Anaheim Stepper Follower 100 Follower 200 Users Guide

							#L010043FOLLOWER - 100 & 200 ManualFEATURES
· Utilizes positional synchronization to maintain positional
accuracy and track ramping (both acceleration and
deceleration)
· Dual axes with separate scaling for each axis
· Encoder or clock input
· Encoder division up to 128
· Differential encoder or single ended encoder inputs
· Backlash logic
· 16 bit internal calculations
· Open-drain clock output
DESCRIPTION
The FOLLOWER-200 is a dual axis step motor controller that runs a step motor (the slave
motor) in synch with either a clock source (possibly from a master step motor controller) or an
incremental encoder at a programmable ratio between 0 and 1 in 1/65536 graduations. This
ratio is set by a series of switches. The slave system is controlled by two high speed RISC
Micro-controllers that produce the following pulse train with an accuracy of 16 bits. This
unique approach for a master-slave controller provides both speed and positional accuracy.
The pulse train input can come from many different sources but usually will be from an
encoder or controllers clock source.
ORDERING INFORMATION
FOLLOWER-1001-AXIS BoardFOLLOWER-2002-AXIS BoardCall the factory for custom versions of this product 
						

							#L010043FREQUENCY IN
ENCODER OUTPUTThe Frequency In is determined by the source of the pulses coming in.  For a quadrature
encoder signal, the Frequency In will equal 4 Times the rate of the encoder due to the
quadrature decoding.  For Example, a 400 line encoder going 1 revolution per second will
give a Frequency In of 1,600 pulses per second.
ENCODER FREQUENCY DIVIDER
The maximum frequency in is 50,000hz or quadrature state changes, it may scaled down by
using the ENCODER FREQUENCY DIVIDER set of dip switches that will cause the division to
be one of the following divisors: 1, 2, 4, 8, 16, 32, 64, and 128. The encoder quadrature
detector output is divided by two (2) automatically. The output can then be divided again by
the  Encoder Frequency Divider if required.DIVISORSWITCH 1SWITCH 2SWITCH 3Divide by 1ONONONDivide by 2ONONOFFDivide by 4ONOFFONDivide by 8ONOFFOFFDivide by 16OFFONONDivide by 32OFFONOFFDivide by 64OFFOFFONDivide by 128OFFOFFOFFFREQUENCY IN = (Encoder Lines * Revolutions per second * 4)/2/(Divider)
CLOCK INPUTWith a Clock Input, the Frequency In is determined by the rate of the Clock Input.  The clock
is never divided by the Encoder Frequency Divider.
FREQUENCY IN = Clock RateO
N12
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							#L010043INTERNAL FREQUENCY
The Internal Frequency is determined by the Scale Factor Dip Switch Settings.  The
Frequency In, as discussed in the previous page is multiplied by the scaler number.  This
section will help you to set the desired scaler number.
Remember: the Internal Frequency will be divided by 1, 2, 4, or 8 to produce the final Output
Frequency sent to the step motor driver and it is recommended to use the highest divider (8) to
obtain the smoothest pulse train output.
There are 4 hex switches to set a 16 bit scaler resulting in a number between 1 and 65,536.
To determine the number set by the 4 switches you set the value for each switch and add up
the values.
      
            SCALE FACTOR DIP SWITCHES
Use the following method to determine the values for each switch:
SWITCH #1 - The rightmost switch is for values 0-15 where A=10, B=11, C=12, D=13,
E=14, F=15.  The value for this switch equals the switch setting.
SWITCH #2 - The second switch from the right is increased by a multiple of 16.  Take
the number 0 through 15 (where A=10, B=11, C=12, D=13, E=14, F=15) and multiply it
by 16.  For example a setting of 2 would make the value for this switch 2 times 16 = 32.
A setting of ‘A’ would make the value for this switch 10 times 16 = 160.
SWITCH #3 - The third switch from the right is increased by a multiple of 256.  Take
the number 0 through 15 (where A=10, B=11, C=12, D=13, E=14, F=15) and multiply it
by 16.  For example a setting of 2 would make the value for this switch 2 times 256 =
512.  A setting of A would make the value for this switch 10 times 256 = 2560.
SWITCH #4 - The leftmost switch is increased by a multiple of 4096.  Take the number
0 through 15 (where A=10, B=11, C=12, D=13, E=14, F=15) and multiply it by 4096.
For example a setting of 2 would make the value for this switch 2 times 4096 = 8192.  A
setting of A would make the value for this switch 10 times 4096 = 40960.
Internal Frequency = (Frequency In)*(4096*Switch4+256*Switch3+16* Switch2+Switch1+1)/65536O
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							#L010043Ratio 1 + nDivisorHex165535FFFF2327677FFF4163833FFF881911FFF1640950FFF32204707FF64102303FF12851101FF25625500FF512127007F102463003F204831001F409615000F819270007163843000332768100016553600000FREQUENCY OUT DIVIDER
The Internal Frequency is divided by the Frequency Out Divider by 1, 2, 4, or 8 depending on
the Dip Switch Settings. To obtain the maximum smoothness possible use the largest
Frequency Out Divider possible for the application.  This will produce the lowest amount of
dither on the pulse train.
          FREQUENCY OUT DIVIDERDIVISORSWITCH 1SWITCH 2Divide by 1ONONDivide by 2ONOFFDivide by 4OFFONDivide by 8OFFOFFFrequency Out = (Internal Frequency) / (Frequency Out Divider)ON12ON123SW#1 SW#2 SW#3 SW#4 
						

							#L010043OPERATION
To change any of the values, the reset button must be pressed after changing the DIP
switches or rotary switches to accept the new values.
JUMPERS
The Jumpers should be in the Up Position (as shown in the diagram) for Differential
Quadrature Encoder Inputs, and in the Down Position for Single-Ended Quadrature Encoder
Inputs.
DIMENSIONS
The board dimensions are 8.15” x 2.85” with mounting holes at the four corners.  An optional
track is available for use with Din Rail mounting.
8.15”
2.85”
TERMINAL BLOCK DESCRIPTIONPIN #DESCRIPTIONPIN #DESCRIPTION1AC IN10A: ENCODER Channel B-2AC IN11A: Clock Out3Unregulated DC (IN or OUT)120vdc4+5VDC IN/OUT (IN or OUT)13B: Clock in50 VDC14B: ENCODER Channel A+6A: Clock in15B: ENCODER Channel A-7A: ENCODER Channel A+16B: ENCODER Channel B+8A: ENCODER Channel A-17B: ENCODER Channel B-9A: ENCODER Channel B+18B: Clock OutSPECIFICATIONS 
						

							#L010043Maximum Frequency InMax50kHz clock input or quadrature state
changeOutput FrequencyMin
Max0.000001907 of Input Frequency
½ of Input FrequencyInput Power RequirementsAC
or DC
or DC9 -12VAC, @ 50Ma
+5VDC, Regulated @ 50mA
8-15VDC, Un-regulated @ 50mASAMPLE APPLICATION
A Conveyor turning at 2760 RPM
A 60 line encoder is attached to the conveyor shaft
This is feeding a divide-by-10 microstep driver with a 200 step/revolution motor.The conveyor is turning at 2760 RPM which is 46 RPS.
This means that the encoder is turning at 46 RPS.
A quadrature feed from the encoder into the FOLLOWER-200 will provide a
Frequency In of 5520 PPS (60 lines * 46 RPS * 4/2).
With the Encoder Frequency Divisor at  110 this gives a Divisor of 2
Frequency In = 5520/ 2 = 2760
With a 50,000 setting on the Hex Rotary Switches, the internal Frequency is:
Internal Frequency = (2760)(50000+1/65536) = 2105.71 PPS
With the Frequency Out Divisor at 11 this gives a Divisor of 1
Frequency Out = Internal Frequency / 1
If this pulse train is fed into a microstep driver with a divide-by-10 (2000 pulses
per revolution), the motor would turn at 1.055 RPS.ENCODER INPUT BLOCK DIAGRAM
  Encoder Ch A           Frequency in Divider     Scaler with          Frequency       Clock  Out
    and Ch B1, 2, 4, … 64, 1284 switches          Out Divider        to Driver
                                          3 switches                                                 2 switches
Maximum Input Frequency 50Khz or quadrature state changes.
Notes: 
						

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