191, 10 µsec pause when x=0) |
| U0 |
Wait for a "high" on the user
input |
| U1 |
Wait for a high on the user
input, holding the user output high while waiting |
| U2 |
Disable user output when pausing |
| U3 |
Enable output when pausing (reset
state) |
| U4 |
User output "low" |
| U5 |
User output high |
| U6 |
Send "W" to host and wait for
a "G" to continue |
| U7 |
Start of Continuous Index with
pulse output |
| U8 |
Start of Continuous Index sending
"@" to the host |
| U9 |
End of Continuous Index |
| Bx |
Backlash compensation, compensation
on when x=1, off when x=0 |
| Ox |
Indicate limit switch Over-travel
to host, off when x=0, NF90 sends "O" when x=1 and a limit switch
is encountered |
| Q |
Quit On-Line mode (return to
Jog/Slew mode) |
| R |
Run program |
| N |
Null (zero) motors 1,2,3 absolute
position registers |
| K |
Kill operation in progress |
| V |
Verify Controller's status,
NF90 sends "B" to host if busy, or "R" if ready |
| C |
Clear program from memory |
| D |
Decelerate to a stop (interrupts
current index in progress) |
| E |
Enable On-Line mode with echo
on |
| F |
Enable On-Line mode with echo
oFF |
| G |
Go after waiting or holding |
| H |
Put Controller on Hold (single
step mode) |
| X |
Send position of motor 1 to
host |
| Y |
Send position of motor 2 to
host |
| Z |
Send position of motor 3 to
host |
| The following commands
are for NF90s that are daisy-chained together |
| [x] |
Send commands
to the next NF90 in the "chain", x are any of the above commands |
| & |
Enable multiple
NF90s that are daisy-chained |
Mouse Control for NF90 Series
Controllers
The NF90 Proportional Speed/Distance Mouse
provides a precise efficient one, two, three, or four axis variable
speed positioning system when used with one or two modified NF90
Stepping Motor Controllers. The Mouse is a three button electromechanical
encoder type with special modifications for use with Velmex NF90
Controllers. To achieve simultaneous motion two NF90 Controllers
are required for this system. The NF90s can be either one or two
axis versions. The mouse works in two modes, proportional speed
or proportional distance, that are button/switch (user option) selectable.
In the speed mode, motor speed and direction are proportional to
how far the mouse is moved; the further the mouse is moved the faster
the motor will slew. In the distance mode, the motor moves a distance
and direction proportional to the mouse position; every mouse pulse
will step the motor a step.
The center and right mouse buttons enable
the motors to move. Motor speed and distance is determined by moving
the mouse when the button(s) are depressed. The motor(s) will only
move when both the mouse button(s) and the mouse is moved from the
position where the button(s) was pressed. Releasing the button(s)
anytime a motor is moving will cause a rapid controlled deceleration
of the motor(s) to a stop.
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