Programming a Reliance cool Muscle Motor

Projects Programming
1

Hi ,

I am trying to program my motor using RS-232 to move with the following parameters
speed , S = 20
Acceleration , A = 100
Position , P = 10000
The default resolution is 1000 pulses/revolution the motor will rotate 10 times.
The motor manual url : http://www.rpmechatronics.co.uk/assets/uploads/1286265057cool-muscle-manual.pdf

At the moment it does not work .
Please find my code below . I have also attached the manual to use the motor . I am using Dynamic Mode Command

void setup() {
  
   //Servo drive port setup
  
    //Delay a short ammount before opening the port
    delay(100);
   
    Serial.begin(19200);	// opens internal port for debug use, sets data rate to 19200 bps
    Serial.println("Hello !!!");
    Serial.println("Debug Serial port working OK");
    
    
     //Open Serial port for servo drive (RS-232)
    Serial2.begin(19200,SERIAL_8N1);
   
}

void loop() {
      
    Serial2.print("P=");
    Serial2.print(10000);
    
    Serial2.print("S=");
    Serial2.print(20);
    
    Serial2.print("A=");
    Serial2.print(100);
    
    Serial2.print("^");
  }
2

At the moment it does not work .

The code does something. Perhaps not exactly what you want, but it does something. Don't you think it important to describe that?

3

I'm not sure what your motor is going to make of this:

    Serial2.println("Servo RS232 Port Working OK");

Should it be sent to Serial instead?

4

How do you convert the Arduino's Serial TTL signal to RS232 levels? Do you have a MAX232 breakout board?

5

Hi Paul ,
The code does establish a RS232 communication with the motor . And I was able to move it using the below code :
Changing parameters in the below code didnt change the motor's behavior and I believe it is not correct.
Hence I am trying to debug the problem using the first code I had posted . Would this help you?

//Servo Parameters

//Positions used in the drive
int iPosHome = 0; //home / safe position
int iPosTip = 498; //Mode where a tip is performed and also the uMode
int iPosuMode = 502; //Mode where the uMode moves between to and the iPosTip


void setup() {
  
  
  
  //Servo drive port setup

        //Delay a short amount before opening the port
        delay(100);
       
        Serial.begin(9600);	// opens internal port for debug use, sets data rate to 9600 bps
        Serial.println("Hello Anish !");
        Serial.println("Debug Serial port working OK");
        
        
        
        //Open Serial port for servo drive
        Serial2.begin(19200,SERIAL_8N1);
    
}

void loop() {
            
            callReturnToHome();
            //send the positions to the drive
            SendPositionsToDrive();
}


void SendPositionsToDrive(){
     
      //send the drive positions to the servo drive
   Serial2.print("p1=");
   Serial2.println(iPosHome);
   
   Serial2.print("p2=");
   Serial2.println(iPosTip);
   
   Serial2.print("p3=");
   Serial2.println(iPosuMode);
    
  }
  
 void callReturnToHome(){
   
   //tells the servo motor to move back to the home position "0"
   Serial2.println("]");
   Serial2.println("[3");
 }
6

Hi johnwasser ,
Yes I have connected it using a max232 board and the motor does function . Although not the way I want it to .

@wildbill : Sorry , i meant to remove tht

7

Hi
I did find that when I did type

S=20
A=100
P=10000
^

in Hyperterminal it did work just as I wanted (i.e) motor does 10 revolutions

and when followed by

]
[3

the motor go back to home position

Do you think I have entered the values in properly in arduino

8

anishh2003:
S=20
A=100
P=10000
^
]
[3

In the arduino you are sending:

]
[3
p1=0
p2=498
p3=502

Why the many differences?

9

Hi John ,
The differences are because the one with S , A , P is used for dynamic programming and mostly a quick check to see if the motor is working .
Whereas p1 , p2 ,p3 is what I will be using later on once I get my motor working properly. (And its because this part is someone else code ) - this I will have to change based on the whether I can get the code with S,A,P working .

10

The differences are because the one with S , A , P is used for dynamic programming and mostly a quick check to see if the motor is working .
Whereas p1 , p2 ,p3 is what I will be using later on once I get my motor working properly.

Why? If the motor expects S, A, and/or P, why would you send it p1, p2, or p3?