Allegra series reference manual

Programmable Motion Control System
The Allegra series of motion controllers are stand-alone or host controlled, easy-to-use, plug-and-play and
cost effective solutions for motion control applications.
Each system integrates the power supplies, controller and motor drivers.
These series support up to 4 axes of motion, 16 TTL / CMOS inputs, 16 TTL / CMOS outputs, 3 analog inputs,
and optical encoder inputs. The command port is provided for stand-alone operation.
The system may be controlled in different ways;
1) Stand-alone
In this mode, the controller does not need the PC to operate. The controller is programmed in a
high level BASIC-like programming language. The code is developed, downloaded to the
controller, run and saved in the controller's non-volatile memory using the supplied Integrated
Development Environment (IDE).
2) Externally Controlled
In this mode, the host sends a series of ASCII commands to the controller via the RS-232 serial
port. The controller processes and performs the incoming commands and responds with proper
messages.
3) Control Panel
The intuitive Control Panel allows the user to set-up the system quickly. The operator is able to move the
mechanism to different positions by pressing the corresponding buttons of the Control Panel or using the
joystick and/or trackball. The motion parameters are manually recorded in the control panel by typing the
desired values in the corresponding fields, or may be read from an ASCII file.
The powerful programming instructions with more than 120 commands include motion control, configuration, input / output, program flow commands, 32-bit logical and mathematical operations, and other miscellaneous commands. Modes of motion include point-to-point positioning, jogging, contouring, electronic gearing, and electronic cam. These systems can also be operated using an analog joystick or a trackball. The speed of the motor is proportional to the tilt angle of the joystick or the rotational speed of the trackball. These series are also available without the micro-stepper drivers. The outputs from the system would be power, enable, step and direction signals. This configuration is suited to interface with the "integrated motor and drivers”. Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc.
Features
Typical Applications
• Programmable, Teachable or Manual Control 2) Stand-alone, No PC Required to Operate • Available also to Drive DC Servo, Brushless, Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc. TECHNICAL DATA

Modes of Motion
Dedicated Inputs
• Positive and Negative Limit Switches per Axis • External Step and Direction Signals per Axis Supported No. of Axes
Dedicated Outputs
• Stepper, Single Phase or Three Phase Brushless DC Motor Driver Outputs per Axis Range of Motion Parameters
General Purpose Digital Input / Output
• 8 TTL / CMOS Inputs, Optional 16 TTL / • Acceleration: 40,000 - 40 Million Steps / sec2 • 8 TTL / CMOS Outputs, Optional 16 TTL / Communication Interface
Software
General Purpose Analog Input
• Menu Driven, No Programming Required General Specifications
• Offset Adjustment Potentiometer for Each Joystick
• 22 General Purpose Variables, 32 Bits of • Motor Speed Proportional to the Tilt Angle Trackball
Mechanical
Stepping Motor Driver
Size: 10.0'' (250 mm) W X 10.8" (265 mm) D X 4.875" (124 mm )H • Weight: 10 lbs (4.50 Kg) with 80-Watt Power • 2 to 256 Micro-steps per Step Resolution • Material: Aluminum, 0.09" (2.3 mm) Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc.
Power Supply
DC and Three Phase Brushless Motor Driver
• Optional 160-Watt, +36 VDC at Full Load • +20 VDC to up to +80 VDC Power Supply • Optional 240-Watt, +48 VDC at Full Load • Optional 400-Watt, +48 VDC at Full Load Power Requirement
• Optional 500-Watt, +48 VDC at Full Load • 110 VAC, 50 ~ 60 Hz or
• 220 VAC, 50 ~ 60 Hz or
Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc. Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc. PIN ASSIGNMENT AND DESCRIPTION
X-MOTOR
8-pin Circular Connector
The X-axis motor should be connected to this connector. STEPPING MOTOR
BRUSHLESS DC MOTOR
Y-MOTOR
8-pin Circular Connector
The Y-axis motor should be connected to this connector. STEPPING MOTOR
BRUSHLESS DC MOTOR
Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc. Z-MOTOR
8-pin Circular Connector
The Z-axis motor should be connected to this connector. STEPPING MOTOR
BRUSHLESS DC MOTOR
W-MOTOR
8-pin Circular Connector
The W-axis motor should be connected to this connector. STEPPING MOTOR
BRUSHLESS DC MOTOR
Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc. COMMAND
9-pin DB-9, Male Connector
This port is used for stand-alone operation. DESCRIPTION
Connecting this pin to system ground will stop motion on all axes. Connecting this pin to system ground will run the code saved in the RECALL-and-RUN *
Connecting this pin to system ground will continue the execution of the code after execution of a PAUSE command. This pin selects the state of the output ports on power-up or reset. Placing a jumper between this pin and system ground will cause the HI – LO *
state of the output ports to be high upon power-up or reset. Connecting this pin to system ground will end the running program. TERMINAL*
Connecting this pin to system ground will enable the terminal operation Connecting this pin to system ground will disable the joystick upon * A normally open switch should be placed between this pin and GND, if this operation is required. A 10 KOHM pull-up resistor is placed between all inputs and +5 VDC.
Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc. INPUT
9-pin DB-9, Male Connector
This port is used to connect and read the state of a TTL / CMOS signal like a sensor, reed switch or other
similar devices.
Related commands are IN, IFBIT and IFNOTBIT. Please refer to Operating and Programming Reference Manual. DESCRIPTION
Second Input
DESCRIPTION
A 10 KOHM pull-up resistor is placed between all inputs and +5 VDC. Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc. OUTPUT
9-pin DB-9, male Connector
This port is used to turn on or off other devices using a TTL / CMOS signal like an LED, solenoid, relay or other similar devices. Related commands are OUT, SETBIT and CLRBIT. Please refer to Operating and Programming Reference Manual. DESCRIPTION
CMOS Level Signal, 10 mA Sink and Source Capability, +5 VDC CMOS Level Signal, 10 mA Sink and Source Capability, +5 VDC CMOS Level Signal, 10 mA Sink and Source Capability, +5 VDC CMOS Level Signal, 10 mA Sink and Source Capability, +5 VDC CMOS Level Signal, 10 mA Sink and Source Capability, +5 VDC CMOS Level Signal, 10 mA Sink and Source Capability, +5 VDC CMOS Level Signal, 10 mA Sink and Source Capability, +5 VDC CMOS Level Signal, 10 mA Sink and Source Capability, +5 VDC All outputs are CMOS level signals, 10 mA sink and source capability at +5 VDC. Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc. JOYSTICK
25-pin DB-25, Female Connector
This port is used to connect an analog joystick. If a joystick is not used, three analog signals may be connected to this port. Related commands are RSTSX, RSTSY and RSTSZ. Please refer to Operating and Programming Reference Manual. DESCRIPTION
ANALOG-X
ANALOG-Y
HIGH-SPEED
MEDIUM-SPEED
LOW-SPEED
W-SELECT
ANALOG-Z
Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc. X-LIMITS
9-pin DB-9, Male Connector
The X-axis positive, negative and home switches should be connected to this port. DESCRIPTION
POS-LIMIT-X *
NEG-LIMIT-X *
HOME-X **
* A normally closed or normally low switch should be placed between this pin and GND.
** A normally closed or normally low switch should be placed between this pin and GND, if homing operation is
required.
A 10 KOHM pull-up resistor is placed between all inputs and +5 VDC.
Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc. Y-LIMITS
9-pin DB-9, Male Connector
The Y-axis positive, negative and home switches should be connected to this port. DESCRIPTION
POS-LIMIT-Y *
NEG-LIMIT-Y *
HOME-Y **
* A normally closed or normally low switch should be placed between this pin and GND.
** A normally closed or normally low switch should be placed between this pin and GND, if homing operation is
required.
A 10 KOHM pull-up resistor is placed between all inputs and +5 VDC.
Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc. Z-LIMITS
9-pin DB-9, Male Connector
The Z-axis positive, negative and home switches should be connected to this port. DESCRIPTION
POS-LIMIT-Z *
NEG-LIMIT-Z *
HOME-Z **
A normally closed or normally low switch should be placed between this pin and GND. ** A normally closed or normally low switch should be placed between this pin and GND, if homing operation is required. A 10 KOHM pull-up resistor is placed between all inputs and +5 VDC. Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc. W-LIMITS
9-pin DB-9, Male Connector
The W-axis positive, negative and home switches should be connected to this port. DESCRIPTION
POS-LIMIT-W *
NEG-LIMIT-W *
HOME-W **
* A normally closed or normally low switch should be placed between this pin and GND.
** A normally closed or normally low switch should be placed between this pin and GND, if homing operation is
required.
A 10 KOHM pull-up resistor is placed between all inputs and +5 VDC.
Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc. X-ENCODER
9-pin DB-9, Male Connector
The X-axis motor encoder, if available, should be connected to this port. DESCRIPTION
Y-ENCODER
9-pin DB-9, Male Connector
The Y-axis motor encoder, if available, should be connected to this port. DESCRIPTION
Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc. Z-ENCODER
9-pin DB-9, Male Connector
The Z-axis motor encoder, if available, should be connected to this port. DESCRIPTION
W-ENCODER
9-pin DB-9, Male Connector
The Z-axis motor encoder, if available, should be connected to this port. DESCRIPTION
Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc. RS-232
9-pin DB-9, Female Connector
This port should be connected to the RS-232 port of the host computer or PLC using the supplied cable. DESCRIPTION
DATA-XMT
DATA-RCV
RESET to Controller, Should Be Set to Clear Specifications are subject to change without notice. Copyright 2004, 2005, 2006, 2007, 2008, 2009 Optimal Engineering Systems, Inc.

Source: http://www.oesincorp.com/pdf/Allegra-Series-Reference-Manual.pdf