FW-UM008 - A EvoDrive ST-PCB Quick Start Guide PDF

EvoDrive ST-PCB Quick Start Guide
EvoDrive ST-PCB
QUICK START GUIDE
EVA Robotics | FW-UM008 Rev A | Dec 2010
Rev A | December 2010 www.evarobotics.com Page 1

Copyright © EVA Robotics Pty Ltd
1. Introduction
This quick start guide will help you get the
EvoDrive ST-PCB spinning your stepper motor as
quickly as possible.
Safety Warning
The EvoDrive allows torque control. When you select

100% (you won’t be able to resist) the motor will
spin like crazy. Don’t have it in your mouth at the
time.
1.1 Development Kit Contents
EvoDrive ST-PCB Frame 17 motor

with Encoder
24V DC Power
Supply
USB Debugger USB Key
Breakout PCB

1.2 Breakout PCB Connections
Stepper Motor Encoder
EvoDrive ST-PCB
SPI
Digital Control
DC Power Supply
RS232
12V - 48V

1.3 References
All software and documentation can be found on the

USB Key.
Where a path is given in these instructions, we

assume the USB key has the drive letter U:
The EvoDrive ST-PCB Manuals, including the

integration and programmers manuals, can be found
in the directory U:\Documents\

2. Quick Start
2.1 Install EvoLink
1. Run the EvoLink installer located in

U:\EvoLink\
2. Follow the prompts and allow the installer to
finish before continuing.
2.2 Power up EvoDrive ST-PCB
1. Plug the EvoDrive ST-PCB into the headers in

the middle of the Breakout PCB.
2. Connect the stepper motor to the Breakout PCB.
3. Connect one end of the encoder cable to the
encoder mounted on the stepper motor, and the
other end to the Breakout PCB.
4. Connect the power supply to the Breakout PCB.
5. Connect mains power to the power supply and
switch on.
6. Observe the following during the initial power
up of the EvoDrive ST-PCB:
· The red power LED on the Breakout PCB should

light up.
· The blue status LED on the EvoDrive ST-PCB
should light up after the encoder initialisation,
and a red heartbeat will beat every 5 seconds.
· The encoder is initialised with two small
movements of the stepper motor.
Status LED
Power LED

2.3 Connect EvoLink to the EvoDrive ST-PCB
1. Connect the USB Debugger to the DEBUG port

on the EvoDrive ST-PCB.
2. Connect the Debugger to your computer using
the USB cable.
When the EvoDrive ST-PCB is first connected,

Windows will probably install the EvoDrive USB
drivers. This process should run automatically,
however if it becomes necessary to point Windows
to the USB drivers they are included on the USB key
under U:\Drivers\.
For help installing drivers, see the USB Driver

Installation Guide in U:\Drivers\.
3. Start EvoLink by double clicking on the desktop

icon.
4. Double click on the line showing the EvoDrive
serial number. The main drive window will
open.

2.4 Your First Movement
First, note that the motor shaft will attempt to

maintain its current position. This is because on
start-up, the EvoDrive ST-PCB is maintaining a
position set point of 0.
EvoDrive
Configuration
EvoDrive
Commands
Information
Panels Real Time
Plotting
Quick Set
Points
Gauge
Controls
1. In the Quick Set Points panel, Absolute Position

(P) is already selected as the set point type.
Your EvoDrive ST-PCB is preconfigured for 1000

‘steps’ per revolution. For more information on the
resolution configuration, see the Programmers Manual
included in U:\Documents\
2. Type 1000 into the Value field and press Enter,

or click on Send.
3. The motor will turn one revolution to position
1000. Position 0 is where the motor was after
initialisation.
How easy was that? Now let’s have some fun…

2.5 Using the Gauges

EvoDrive
Configuration
EvoDrive
Commands
Information
Panels Real Time
Plotting
Quick Set
Points
Gauge
Controls
1. Click on Enable Gauges. The Gauge Controls

will become active.
The gauges allow for intuitive control of the stepper

motor. The gauges are updated approx. 10 times per
second with the current motor position, velocity and
torque.
Each gauge has a small triangular set point marker.

The red set point marker shows the currently active
set-point. For more information on set points, see the
Programmers Manual included in U:\Documents\
Note that the position gauge has an inner and outer

gauge. The inner gauge shows the position within
the current motor revolution and allows for fine-
tuning of the position.
2. Let’s trim the current position. Click and drag

the inner set point marker to 900. This will move
the motor 1/10th of a revolution.
3. Now let’s just spin the motor for a little while.
Click and drag the velocity set point to 3000.
This spins the motor at three revolutions per
second.

Note how the torque gauge is showing a reading. It

should be approximately 20%. This means the motor
is using 20% of the available torque to maintain
speed (mostly against its own detent torque).
Torque Your EvoDrive ST-PCB is preconfigured to drive

Set-Point with a maximum current of 1 Amp. This represents
100% torque.
4. Try to slow down the motor slightly with your

hand. Notice how the torque reading increases
as the EvoDrive uses more current to maintain
the speed.
While we are on the subject of Torque, let’s play

with constant torque control…
5. Click and drag the torque set-point to -30%. The

motor will spin in an anti-clockwise direction.
6. Again, try to slow the motor down with your
hand. This time the motor will slow down, but it
will always push against your hand with 30% of
the maximum available torque.
7. Stop the motor by double clicking on the torque
set point. This sets the torque set point to 0%.
Note that you can now move the motor freely. The
EvoDrive is now maintaining zero torque output.

2.6 Charting
You might notice we are way off position 0. While

writing this guide, I am on 52 016 – but you could be
anywhere!
1. Open the Commands panel and click the Zero

Position button to reset the current position to
zero.
2. Close the Commands panel.
3. Open the Chart panel. This will automatically
disable the Gauge Controls.
Commands
Panel
Charts
Panel
Position
Channel
4. The Channels panel on the right hand side

allows you to select up to five channels to plot.
Select Position.
5. Click Run to start the chart.
6. Below the chart there is a Time Span setting. Set
this to 5 seconds, this makes the chart track the
most recent 5 seconds of data.
7. Now turn the motor shaft and you can see the
motor position change in real time.

8. Stop the Chart by clicking on Stop.

9. Now select three channels: Position, Velocity
and Torque.
10. Click the Run button to start the chart.
11. In the Quick Set Point panel, select Rel Position
(R) for the Set Point Type.
12. Enter 20000 for the Set Point Value and click
Send.
13. The motor position, velocity and torque will be
displayed in real time on the chart. Click Stop to
freeze the capture.
For more information about the Charting function,

see the Integration Manual included in
U:\Documents\.
You have just graduated from EvoDrive University!
The Programmers Manual and Integration Manual

included on the USB Key will help you to
successfully integrate the EvoDrive ST-PCB into
your product.
For free help and advice, log onto the forums at

www.evarobo.com. For that matter, feel free to just
drop by and tell us about your project!
All the best
The EVA Robotics Team


FW-UM008 - A EvoDrive ST-PCB Quick Start Guide PDF

Încărcat de

Informații document

Titlu original

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

FW-UM008 - A EvoDrive ST-PCB Quick Start Guide PDF

Încărcat de

Drepturi de autor:

Formate disponibile

EvoDrive ST-PCB Quick Start Guide

Rev A | December 2010 www.evarobotics.com Page 1

The EvoDrive allows torque control. When you select

1.1 Development Kit Contents

EvoDrive ST-PCB Frame 17 motor

USB Debugger USB Key

Rev A | December 2010 www.evarobotics.com Page 2

1.2 Breakout PCB Connections

Stepper Motor Encoder

Rev A | December 2010 www.evarobotics.com Page 3

All software and documentation can be found on the

Where a path is given in these instructions, we

The EvoDrive ST-PCB Manuals, including the

Rev A | December 2010 www.evarobotics.com Page 4

2.1 Install EvoLink

1. Run the EvoLink installer located in

2.2 Power up EvoDrive ST-PCB

1. Plug the EvoDrive ST-PCB into the headers in

· The red power LED on the Breakout PCB should

Rev A | December 2010 www.evarobotics.com Page 5

2.3 Connect EvoLink to the EvoDrive ST-PCB

1. Connect the USB Debugger to the DEBUG port

When the EvoDrive ST-PCB is first connected,

For help installing drivers, see the USB Driver

3. Start EvoLink by double clicking on the desktop

Rev A | December 2010 www.evarobotics.com Page 6

2.4 Your First Movement

First, note that the motor shaft will attempt to

1. In the Quick Set Points panel, Absolute Position

Your EvoDrive ST-PCB is preconfigured for 1000

2. Type 1000 into the Value field and press Enter,

How easy was that? Now let’s have some fun…

Rev A | December 2010 www.evarobotics.com Page 7

2.5 Using the Gauges

1. Click on Enable Gauges. The Gauge Controls

The gauges allow for intuitive control of the stepper

Each gauge has a small triangular set point marker.

Note that the position gauge has an inner and outer

2. Let’s trim the current position. Click and drag

Rev A | December 2010 www.evarobotics.com Page 8

Note how the torque gauge is showing a reading. It

Torque Your EvoDrive ST-PCB is preconfigured to drive

4. Try to slow down the motor slightly with your

While we are on the subject of Torque, let’s play

5. Click and drag the torque set-point to -30%. The

Rev A | December 2010 www.evarobotics.com Page 9

You might notice we are way off position 0. While

1. Open the Commands panel and click the Zero

4. The Channels panel on the right hand side

Rev A | December 2010 www.evarobotics.com Page 10

8. Stop the Chart by clicking on Stop.

For more information about the Charting function,

You have just graduated from EvoDrive University!

The Programmers Manual and Integration Manual

For free help and advice, log onto the forums at

All the best

The EVA Robotics Team

Rev A | December 2010 www.evarobotics.com Page 11

S-ar putea să vă placă și