CY545 Stepper System Controller
www.ControlChips.com
Coordination of Several CY545s
Multiple CY545s may be synchronized to each other by use of the programmable User Bits, the
Wait commands, Til commands, and time delays. These may also be combined with other
signals, such as CCW, SLEW, or STOPPED, used to select the point in the motion when the
signal is presented to the waiting controller. Consider a general parts handling function in which
the part must be handed off between two controllers. The geometry of the parts and the arms
used to carry the parts requires that the hand off be carefully synchronized between the two
controllers. The one to receive the part waits at the receiving position until the CY545 which has
the part signals that it has arrived. The two arms then move together in a coordinated motion,
reaching a point at which the distance between them is a minimum. The part is exchanged and
the arms move apart, again in a coordinated motion. Once a certain position is reached, the
arms are free to move independently, and continue with their assigned programs. If the motion
is repetitious, both controllers can work with the same program, always being resynchronized at
the hand off. The following program illustrates such a motion.
© 2002 Cybernetic Micro Systems
94
Chapter 19 - Circuits and Examples
ETC [ ETC ]
