K8005 addressing problem

Kris · August 2, 2007, 2:48pm

Hi,

I am now able to drive one stepper motor; however, when I hook up another motor card I can’t address them seperately.
The switches on one card are set to “0000” and on the other card “1000”.

I took a step back and tried debugging using TEST K8005. Both of the motors turn together, but only one motor (address “0000”) is OK. Why doesn’t it say address “1000” is OK or address “1000” KO? Why can’t they be controlled seperately?

The way I’ve connected the controllers is as follows:

Used one 3 ribbon cable to connect GND, SDA, SCL between K8000 and first K8005, then another 3 ribbon cable to connect GND, SDA, SCL of first K8005 to second K8005.

I’ll eventually need to drive four stepper motors in total.

Regards,

Kris.

Kris · August 2, 2007, 2:56pm

is happening.

Of the 3 possible motor controls in TEST K8005, only the first one is OK (drives both motors with different addresses set on the hardware), the other two are KO. The wierd thing is that I can control the speed of the two motors by turning the dial on either of the two controls below, even thought they say the motor is KO. I can’t change the direction with the bottom two controls though.

Kris · August 3, 2007, 3:33pm

I tried debugging using the ReadMotor procedure.

(1) ReadMotor 0 returns 1 when switches on stepper motor card set to “0000”

(2) ReadMotor 15 returns 255 when switches on stepper motor card set to “1111”

(3) Strangely, when two motor cards connected and set to any address other than “0000”, when I repeat ReadMotor 0, it still returns 1.

What’s going on?

Kris.

VEL448 · August 20, 2007, 6:57am

bump

Do you have any source code you can post?

Admin note: Please don’t create meaningless topics if your problem doesn’t get solved right away, be patient and someone should answer. All duplicate posts have been deleted.

Kris · August 20, 2007, 8:52am

Hi,

Here is the code that I’m using. I’m also running it on an old machine (Windows 98 2nd edn) as it doesn’t work on the brand new Dell (XP) that we bought for it.

Regards,

Kris.

'This unit contains procedures and functions for use with the 'VELLEMAN Stepping Motor Card K8005'



'I2C BUS CONDITIONS

DECLARE SUB SelectI2cPrinterPort (PrinterNo)

DECLARE SUB I2CBusNotBusy ()

DECLARE FUNCTION BINNOT (Dec)

DECLARE SUB I2CInit ()

DECLARE SUB I2Cmasterclockpulse ()

DECLARE FUNCTION I2Cinput ()

DECLARE SUB I2Cstart ()

DECLARE SUB I2Coutput (SerData)

DECLARE SUB I2Cclockpulse ()

DECLARE SUB I2Cstop ()

DECLARE FUNCTION SHL (Dec, Positions)

DECLARE SUB SpeedTestText ()

DECLARE SUB SpeedTestNText ()



'RADIX CONVERSION

DECLARE FUNCTION BinToDec (BinNumber$)

DECLARE FUNCTION DecToBin$ (DecNumber)



'OUTPUT SUBROUTINES FOR ONE CARD

DECLARE SUB SendMotor (MotorNo, Commando, time, steps)



'STEPPING SUBROUTINES FOR ONE CARD

DECLARE SUB SendStepCCWFull (MotorNo, time, steps)

DECLARE SUB SendStepCCWHalf (MotorNo, time, steps)

DECLARE SUB SendStepCWFull (MotorNo, time, steps)

DECLARE SUB SendStepCWHalf (MotorNo, time, steps)

DECLARE SUB SendstepCW (MotorNo, time, steps)

DECLARE SUB SendstepCCW (MotorNo, time, steps)

DECLARE SUB SendStepHalf (MotorNo, time, steps)

DECLARE SUB SendStepFull (MotorNo, time, steps)

DECLARE SUB SendstepPING (MotorNo, time, steps)



' SETTING SUBROUTINES FOR ONE CARD

DECLARE SUB SendSetFree (MotorNo)

DECLARE SUB SendSetTake (MotorNo)

DECLARE SUB Sendstop (MotorNo)

DECLARE SUB SendSetCW (MotorNo)

DECLARE SUB SendSetCCW (MotorNo)

DECLARE SUB SendSetHalf (MotorNo)

DECLARE SUB SendSetFull (MotorNo)

DECLARE SUB SendSetCWFull (MotorNo)

DECLARE SUB SendSetCWHalf (MotorNo)

DECLARE SUB SendSetCCWFull (MotorNo)

DECLARE SUB SendSetCCWHalf (MotorNo)



' OUTPUT SUBROUTINES FOR ALL CARDS

DECLARE SUB SendAllMotors (Commando, time, steps)



' STEPPING SUBROUTINES FOR ALL CARDS

DECLARE SUB SendAllStepCCWFull (time, steps)

DECLARE SUB SendAllStepCCWHalf (time, steps)

DECLARE SUB SendAllStepCWFull (time, steps)

DECLARE SUB SendAllStepCWHalf (time, steps)

DECLARE SUB SendAllstepCW (time, steps)

DECLARE SUB SendAllstepCCW (time, steps)

DECLARE SUB SendAllStepHalf (time, steps)

DECLARE SUB SendAllStepFull (time, steps)

DECLARE SUB SendaLLstepPING (time, steps)



' SETTING SUBROUTINES FOR ALL CARDS

DECLARE SUB SendAllSetFree ()

DECLARE SUB SendAllSetTake ()

DECLARE SUB SendAllStop ()

DECLARE SUB SendAllSetCW ()

DECLARE SUB SendAllSetCCW ()

DECLARE SUB SendAllSetHalf ()

DECLARE SUB SendAllSetFull ()

DECLARE SUB SendAllSetCWFull ()

DECLARE SUB SendAllSetCWHalf ()

DECLARE SUB SendAllSetCCWFull ()

DECLARE SUB SendAllSetCCWHalf ()

		

'INPUT SUBROUTINES

DECLARE SUB Readmotor (MotorNo)

DECLARE SUB ReadAllMotors ()



'COMMON USED CONSTANTS AND VARIABLES

CONST MaxMotorCards = 15



COMMON SHARED Statusport, ControlPort, I2cBusDelay, Overwrite, WaitTime



DIM SHARED motorcardcode(0 TO MaxMotorCards)

	FOR CardNo = 0 TO MaxMotorCards

		motorcardcode(CardNo) = 192 + (2 * CardNo)

	     

	NEXT



DIM SHARED MotorCardData(0 TO MaxMotorCards)



I2CInit



'Example 6

SpeedTestText



	'#################### DEBUG ##################################

	PRINT ""; CardNo

	Readmotor 0

	IF MotorCardData(0) = 1 THEN PRINT "MotorCard 0 is ready to receive data"

	IF MotorCardData(0) = 127 THEN PRINT "The memory of the stepper motor card 0 is full"

	IF MotorCardData(0) = 255 THEN PRINT "The motor card 0 is not connected or powered on"

       

	Readmotor 15

	IF MotorCardData(15) = 1 THEN PRINT "MotorCard 15 is ready to receive data"

	IF MotorCardData(15) = 127 THEN PRINT "The memory of the stepper motor card 15 is full"

	IF MotorCardData(15) = 255 THEN PRINT "The motor card 15 is not connected or powered on"

     

	PRINT "Press enter to continue"

	INPUT a$

	'#################### DEBUG ##################################

       

       

	time = 10

	steps = 1000

	motor = 0

       

	SendStepCWFull motor, time, steps

 

  

				   









END



'#############################



FUNCTION BINNOT (Dec)

	Temp$ = DecToBin(Dec)

	Complement$ = ""

	FOR i = 1 TO LEN(Temp$)

		IF MID$(Temp$, i, 1) = "1" THEN

			Complement$ = Complement$ + "0"

		ELSE

			Complement$ = Complement$ + "1"

		END IF

	NEXT

	BINNOT = BinToDec(Complement$)

END FUNCTION



FUNCTION BinToDec (BinNumber$)

	Weight = 1

	Dec = 0                        'Reset decimal number



	IF BinNumber$ <> "00000000" THEN

		FOR i = LEN(BinNumber$) TO 1 STEP -1

			IF MID$(BinNumber$, i, 1) = "1" THEN

				Dec = Dec + Weight     'If bit=1 then add weigth factor

			END IF

			Weight = Weight * 2    'Multiply weight factor by 2

		NEXT

		BinToDec = Dec          'Store result

	ELSE

		BinToDec = 0

	END IF

END FUNCTION



'RADIX CONVERSION

FUNCTION DecToBin$ (DecNumber)

	'Conversion of decimal number (0...255) to 8 bit binary string.

	'--------------------------------------------------------------



	Bin$ = ""

	faktor = 128



	IF DecNumber <> 0 THEN

		FOR i = 1 TO 8

			IF faktor > DecNumber THEN

				Bin$ = Bin$ + "0"

			ELSE

				Bin$ = Bin$ + "1"

				DecNumber = DecNumber - faktor

			END IF

			faktor = faktor \ 2

		NEXT

		DecToBin$ = Bin$

	ELSE

		DecToBin$ = "00000000"

	END IF

END FUNCTION



SUB I2CBusNotBusy

	OUT ControlPort, 4

END SUB



SUB I2Cclockpulse

	OUT ControlPort, 12

	FOR i = 0 TO I2cBusDelay

	NEXT



	OUT ControlPort, 4

	FOR i = 0 TO I2cBusDelay

	NEXT



	OUT ControlPort, 12

	FOR i = 0 TO I2cBusDelay

	NEXT

END SUB



SUB I2CInit

	SelectI2cPrinterPort 1

	I2cBusDelay = 20



	I2CBusNotBusy

	Overwrite = 0

	WaitTime = 300

	ReadAllMotors

	

END SUB



FUNCTION I2Cinput

	SerData = 0



	FOR j = 1 TO 8

		SerData = SHL(SerData, 1)

		OUT ControlPort, 4

		FOR i = 0 TO I2cBusDelay

		NEXT



		Inputdata = INP(Statusport) AND 16

		IF Inputdata <> 0 THEN

			SerData = SerData OR 1

		END IF



		OUT ControlPort, 12

		FOR i = 0 TO I2cBusDelay

		NEXT

	NEXT

	I2Cinput = SerData

END FUNCTION



SUB I2Cmasterclockpulse

	OUT ControlPort, 14

	FOR i = 0 TO I2cBusDelay

	NEXT



	OUT ControlPort, 6

	FOR i = 0 TO I2cBusDelay

	NEXT



	OUT ControlPort, 14

	FOR i = 0 TO I2cBusDelay

	NEXT



	OUT ControlPort, 12

	FOR i = 0 TO I2cBusDelay

	NEXT

END SUB



SUB I2Coutput (SerData)

	Temp = SerData

	Serdat$ = DecToBin(Temp)



	FOR j = 1 TO 8



		IF MID$(Serdat$, j, 1) = "1" THEN

			DataOut = 12

		 ELSE

			DataOut = 14

		END IF

		OUT ControlPort, DataOut

		FOR i = 0 TO I2cBusDelay

		NEXT



		DataOut = INP(ControlPort) AND 7

		OUT ControlPort, DataOut

		FOR i = 0 TO I2cBusDelay

		NEXT



		DataOut = INP(ControlPort) OR 8

		OUT ControlPort, DataOut

		FOR i = 0 TO I2cBusDelay

		NEXT

	NEXT

END SUB



SUB I2Cstart

	FOR i = 0 TO I2cBusDelay

	NEXT

       OUT ControlPort, 6

	FOR i = 0 TO I2cBusDelay

	NEXT



	OUT ControlPort, 14

	FOR i = 0 TO I2cBusDelay

	NEXT

END SUB



SUB I2Cstop

REM     OUT ControlPort, 14

	FOR i = 0 TO I2cBusDelay

	NEXT



REM     OUT ControlPort, 6

	FOR i = 0 TO I2cBusDelay

	NEXT



	OUT ControlPort, 4

	FOR i = 0 TO I2cBusDelay

	NEXT

END SUB



SUB ReadAllMotors

	FOR counter = 0 TO MaxMotorCards

		Readmotor counter

	NEXT

END SUB



' INPUT SUBROUTINES

SUB Readmotor (CardNo)

	FOR time = 1 TO I2CWaitTime: NEXT time

	I2Cstart



	DataVar = motorcardcode(CardNo) OR 1

	I2Coutput DataVar

	I2Cclockpulse



	MotorCardData(CardNo) = I2Cinput

	I2Cclockpulse



	I2Cstop

END SUB



' I2C COMMUNICATION SUBROUTINES

SUB SelectI2cPrinterPort (PrinterNo)

	SELECT CASE PrinterNo

		CASE 0

			Statusport = 957

			ControlPort = 958

		CASE 1

			Statusport = 889

			ControlPort = 890

		CASE 2

			StatusPost = 633

			ControlPort = 634

	END SELECT

END SUB



'OUTPUT SUBROUTINES FOR ALL CARDS

SUB SendAllMotors (Commando, time, steps)

Temp1 = Commando

Temp2 = time

Temp3 = steps

FOR counter = 0 TO MaxMotorCards

	

	SendMotor counter, Temp1, Temp2, Temp3

NEXT

END SUB



SUB SendAllSetCCW

FOR counter = 0 TO MaxMotorCards

	SendSetCCW counter

NEXT

END SUB



SUB SendAllSetCCWFull

FOR counter = 0 TO MaxMotorCards

	SendSetCCWFull counter

NEXT

END SUB



SUB SendAllSetCCWHalf

FOR counter = 0 TO MaxMotorCards

	SendSetCCWHalf counter

NEXT

END SUB



SUB SendAllSetCW

FOR counter = 0 TO MaxMotorCards

	SendSetCW counter

NEXT

END SUB



SUB SendAllSetCWFull

FOR counter = 0 TO MaxMotorCards

	

	SendSetCWFull counter

NEXT

END SUB



SUB SendAllSetCWHalf

FOR counter = 0 TO MaxMotorCards

	SendSetCWHalf counter

NEXT

END SUB



'SETTING SUBROUTINES FOR ALL CARDS

SUB SendAllSetFree

FOR counter = 0 TO MaxMotorCards

	SendSetFree counter

NEXT

END SUB



SUB SendAllSetFull

FOR counter = 0 TO MaxMotorCards

	SendSetFull counter

NEXT

END SUB



SUB SendAllSetHalf

FOR counter = 0 TO MaxMotorCards

	SendSetHalf counter

NEXT

END SUB



SUB SendAllSetTake

FOR counter = 0 TO MaxMotorCards

	SendSetTake counter

NEXT

END SUB



SUB SendAllstepCCW (time, steps)

Temp1 = time

Temp2 = steps

FOR counter = 0 TO MaxMotorCards

	SendstepCCW counter, Temp1, Temp2

NEXT

END SUB



'STEPPING SUBROUTINES FOR ALL CARDS

SUB SendAllStepCCWFull (time, steps)

Temp1 = time

Temp2 = steps

FOR counter = 0 TO MaxMotorCards

	SendStepCCWFull counter, Temp1, Temp2

NEXT

END SUB



SUB SendAllStepCCWHalf (time, steps)

Temp1 = time

Temp2 = steps

FOR counter = 0 TO MaxMotorCards

	SendStepCCWHalf counter, Temp1, Temp2

NEXT

END SUB



SUB SendAllstepCW (time, steps)

Temp1 = time

Temp2 = steps

FOR counter = 0 TO MaxMotorCards

	SendstepCW counter, Temp1, Temp2

NEXT

END SUB



SUB SendAllStepCWFull (time, steps)

Temp1 = time

Temp2 = steps

FOR counter = 0 TO MaxMotorCards

	

	SendStepCWFull counter, Temp1, Temp2

NEXT

END SUB



SUB SendAllStepCWHalf (time, steps)

Temp1 = time

Temp2 = steps

FOR counter = 0 TO MaxMotorCards

	SendStepCWHalf counter, Temp1, Temp2

NEXT

END SUB



SUB SendAllStepFull (time, steps)

Temp1 = time

Temp2 = steps

FOR counter = 0 TO MaxMotorCards

	SendStepFull counter, Temp1, Temp2

NEXT

END SUB



SUB SendAllStepHalf (time, steps)

Temp1 = time

Temp2 = steps

FOR counter = 0 TO MaxMotorCards

	

	SendStepHalf counter, Temp1, Temp2

NEXT

END SUB



SUB SendaLLstepPING (time, steps)

Temp1 = time

Temp2 = steps

FOR counter = 0 TO MaxMotorCards

	SendstepPING counter, Temp1, Temp2

NEXT

END SUB



SUB SendAllStop

FOR counter = 0 TO MaxMotorCards

	Sendstop counter

NEXT

END SUB



' OUTPUT SUBROUTINES FOR ONE CARD

SUB SendMotor (MotorNo, Commando, time, steps)

	IF Overwrite = 0 THEN

		MotorCardData(MotorNo) = 55

		WHILE (MotorCardData(MotorNo) <> 1) AND (MotorCardData(MotorNo) <> 255)

		Readmotor (MotorNo)

		WEND

	END IF

       

	FOR T = 1 TO I2CWaitTime: NEXT T

	I2Cstart



	Temp = motorcardcode(MotorNo)

	I2Coutput Temp



	I2Cclockpulse

	

	Temp = Commando

	I2Coutput Temp



	I2Cclockpulse

	

	Temp = time

	I2Coutput Temp



	I2Cclockpulse

	

	Temp = (steps - (steps MOD 255)) / 255

	I2Coutput Temp

       

	I2Cclockpulse



	Temp = steps MOD 255

	I2Coutput Temp

	I2Cclockpulse

       

	I2Cstop



END SUB



SUB SendSetCCW (MotorNo)

Temp = MotorNo

SendMotor Temp, 96, 0, 0

END SUB



SUB SendSetCCWFull (MotorNo)

Temp = MotorNo

SendMotor Temp, 112, 0, 0

END SUB



SUB SendSetCCWHalf (MotorNo)

Temp = MotorNo

SendMotor Temp, 120, 0, 0

END SUB



SUB SendSetCW (MotorNo)

Temp = MotorNo

SendMotor Temp, 64, 0, 0

END SUB



SUB SendSetCWFull (MotorNo)

Temp = MotorNo

SendMotor Temp, 80, 0, 0

END SUB



SUB SendSetCWHalf (MotorNo)

Temp = MotorNo

SendMotor Temp, 88, 0, 0

END SUB



' SETTING SUBROUTINES FOR ONE CARD

SUB SendSetFree (MotorNo)

Temp = MotorNo

SendMotor Temp, 4, 0, 0

END SUB



SUB SendSetFull (MotorNo)

Temp = MotorNo

SendMotor Temp, 16, 0, 0

END SUB



SUB SendSetHalf (MotorNo)

Temp = MotorNo

SendMotor Temp, 24, 0, 0

END SUB



SUB SendSetTake (MotorNo)

Temp = MotorNo

SendMotor Temp, 6, 0, 0

END SUB



' STEPPING PROCEDURES ONE CARD

SUB SendstepCCW (MotorNo, time, steps)

Temp = MotorNo

Temp1 = time

Temp2 = steps

IF steps = 0 THEN SendMotor Temp, 231, Temp1, Temp2 ELSE SendMotor Temp, 230, Temp1, Temp2

END SUB



SUB SendStepCCWFull (MotorNo, time, steps)

Temp = MotorNo

Temp1 = time

Temp2 = steps

IF steps = 0 THEN SendMotor Temp, 247, Temp1, Temp2 ELSE SendMotor Temp, 246, Temp1, Temp2

END SUB



SUB SendStepCCWHalf (MotorNo, time, steps)

Temp = MotorNo

Temp1 = time

Temp2 = steps

IF steps = 0 THEN SendMotor Temp, 255, Temp1, Temp2 ELSE SendMotor Temp, 254, Temp1, Temp2

END SUB



SUB SendstepCW (MotorNo, time, steps)

Temp = MotorNo

Temp1 = time

Temp2 = steps

IF steps = 0 THEN SendMotor Temp, 199, Temp1, Temp2 ELSE SendMotor Temp, 198, Temp1, Temp2

END SUB



SUB SendStepCWFull (MotorNo, time, steps)

Temp = MotorNo

Temp1 = time

Temp2 = steps

IF steps = 0 THEN SendMotor Temp, 215, Temp1, Temp2 ELSE SendMotor Temp, 214, Temp1, Temp2

END SUB



SUB SendStepCWHalf (MotorNo, time, steps)

Temp = MotorNo

Temp1 = time

Temp2 = steps

IF steps = 0 THEN SendMotor Temp, 223, Temp1, Temp2 ELSE SendMotor Temp, 222, Temp1, Temp2

END SUB



SUB SendStepFull (MotorNo, time, steps)

Temp = MotorNo

Temp1 = time

Temp2 = steps

IF steps = 0 THEN SendMotor Temp, 151, Temp1, Temp2 ELSE SendMotor Temp, 150, Temp1, Temp2

END SUB



SUB SendStepHalf (MotorNo, time, steps)

Temp = MotorNo

Temp1 = time

Temp2 = steps

IF steps = 0 THEN SendMotor Temp, 159, Temp1, Temp2 ELSE SendMotor Temp, 158, Temp1, Temp2

END SUB



SUB SendstepPING (MotorNo, time, steps)

Temp = MotorNo

Temp1 = time

Temp2 = steps

IF steps = 0 THEN SendMotor Temp, 135, Temp1, Temp2 ELSE SendMotor Temp, 134, Temp1, Temp2

END SUB



SUB Sendstop (MotorNo)

Temp = MotorNo

Temp1 = Overwrite

Overwrite = 1

SendMotor Temp, 0, 0, 0

Overwrite = Temp1

END SUB



FUNCTION SHL (Dec, Positions)

	Temp$ = RIGHT$(DecToBin(Dec) + STRING$(Positions, "0"), 8)

	SHL = BinToDec(Temp$)

END FUNCTION



SUB SpeedTestNText

CLS

I2CWaitTime = 2000

MotorCardData(0) = 2

I2cBusDelay = 0

counter = 0

DO

      counter = counter + 1

      I2cBusDelay = counter

      Readmotor (0)

LOOP UNTIL ((MotorCardData(0) = 1) OR (counter = 32000))



DO

	reliable = 1

	I2cBusDelay = counter

	FOR counter2 = 1 TO 30

		   Readmotor (0)

		   IF MotorCardData(0) <> 1 THEN reliable = 0

		NEXT counter2

	IF reliable <> 1 THEN counter = counter + 1

LOOP UNTIL reliable = 1



END SUB



SUB SpeedTestText

CLS

I2CWaitTime = 2000



PRINT "TEST PROGRAM K8005 FOR QuickBasic"

PRINT "***********************************"

PRINT "I2C bus is free, set the K8005 to work as steppermotorcard zero and switch the unit on"

PRINT "Press enter when ready"

INPUT a$

MotorCardData(0) = 2

PRINT "Speed testing"

I2cBusDelay = 0

counter = 0

DO

      counter = counter + 1

      I2cBusDelay = counter

      Readmotor (0)

LOOP UNTIL ((MotorCardData(0) = 1) OR (counter = 32000))



PRINT "Value found for the I2CBusDelay", counter



DO

	reliable = 1

	PRINT "Testing reliability of value", counter

	I2cBusDelay = counter

	FOR counter2 = 1 TO 30

		   Readmotor (0)

		   IF MotorCardData(0) <> 1 THEN reliable = 0

		NEXT counter2

	IF reliable = 1 THEN PRINT "Value ", counter, " is OK as value for I2CBusDelay";  ELSE counter = counter + 1

LOOP UNTIL reliable = 1



PRINT "Press enter to continue"

INPUT a$

END SUB

Kris · September 21, 2007, 9:53am

I’m still having the same problems with this device. Can you suggest a solution before I chuck it in the bin;)

Kris · September 21, 2007, 9:55am

My contract ends in Dec 07, so I’d like to get our 8005s working asap.

VEL448 · September 21, 2007, 12:00pm

Doesn’t every function call need paranthesis?
ReadMotor(0), ReadMotor(15)

I don’t work in VB6, but i’ve seen other posts where omitting the paranthesis caused problems.

VEL456 · September 21, 2007, 2:57pm

The software will only run till Windows 98, higher versions of Windows doesn’t allow ‘direct I/O access’. Maybe this is your problem ?

Kris · September 21, 2007, 6:24pm

Thanks. I will try this.

Regards,

Kris.