GLOSIF

GLOSTP

General description:
   This module drives Stepper Motors with current up to 6A/phase,
the module includes a full MCU (Motion Control Unit), with up to 4 general
inputs, software configurable to be limits, home, and/or encoder inputs.
   The driver output can be configured as : full step, half step, 4 or 8
uSteps per step.
   The MCU accepts parameters from a remote PC through a fast property
serial communication link, completely implemented in hardware.
   Up to 64 modules can be daisy chinned to one master interface board on PC.
   Operates from a single power supply within a wide range of voltages.
   The module accelerates the motor using an optimized multi-ramp algorithm
developed by Global R&D. This algorithm allows the fastest and smoothest
acceleration, starting with a step initial velocity, acceptable by stepper
motor pull-in torque, and gradually accelerating by many acceleration ramps,
till the final velocity is reached.
If the final velocity is changed the MCU will accelerate/decelerate to fit
the velocity change.
   A 24 bit position counter is included. When the count is reached a
deceleration phase is entered (or hard stop is performed, if mode is selected).
   A full 24 bit quadrature encoder circuitry is also included.
The deceleration phase can also be entered at set-point. The encoder counter
can be incremented 1,2 or 4 times each encoder cycle.
   The technology used allow this high power driver including the full MCU and
communication to fit in small 6.7 x 11.0 x 1.6 cm module with no need for
heatsink...

Programmable parameters:
     * Acceleration
     * Initial velocity
     * Final velocity
     * Decelerated or Hard stop
     * Run until the Limit uSwitch is reached
     * Run until Home is reached
     * Run until exit from Home
     * Run until Position counter ends
     * Run until Encoder set point is reached
     * Run indefinitely
     * Automatically change direction
     * Automatically start a new Run with same
       parameters (but direction)
     * Driver Step size: Full step,
                                 Half step,
                                 1/4 of a step and
                                 1/8 of a step.
     * Driver Run current.
     * Driver Hold current.
   All of the parameters can be changed when the motor is not running.
Most of the parameters can be changed also during the motor motion, with
reasonable restrictions.
   A DLL and an EXAMPLE APPLICATION software is provided to easy interface
all parameters.

Electrical Specifications:
     * Phase drive current. : 6A continuous
     * Supply voltage . . . : 24-48 V nominal
                              20-52V limits
     * Operating temperature: 0-50 C
     * Operating humidity . : <80 %
     * Encoder type . . . . : OC, TTL or CMOS, 5V supplied by module
     * Home switch. . . . . : Optical, OC, TTL or CMOS,
                              5V supplied by module
     * Limit switches . . . : debounced by module
     * Physical size. . . . : 6.7 cm Wide x 11.0 cm Length x 1.6 cm High
                              No heatsink, no cooler needed.
     * Communication. . . . : Dty 9pin daisy chained to ISA interface
                              card on PC.
     * Minimum RUN velocity :   123 ppS
     * Maximum RUN velocity : 62500 ppS
     * Chopping frequency . : ~25KHz
    
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