High Performance
Stepper System Controller
CY545
CY545 Stepper System Controller
www.ControlChips.com
Copyright and Disclaimer Notice
Cybernetic Micro Systems, Inc. software products are copyrighted by and shall remain the
property of Cybernetic Micro Systems, Inc. Duplication is subject to a license from Cybernetics.
Cybernetic Micro Systems, Inc. reserves the right to improve design or performance
characteristics. Cybernetic Micro Systems, Inc. assumes no responsibility for the use of any
circuitry other than circuitry embodied in Cybernetic products. No other circuit patent licenses
are implied.
Information furnished by Cybernetic Micro Systems, Inc. is believed to be accurate and reliable.
However, no responsibility is assumed by Cybernetic Micro Systems, Inc. for its use, nor for any
infringements of patents or other rights of third parties which may result from its use. No license
is granted by implication or otherwise under any patent or patent right of Cybernetic Micro
Systems, Inc. Further, Cybernetic Micro Systems, Inc. reserves the right to revise this
publication and to make changes from time to time in the content hereof without obligation to
notify any person or organization of such revision or changes; and Cybernetics assumes no
responsibility for any errors which may appear in this document and makes no commitment to
update the information contained herein.
Because of the wide variety of applications in which this product may be used, Cybernetic Micro
Systems makes no claim as to the product’s fitness for any given application. It is therefore the
user’s responsibility to ensure the safety and viability of using this product in his application.
This product is not recommended for use in critical life sustaining applications.
The following are trademarks of Cybernetic Micro Systems, Inc:
Bin-ASCII
CYMPL
Analog-ASCII
ASCII-Analog
CY123
CY132
CY232
CY233
CY250
CY300
CY325
CY327
CY360
CY480
CY233-LINC
CY500
CY512
CY525
CY545
CY550
CY600
CY750
P-51
USB-RAM
All rights reserved; no part of this publication may be reproduced, except for personal and
archival uses, without the prior written permission of:
Cybernetic Micro Systems, Inc.
P.O. Box 3000, San Gregorio, California 94074 USA.
Tel: 650-726-3000 • Fax: 650-726-3003
www.ControlChips.com • Info@ControlChips.com
01/28/02
© 2002 Cybernetic Micro Systems
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www.ControlChips.com
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Table of Contents..................................................................................................................... ii
Table of Contents.................................................................................................................... ii
Chapter 1 - Introduction to the CY545 .................................................................................... 1
CY545 Stepper System Controller...................................................................................... 1
Basic Features ............................................................................................................... 1
Motion Control Functions................................................................................................ 2
Motor Support Signals .................................................................................................... 2
General Command Functions and Special Features....................................................... 3
Prototyping Board Support ................................................................................................. 3
CY545 Stepper Motor System Controller............................................................................ 4
Chapter 2 - Pinout & Package Overview................................................................................. 5
CY545 Dip Pinout & Dimensions ........................................................................................ 5
CY545/J PLCC Pinout & Dimensions ................................................................................. 6
CY545 DIP & CY545/J PLCC Pin Descriptions .................................................................. 7
Chapter 3 - Command Interfaces ...........................................................................................11
Command Interfaces .........................................................................................................11
Parallel Interface ...............................................................................................................11
CY545 Interface to CY233 Network Control Chip ..............................................................11
The CY545 Serial Interface ...............................................................................................12
Chapter 4 - Command Summary............................................................................................15
CY545 Command Summary..............................................................................................15
Command Formats............................................................................................................16
ASCII Command Format ...................................................................................................16
Binary Command Format ..................................................................................................17
Chapter 5 - Motor Control Commands...................................................................................18
Motor Control Commands .................................................................................................18
Set Stepping Rate .............................................................................................................18
Set Count and Direction ....................................................................................................18
Set Step Mode ..................................................................................................................19
Moving the Motor ..............................................................................................................20
Position Counter “Wrap-around”........................................................................................20
Chapter 6 - Bit Function Commands .....................................................................................21
Bit Function Commands ....................................................................................................21
User Bits ...........................................................................................................................21
Bit Dependent Jump and Wait ...........................................................................................22
Step/Test/Seek Home Command ......................................................................................24
Special Note Regarding Older Versions ........................................................................24
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Chapter 7 - External Memory Commands .............................................................................25
External Memory Support Commands...............................................................................25
External Memory Address Pointer .....................................................................................25
Writing Commands into Memory .......................................................................................25
Running From External Memory........................................................................................26
Example ............................................................................................................................28
Chapter 8 - Program Branch Commands ..............................................................................29
Jump and Loop .................................................................................................................29
Nested Loops ................................................................................................................29
Chapter 9 - Operating Mode Command .................................................................................31
Operating Mode Command ...............................................................................................31
Chapter 10 - Miscellaneous Commands................................................................................35
Initialize Command............................................................................................................35
Time Delay Command.......................................................................................................35
Query Command...............................................................................................................36
Display CY545 Status....................................................................................................36
Display Memory Contents..............................................................................................37
Message Display Command..............................................................................................38
Embedded Control Characteristics and Their Use: ........................................................38
Hewlett Packard (HP) LED 8 Digit Display.........................................................................38
LED Display Details.......................................................................................................39
Chapter 11 - CY545 Example Circuits....................................................................................40
Three Example Cases.......................................................................................................40
CY545 Example Circuit – Minimum Serial Configuration ...............................................40
CY545 Example Circuit – Minimum Parallel Configuration.............................................41
CY545 Example Circuit – Maximum Configuration ........................................................42
Chapter 12 - External Memory Support .................................................................................43
Memory Read/Write ..........................................................................................................43
“Auto-Start” Feature for Stand Alone Operation.................................................................44
Chapter 13 - Thumbwheel Switch Support............................................................................46
Thumbwheel Switch Support.............................................................................................46
CY545 Thumbwheel Switch Parameter Addresses ..........................................................49
CY545 Thumbwheel Circuit Diagram ................................................................................50
Chapter 14 - CY545 Output Display Support.........................................................................51
Output Format ...................................................................................................................51
Output to LCD (CY325-Based) ..........................................................................................51
Output to Parallel Device (Including CY233 Network Chip) ..............................................52
Output to 8-Digit LED Display............................................................................................52
Chapter 15 - CY545 Prototyping Support ..............................................................................54
The CYB-545 Prototyping Board .......................................................................................54
CYS-545 Panel Software...................................................................................................55
CyberCom Console Software ............................................................................................55
The CYB-233 Prototyping Board .......................................................................................56
The CYB-003 Prototyping Board .......................................................................................57
© 2002 Cybernetic Micro Systems
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Chapter 16 - Timing and Control............................................................................................58
Timing and Control ............................................................................................................58
The Parallel Handshake ....................................................................................................58
Immediate Commands During External Memory Program Execution ...........................59
The Serial Interface ...........................................................................................................62
External Memory Control Signals ......................................................................................63
Special HP LED Display Control Signals ...........................................................................65
Thumbwheel Switch Interface Control Signals...................................................................66
Stepper Motor Interface Signals ........................................................................................67
PULSE and CWW .........................................................................................................67
STOPPED .....................................................................................................................69
SLEW ............................................................................................................................69
INHIBIT_ABORT ...........................................................................................................70
CW_LIMIT and CCW_LIMIT..........................................................................................71
JOG Mode Operation ....................................................................................................72
Automatic Position Display ................................................................................................73
Home Signal..................................................................................................................73
Chapter 17 - CY545 Step Rate Information............................................................................75
CY545 Step Rate Information............................................................................................75
The Slope Parameter ........................................................................................................75
Optimal Acceleration Curves .............................................................................................76
Acceleration Curve as a Function of R ..............................................................................76
Slope and Elapsed Time ...................................................................................................77
CY545 Slope Curves.........................................................................................................78
CY545 Step Rate Table @ 11 MHz...................................................................................81
CY545 Step Rate Table @ 12 MHz...................................................................................82
CY545 Step Rate Table @ 14.75 MHz ..............................................................................83
CY545 Step Rate Table @ 16 MHz...................................................................................84
Chapter 18 - Electrical Specifications ...................................................................................85
CY545B Electrical Specifications.......................................................................................85
Electrical Conventions.......................................................................................................85
Reset Circuitry...................................................................................................................85
Clock Circuits ....................................................................................................................86
Chapter 19 - Circuits and Examples ......................................................................................87
Variable Stock Cut and Punch...........................................................................................87
Driver Circuit Considerations.............................................................................................89
Interfacing to the 8255.......................................................................................................92
Operating Several CY545s Using a Common Data Bus ....................................................93
Synchronization of Two CY545s........................................................................................93
Coordination of Several CY545s .......................................................................................94
Example Programs and Waveforms ..................................................................................95
ASCII and Binary Data Programming Examples................................................................96
Chapter 20 - Getting Your CY545 Running............................................................................97
Getting Your CY545 Running ............................................................................................97
BASIC Language CRT Emulation Program .......................................................................99
Changes from CY545 to CY545A....................................................................................101
Changes from CY545A to CY545B .................................................................................101
Stepper Motor Controller Selection Guide .......................................................................102
© 2002 Cybernetic Micro Systems
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