ST PractiSPIN UM0696 Manual de usuario

October 2009 Doc ID 15599 Rev 2 1/15

UM0696

User manual

PractiSPIN™.spmd demonstration system

configuration and set up guide

Introduction

PractiSPIN™.spmd is a demonstration system that can be used with several

STMicroelectronics stepper motor driver modules.

The system consists of a graphical user interface (GUI) program which runs on an IBM-PC

under windows, a common ST7-based interface board that communicates with the PC and

the PractiSPIN™.spmd software via a serial COMM port, and a module-specific

demonstration board (target board) that connects to the ST7 interface board via a standard

34-pin ribbon cable interface, as shown in Figure 1.

The module demonstration board connects to the motor and to a user-supplied DC power

supply generally in the range of 12 to 48 VDC, plus a logical supply rated 5 VDC.

The PractiSPIN™.spmd system is designed to operate the target module under the control

of the PractiSPIN™.spmd software.

Figure 1. The PractiSPIN™.spmd system block diagram

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www.st.com

Contents UM0696

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Contents

1 System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2 Starting PractiSPIN™.spmd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

3 Stepper motor driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

3.1 Constant speed mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

3.2 Indexing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

4 STEVAL-SPMD250V1, STEVAL-SPMD250V2 . . . . . . . . . . . . . . . . . . . . . 10

5 STEVAL-SPMD150V1, STEVAL-SPMD150V2 . . . . . . . . . . . . . . . . . . . . . 12

6 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

UM0696 List of figures

Doc ID 15599 Rev 2 3/15

List of figures

Figure 1. The PractiSPIN™.spmd system block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Figure 2. PractiSPIN™ launch window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Figure 3. Calibration window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Figure 4. PractiSPIN™.spmd constant speed mode window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Figure 5. PractiSPIN™.spmd indexing mode window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Figure 6. STEVAL-SPMD250V1 / STEVAL-SPMD250V2 demonstration system . . . . . . . . . . . . . . . 10

Figure 7. STEVAL-SPMD250V1 / STEVAL-SPMD250V2 schematic . . . . . . . . . . . . . . . . . . . . . . . . 11

Figure 8. STEVAL-SPMD150V1 / STEVAL-SPMD150V2 demonstration system . . . . . . . . . . . . . . . 12

Figure 9. STEVAL-SPMD150V1 / STEVAL-SPDM150V2 schematic . . . . . . . . . . . . . . . . . . . . . . . . 13

System overview UM0696

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1 System overview

The purpose of this document is to illustrate the operation of the complete system made up

by a module specific demonstration board (target board), the control board PractiSPIN™,

the SW PractiSPIN™.spmd and a stepper motor. For details concerning PractiSPIN™,

STEVAL-SPMD250V1, STEVAL-SPMD250V2, STEVAL-SPMD150V1 and STEVAL-

SPMD150V2, please refer to the specific application notes.

To be operated the target board needs two supply voltages and a stepper motor connected

to the proper connectors.

Through the control board and friendly user interface the PractiSPIN™.spmd system

supports the following measurements and demonstrations:

●to drive the module with normal or half step sequence

●to select the current recirculation mode

– slow decay

– fast decay

●to change the motor rotation

–forward

–reverse

●to fix the acceleration and deceleration ramp and the running speed

●to differentiate the motor current during the ramp

– normal working mode

– steady state mode

A sequence of moving and waiting times can be fixed and repeated indefinitely.

Note: For a detailed description of the control boards please refer to the PractiSPIN™ application

note.

UM0696 Starting PractiSPIN™.spmd

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2 Starting PractiSPIN™.spmd

Since the PractiSPIN™.spmd system is capable of supporting several module

demonstration boards the user must first select the module that is evaluated.

●Module demonstration board set up: configure the jumpers/switches on the target

board and the control board as described in the paragraph for the specific

demonstration board being used.

●Control board - PC connection: connect the control board to a serial COMM port of the

PC via a standard (straight through) 9 pin D connector cable.

●Powerup: energize the power supply

●Start PractiSPIN™.spmd software: on the PC, start the PractiSPIN™.spmd program

●Communication settings: click the drop down list under "port selection" and select the

COMM port being used. Baud rate and other communication parameters are fixed on

both sides of the link and do not need to be set.

●Establish COMM link: click the "connect to ST7 hardware". At this point the

PractiSPIN™.spmd software transmits several commands to the control board to

initialize the processor. The PractiSPIN™.spmd software reads the revision code of the

firmware currently stored in the Flash memory of the ST7 and determine if the correct

version of firmware resides in the ST7. If the PractiSPIN™.spmd software detects that

a firmware update is necessary, either because there is an old version of firmware or

the firmware currently in the Flash memory is not the correct firmware for the motor

type selected, one or more dialogue boxes appear asking if the program should

proceed with the update. Accept the updates and the PractiSPIN™.spmd software

automatically updates the firmware. The system then initializes the settings to the last

stored settings and open the appropriate PractiSPIN™.spmd software for the selected

target board.

Figure 2. PractiSPIN™ launch window

●Calibrate current setting: when communication is established the user has the option to

adjust the offset and maximum current settings. If this is the first time you use the

system, calibration may be needed to adjust out the offset in the reference bias

circuitry. Calibration ensures that the reference voltage provided to target module

follows the PractiSPIN™.spmd software current settings. Calibration is a two-step

process; first the offset is adjusted then the maximum current is set. Clicking on

"connect ST7 hardware" button, the calibration window appears.

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Starting PractiSPIN™.spmd UM0696

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Figure 3. Calibration window

●To null out the offset, click on calibrate zero (for details please refer to the specific target

board section).

●To set the maximum current click on calibrate max (for details please refer to the

specific target board section).

●Click done

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UM0696 Stepper motor driver

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3 Stepper motor driver

After the system has established the connection to the control board, it initializes the

settings to the last stored settings and open the PractiSPIN™.spmd GUI. For the stepper

motor, the system can operate in either a constant speed or positioning (indexing) mode.

The constant speed mode can easily be used to see that the system is working.

The stepper motor driving window, from which it is possible to select the motor working

configuration, appears.

3.1 Constant speed mode

Figure 4. PractiSPIN™.spmd constant speed mode window

●Speed control screen: a large blue button at the bottom of the screen should read,

"switch to indexing mode". If the button reads, "switch to speed control mode", click the

button once to go to speed control mode.

●Stepping mode: in the stepping mode box, select either normal or half step. Micro

stepping mode is only available when using the STEVAL-SPMD150STP.

●Device selection: in the device selection box, select the device being evaluated

●Direction: in the direction box, click the toggle switch to pick forward or reverse. This is

somewhat arbitrary since the direction sense of the motor is unknown. Once the motor

is running, toggle this switch to reverse the motor direction if desired. To reverse the

meaning of the forward and reverse designations, disable the motor (orange disable

button at bottom of screen) and then swap the motor wires at either CN3 or CN4.

●Decay mode: set the toggle switch to slow decay

●Acceleration rate: set the acceleration rate to about 1000 steps per sec2(steps/sec2).

In the PractiSPIN™.spmd system all motion parameters are given in terms of the basic

units of steps and seconds: position in steps, velocity in steps/sec, and

acceleration/deceleration in steps/sec2. In order to relate these settings to rotations,

RPM, and RPM/second it is necessary to know the number of steps (or half steps) per

rotation for the stepper motor being used. A common value is 200 steps or 400 half

steps per rotation.

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●Running speed: set running speed to about 100 steps/sec

●Deceleration rate: set deceleration rate to about 1000 steps/sec2

●Acceleration current: set acceleration current to about 25%. This is an initial guess as

to the required setting and may need further adjustment. Generally higher acceleration

rate settings require higher acceleration current settings so that the stepper motor does

not start to "slip poles" and fall behind the desired position. Since we have initially set

the acceleration rate setting quite low, 25% is probably adequate.

●Running current: set the running current to 25%. In practice the running current can

often be set to a lower value than the acceleration current since the torque requirement

is generally less during the constant speed part of the move. A lower running current

setting can help to keep the device and the motor running cooler.

●Deceleration current: set the deceleration current to 25%. Since friction aids in

decelerating the motor it may also be possible to set the deceleration current lower.

●Holding current: set the holding current to 25%. Whenever the motor is stopped (after a

run,) this level of current circulates in the motor so that it holds position against any

mechanical disturbance. In the case of a strong static load (perhaps a gravity load of

some sort) it may be necessary to increase this setting. If not much holding torque is

required, then the setting can be reduced so that operating temperatures can be held to

a minimum.

Note: Holding current is turned off (bridge completely disabled) whenever the disable button is

clicked.

●Run: make sure that the motor is free to turn in either direction and click the run button.

The motor should quickly come up to speed ((100 steps/sec)/(1000 steps/sec2) = 0.1

sec.). To change the motor direction, click the direction toggle switch. If the motor does

not run click the stop button, increase all four current settings to 50%, and click run

button. If the motor still does not run an oscilloscope and current probe should be used

to observe the motor current.

●Stop: click stop to stop the motor

After the basic operation of the system has been verified, the acceleration rates, top speed,

and current settings can be adjusted to see how the motor responds.

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3.2 Indexing mode

Figure 5. PractiSPIN™.spmd indexing mode window

The system can be switched to operate in the positioning (indexing) mode by clicking on

"switch to indexing mode". In the indexing mode a new box appears on the right of the

screen. You can enter up to twelve indexed movements in the box and the wait time between

each movement. When started, the software executes each movement by accelerating up to

the peak speed, moving the required number of steps and then decelerating back to a stop

so that the total distance moved is the number of steps indicated, then wait the indicated

time before starting the next movement. A negative number entered in the relative position

causes the motor to run in the "reverse" direction.

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STEVAL-SPMD250V1, STEVAL-SPMD250V2 UM0696

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4 STEVAL-SPMD250V1, STEVAL-SPMD250V2

To make the STEVAL-SPMD250V1 and STEVAL-SPMD250V2 boards operative, perform

the following simple steps:

●Connect the boards to the control board by means of the 34-wires flat cable and the

control board to the host PC.

●Connect the stepper motor to the P3 and P4 connectors

●Put jumpers on JR1, JR2, JR3

●Apply 5 V to P1 connector

●Apply motor voltage VS to P2 connector

●Launch the PractiSPIN™.spmd program on the host PC

●Click on "connect to ST7 hardware" and perform calibration

– Click on calibrate zero and verify that VTP3 is zero.

– Click on calibrate max and set the maximum current, corresponding to 100%

current setting in the PractiSPIN™.spmd software, adjusting the RV1 trimmer on

the target board until the voltage on VTP3 corresponds to the motor current. The

relationship between voltage/current is V = 0.165 Imotor.

●Click done and enter "speed control mode" or "indexing mode"

Figure 6. STEVAL-SPMD250V1 / STEVAL-SPMD250V2 demonstration system

AM04224v1

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