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Corvus eco
high resolution positioning controller

Manual

Version 1.0

Manual

Corvus-eco

About this documentation ................................................................6
Symbols in this documentation...............................................7

Chapter -1- Introduction ...................................................................8
Presentation of the controller ........................................................9
Function survey ..............................................................................12

Chapter -2- Starting up .....................................................................13
Safety notice.....................................................................................14
Declaration by the manufacturer....................................................15
Mains supply ....................................................................................16
Universal input voltage ...........................................................16
Mains protection .....................................................................16
Line filter .................................................................................16
Motor connection.............................................................................17
Axes designation and assignment..........................................17
Motor types.............................................................................17
Motor characteristics ..............................................................18
Motor wirings ..........................................................................19
Commands to adapt the controller to different motor types....20
Measures against system resonances ...................................21
Motor cable.............................................................................22
Limit switches ..................................................................................23
Limit switch inputs ..................................................................23
Limit switch functions..............................................................23
Limit switch types ...................................................................23
Limit switch wiring ..........................................................................24
Joystick operation ...........................................................................25
General remarks.....................................................................25
Joystick axes assignment.......................................................25
Joystick button speed .............................................................26
Relevant Venus-1 commands for the joystick operation ........26
Notices for the joystick mode..................................................27
Programmed mode ..........................................................................28
Initial operation of the RS-232 connection ....................................29
Testing the RS-232 connection ..............................................29
Procedure step by step:..........................................................29
Trouble shooting.....................................................................30
USB-Interface ...................................................................................31
Content

Manual

Corvus-eco

USB interface driver ...............................................................31
Driver link................................................................................31
Installing VCP drivers for Windows 2000 ...............................32
Installing VCP drivers for Windows XP...................................37

Chapter -3- Functions........................................................................43
Programming mode ........................................................................44
Venus-1 controller commands (examples) .............................45
Motion control functions ................................................................47
Linear interpolation .................................................................47
Velocity and acceleration........................................................47
Velocity profile of a linear acceleration function .....................48
Movement profile of short distances.......................................48
Movement profile of the sin²-acceleration function .................49
Positioning with the joystick .........................................................50
Joystick button speed .............................................................50
Relevant commands:..............................................................50
Notices for the joystick mode..................................................51
Closed-Loop function .....................................................................52
Digital encoder interface.........................................................53
Analog encoder interface with sin/cos module .......................54
Limit switches .................................................................................56
Broadcast limit-switch teach-in .....................................................57
Single axis limit-switch teach-in ....................................................58
Related Venus-1 commands: .................................................58
Programmed limit-switch teach-in in detail .............................59
Limit register, position counter and motor direction...............60
Manually teaching-in the limits ......................................................61
Limit switch teach-in with the joystick in detail........................61
Point of origin if limits are manually determined ....................61
Important notices ....................................................................62
Digital inputs / outputs ...................................................................63
Input circuit .............................................................................63
Output circuit ..........................................................................64
Related Venus-1 commands: .................................................64
Input / output functions ..................................................................65
Output signal generation ........................................................65
Input signal detection..............................................................65
Safety function........................................................................65
Content

Manual

Corvus-eco

User output voltages ......................................................................66

Chapter -4- Technical data ..............................................................67
Specifications ..................................................................................68
Layout and dimensions ..................................................................70

Chapter -5- Releasing options .......................................................71
Releasing options ...........................................................................72
Informations to purchase a release code ...............................72
Fill out form for release code requests ...................................74
Installation procedure .............................................................75
Installation step by step ..........................................................75
Option index table...................................................................78
Troubleshooting......................................................................79

Chapter -6- Firmware update .........................................................81
Firmware update .............................................................................82
Update procedure in three steps ............................................82
What do you need to update the controller.............................82
Update Tool ............................................................................83

Chapter -7- Connectors ....................................................................85
Connectors overview ......................................................................86
Motor and limit switch connectors ................................................87
Digital encoder input ......................................................................88
Analog encoder input .....................................................................89
Digital input / output .......................................................................90
RS-232 / USB programming interface ............................................91
RS-232 Service interface .................................................................92
Joystick interface.............................................................................93
Your notices:...........................................................................94

Content

Manual

Corvus-eco

Content

Manual

Corvus-eco

About this documentation

This manual provides detailed information about the hardware and software features of the Corvus-eco controller.
This includes specifications, functions, installation and connector description.
The Venus-1 programming language is described in a separate part of the controller documentation.

Manual

Corvus-eco

Symbols in this documentation

To clarify the content following symbols are used.

Symbol

Description
Warning.
This information must be
observed strictly.

Important information.

Option

Indicates that this function can be
enabled with a release code.

Option

This function must be installed from
the factory personal or experts.

Venus-1

Venus-1 commands are indicated
with this formatting style.

TABLE 1:Symbols and their meaning

Manual

Corvus-eco

Chapter 1
Introduction

Introduction

Manual

Corvus-eco

Presentation of the controller
Corvus-eco

Corvus eco with a built in joystick

Introduction

Manual

Corvus-eco

Technology
Corvus-eco is a complete high resolution stepping motor controller/driver combination for alternatively 2 or 3 axes.
Corvus-eco is equipped with a 32-bit, 133MHz Risc processor
working with a Real-Time-Operating-System (RTOS) for scalable performance and high precision synchronized control.
For Closed Loop control a digital PID control loop updates all
axes with a cycle time of 250 µs for precise and accurate positioning.
A extremely micro-step resolution up to 690.000 steps/rev.
provides ultra-smooth stepper positioning capability and a
very constant velocity profile tracking for challenging positioning applications.
Low impedance MosFet motor drivers guarantee high motor
performance and a cool driver electronics.
Motion types
Corvus-eco provides point-to-point, jogging, linear interpolated moving and also velocity controlled moves with the possibility of on the fly velocity updates.
Software limits can be set to improve the systems safety.
A advanced limit switch teach-in procedure determines the
working range and ensures the precision of homing.
Resolution, velocity and acceleration
The elaborated controller technology enables a low-noise
positioning and an extremely high stepping resolution. In the
programmable mode, a positioning resolution of 1,5 nm is
achieved.
The resolution in the joystick mode is 23.2 fm (femtometer).
Due to the high computing power Corvus-eco has a high
speed and acceleration dynamic from 15nm/s until 25mm/s
(pitch =1mm.)
Linear- or sin²-accelerations modes are also supported.
Options
Corvus-eco is supplied with a great variety of options.
See Table 2, “Function survey,” page 12.

Introduction

Manual

Corvus-eco

Communication
RS-232 or USB
Programming
Corvus-eco is programmed with ASCII command language
Venus-1. For easy motion programming the controller supports native units such as µm, mm, inch, m, mm/s, mm/s²
Manual operation
For manual operation a analog joystick interface is provided.
Additionally Corvus-eco is available with a build in joystick.
Firmware update
To keep the Corvus-eco firmware always up to date the
controller firmware can be easily updated.

Introduction

Manual

Corvus-eco

Function survey
The following table summarizes the functions of the Corvuseco motion controller/driver.
Features
• Axis-1, Axis-2
• Axis-3
• 24V motor driver voltage
• Max. motor phase current: 1.5A
• Max. motor driver resolution: 1.5nm
• Motor revolution (200 step motor): 15 rev/s
• Motor revolution (200 step motor): 25 rev/s
• Joystick operation for external joystick
• Joystick operation with internal joystick
• ASCII command language
• Motion macro execution
• Error correction 1D, open loop and closed loop
• Sin²- acceleration (s-curve)
• Closed Loop (RS422 inputs)
• Closed Loop (1Vss inputs)
• 2 Limit switch inputs
• Digital I/O, 3 inputs / 3 outputs
• Trigger out function, max. 4 kHz, resolution=250µs
• Position capture input, max. 1.000 position data
• Motor enable/disable input
• Firmware update capability
• RS-232 interface
• USB interface

•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•

Standard / Option
Standard
Option / Code
Standard
Standard
Standard
Standard
Option / Code
Standard
Special order code
Standard
Standard
Standard
Standard
Option / Code
Option / Code / Hardware
Standard
Option / Code
Option / Hardware
Option / Code
Option / Hardware
Standard
Standard
Option / Hardware

Table 2. Function survey

Standard:
Basic configuration.
Option / Code:
Release code required.
Option / Hardware:
Additional hardware required.
Option / Code / Hardware: Additional hardware required + release code required.

Introduction

Manual

Corvus-eco

Chapter 2
Starting up

Starting up

Manual

Corvus-eco

Safety notice

The controller is developed, produced, checked and documented in consideration of the relevant standards.
If it is used according to the regulations, there is no danger for
persons and things.
The use according to the regulations implies that the device
is solely used in the way that is described in this documentation and that the stated safety advices are followed.

In no event will the manufacturer be liable for direct, indirect,
special, incidental, or consequential damages arising out the
use of inability to use the product or documentation, even if
advised of the possibility of such damages.

Starting up

Manual

Corvus-eco

Declaration by the manufacturer

The company
PI miCos GmbH
Freiburger Strasse 30
D-79427 Eschbach
declares that the product:
Corvus-eco
intended use:
Positioning Controller
meet the following directives and standards:
Directive 89/336/EEC
Electromag. compatibility

Directive 73/23/EEC
Electrical Apparatus
Low Voltage Directive
European Standards:

EN61010-1 (08.2002)
EN61326-1
EN61000-3-2, EN61000-3-3
Remarks:
Initial operation of the Corvus-eco controller sold by us is not
permitted until it has been assured that the machine/system,
in which our Controller is installed, complies with the EU machine guidelines.

Lucius Amelung (Managing Director)
Eschbach, 06.06.2006
Starting up

Manual

Corvus-eco

Mains supply

Universal input voltage
Corvus-eco is ready for connection to the mains.
The integrated power supply unit has a wide range voltage input which adapts the controller automatically to input voltages
from AC 90V up to AC 250V.

Mains protection
The mains side is protected by a standard 250V/ 3A fuse
It is located in the power entry module and accessible from
the outside.

AC Power connector

Fuse

Mains switch

Line filter
A line filter protects the controller from common-mode and
differential -mode interferences.

Starting up

Manual

Corvus-eco

Motor connection

Axes designation and assignment
Motor connectors are designated as Axis-1, Axis-2, Axis-3.
They consequental were not labeled as X-Y-Z because this
assignment is determined by the application.
The controller is equipped with two axes by default.
Axis-3 is optional available.

Motor types
Corvus-eco supports 2-Phase DC stepping motors with
step angle 0.9 or 1.8°. Maximum phase current = 1.5A
We recommend Hybrid motors. This motors have 200 rotor
teeth and rotate at 1.80 step angles. Other hybrid motors are
available in 0.9ºand 3.6º step angle configurations. Because
they exhibit high static and dynamic torque and run at very
high step rates, hybrid motors are used in a wide variety of industrial applications.

Encoder Axis-1
5

1
9

C
Cycle

1
9

Encoder Axis-2

Motor Axis-1

1
6

Motor Axis-2

RS-232 / Service

1
9

Input / Output
5

1
9

5
9

Encoder Axis-3

RS-232 / Host

1
9

Motor Axis-3

USB

Joystick

Figure 1: Corvus-eco motor connectors

Starting up

Manual

Corvus-eco

Motor characteristics
The following stepper motor parameters are important.
•
•
•
•
•

Step Angle
Current per Phase
Resistance per Phase
Inductance per Phase
Lead Wires

The motor torque during operation depends on the speed and
has to be taken from the motor characteristic curve.
Typical values:

Starting up

Step Angle

Current per
Phase

Resistance
per Phase

0.9°, 1.8°, 3.6°

up to 1.5A

up to 10R

Inductance
per Phase

Lead wires

up to 5mH

4/8

Manual

Corvus-eco

Motor wirings
Following table shows different motor wirings.
We recommend Type 1 and Type 6.
The diagrams are taken from a "Oriental Motor" data
sheet.

Starting up

Manual

Corvus-eco

Commands to adapt the controller to different motor types
To adapt the motor driver to the motors the following
Venus-1 commands are provided:

setu motmin

Determines the phase current if the
motor stand-still.
This affects the holding torque and power consumption at the motors.

setu motg rad

Determines the phase current and
moving torque if the motor is moving.

set p ol ep air s

Adapts controller to polepairs of the
different motor types.
0.9° Hybridmotor polepairs = 100
1.8° Hybridmotor polepairs = 50

More informations see in the Venus-1 manual.

Phase current

umotgrad

BEMF area

umotmin

revolution / s

Above diagram describe the typical stepper motor behavior.
The motor torque depends in the BEMF (back-electromotiveforce) area on the revolutions / torque characteristic of the
motor.
At lower and medium step rates the settings of umotmin and
umotgrad are dominant for the motor characteristic.

Starting up

Manual

Corvus-eco

Measures against system resonances
The combination of a motor and the involved mechanical
drive components are forming a typical spring/mass system
that can oscillate if the damping of the mechanics is insufficient.
Stepper motors resonance appearances are possible. In a
worst case situation the stepping motor will stall with a
whistling sound.
An effective countermeasure against this kind of resonances
are damping elements which are for typically installed on the
extended motor shaft.
For precision position tasks we always recommend the use of
this damping measure.
A cause for resonances are often overdimensioned motors. In
this case we suggest to reduce the torque via the motor parameter umotmin/umotgrad or choosing a more suitable
motor.

damper

Figure 2: Motor with and without damper

Starting up

Manual

Corvus-eco

Motor cable
If the motor cables are in-house produced, cable cross-section, cable length and shielding have to be considered.
The cable cross-section has to be adapted to the phase current. The cable cross-section should be calculated based on
the maximum phase current per motor phase.
For cables longer than 4m it can be necessary to adapt cable
losses by a modified configuration of the motor parameters
setu motmin and setu motg rad .
For the EMC-compatible fitting of the cable, a total shielding
is prescribed whereby the cable shield is connected to the
housing.
The DSUB-9 motor connector should have a metal case. The
fasten nuts of the DSUB connectors of the controller are
equipped with an UNC4-40 thread.
Upon request we manufacture motor cables according to
customer´s demands.

An incorrect wiring of the motor connection can damage
the controller.

Figure 3: Shielded motor cable with metal connector housing

Starting up

Manual

Corvus-eco

Limit switches

Limit switch inputs
Corvus-eco provides 2 limit switch inputs for each axis.
The inputs are situated at the motor connector. The switch inputs are designated due to their function as c al limit switch
input or as rm limit switch input.
The limit switch function is directly linked to these inputs; no
other function can be assigned to them.

Limit switch functions
Following limit switch functions are available:

• teach-in of lower limit switches
(Venus-1 command cal )
The controller moves all axes simultaneously in negative
direction until the cal limit switches are reached.

• teach-in of upper limit switches
(Venus-1 command rm)
The controller moves all axes simultaneously in positive
direction until the rm limit switches are reached.

• teach-in the limits of a single axis
The controller moves a selected axis to the cal or rm limit
switch. Details see chapter "Functions"
Limit switch types
Corvus-eco supports the following limit switch types:

• mechanical switches
• inductive proximity switches
• photo sensors
5V (default) or 12V (upon request) are also available at the
motor connector to supply the switches.

Starting up

Manual

Corvus-eco

Limit switch wiring
Corvus-eco supports NPN and PNP limit switch wiring.
Default setting is NPN.
The settings NPN to PNP can only be changed from the
factory personal or from authorized experts.
Function of limit switch types:

• NPN = the limit switch closes or opens to Ground
• PNP = the limit switch closes or opens to VCC
The function opener or closer is determined with the Venus-1
command se ts w.

Limit switches
6

NPN

cal-limit switch input

factory setting

7
5

PNP

Limit switches
VCC
6

rm-limit switch input
GND

VCC

cal-limit switch input

VCC
7

Starting up

rm-limit switch input

Manual

Corvus-eco

Joystick operation

General remarks
+Y
-X

-Y

For joystick operation the controller is working independent
from a host control unit (subject the controller settings must
not be changed)
Motor moving is controlled from the deflection of the joystick
axes, this allows a very sensitive and intuitive positioning of
the motors.

1
6

5
9

Joystick

Figure 4: FJ Joystick with speed buttons

Joystick axes assignment
The axis of the joystick are assigned to the axis of the controller as follows:
Joystick axes

Starting up

Controller axes

X-Knob

Axis-1

Y-Knob

Axis-2

Z-Knob

Axis-3

Manual

Corvus-eco

Joystick button speed
Two parallel wired push buttons are provided at the joystick to
activate a second joystick velocity.
This velocity is valid as long as one buttons is pressed.
The second joystick speed can be defined with the Venus-1
command se tn joys pe ed

Relevant Venus-1 commands for the joystick operation

Starting up

Command

Description

setjoyspeed

max. joystick velocity
valid for all axes

setnjoyspeed

max. joystick velocity
each axis separately

setjoybspeed

max. joystick velocity if button is pressed
valid for all axes

setmanaccel

manual acceleration
valid for all axes

Manual

Corvus-eco

Notices for the joystick mode

• During power up the zero value of the joystick axes
are checked. Due this, the joystick axes may not be
deflected this time.
If the zero value of a joystick axis is out of a determined value, the manual mode for this axis is disabled.

• If the joystick is disconnected during a manual positioning, the axes are stopped immediately.
The joystick mode remains active.

• For safety reasons the joystick will be switched off
automatically if a programmed move is performed.
Afterwards the joystick has to be switched on.

Starting up

Manual

Corvus-eco

Programmed mode

For program controlled operation a programming host has to
be connected with the controller.
Corvus-eco provides the following programming interfaces:

• RS-232 interface
It is not necessary to install a driver to communicate with
the Corvus-eco RS-232 interface.

• USB interface
This communication assumes a driver installation.
The installation procedure for Windows 2000 and Windows
XP is described in this manual.

Starting up

Manual

Corvus-eco

Initial operation of the RS-232 connection

Testing the RS-232 connection
• Testing with WinPos
WinPos16 LT is added for free to each controller. It is qualified
to execute all functions of the controller and can be used to
check the RS-232 connection.

Procedure step by step:
•
•
•
•

Connect RS-232 cable to PC and controller
Switch on the controller
Start WinPos

Select Com Port, choose correct port settings
"Connecting" WinPos
WinPos automatically communicates with the controller
while it is reading the controller settings.
If Status "Ready" is displayed, the RS-232 communication is well established.

• It is now possible to open the Venus command line to
execute Venus-1 commands.

Details see in the WinPos manual.
Starting up

Manual

Corvus-eco

Trouble shooting
• The RS-232 cable, included in the delivery, should
preferably be used. If the cable is in-house produced
the correct wiring has to be ensured. See connection
diagram in Chapter "Connectors"

• The interface configurations of the control unit has to
correspond accurately with the following settings.
•
•
•
•
•

Data bits
Stop bits
Parity
Handshake
Baudrate

•
•
•
•
•

8
1
no
no
57600

• If the delivered RS-232 cable is used with an additional
interface adapter, please verify if this adapter does not
modify the RS-232 wiring.

• The serial interface of the control unit may not be
occupied by other programs.

Starting up

Manual

Corvus-eco

USB-Interface

USB interface driver
Corvus-eco is equipped with an internal USB to RS-232 interface that uses the well established controller chip FT232AM
(FT232BL) from FDI.
To operate with this interface a virtual Com Port must be installed.
Virtual COM port (VCP) drivers cause the USB device to appear as an additional COM port available to the PC. Application software can access the USB device in the same way as
it would access a standard COM port.
VCP drivers are available which allow the FT232BL device to
work with the following operating systems:

•
•
•
•
•
•
•
•
•
•
•

Windows XP x64
Windows Server 2003 x64

Windows XP
Windows Server 2003

Windows 2000
Windows ME
Windows 98
Linux
Mac OS X
Mac OS 9
Mac OS 8

• Windows CE.NET (Version 4.2 and greater)
Driver link
The following link provides actual drivers:
http://www.ftdichip.com/Drivers/VCP.htm

Starting up

Manual

Corvus-eco

Installing VCP drivers for Windows 2000
To install VCP drivers for a FT232AM device under
Windows 2000, follow the instructions below:

• If a device of the same type has been installed on your
machine before and the drivers that are about to be
installed are different from those installed already, the
original drivers need to be uninstalled.

• Download the latest available VCP drivers from the
FTDI website and unzip them to a location on your PC.

• Connect the Corvus-eco to a spare USB port on your
PC. This will launch the Windows Found New
Hardware Wizard. Click "Next" to proceed with the
installation.

Starting up

Manual

Corvus-eco

• Select "Search for a suitable driver for my device (recommended)" as shown below and then click "Next".

• Check the box next to "Specify a location" and
uncheck all others as shown below.

Starting up

Manual

Corvus-eco

• Clicking "Next" displays a dialog box for you to enter
to the location of the drivers.

• Click "Browse" to display an open file dialog box.

Starting up

Manual

Corvus-eco

• Locate the folder containing the latest drivers downloaded from the FTDI website above and click "Open",
then click "OK". The PC autoselects the correct INF
file, in this case
FTDIBUS.INF. Once Windows has found the required
driver.INF file, click "Next" to proceed.

• Windows should then display a message indicating
that the installation was successful. Click "Finish" to
complete the installation. This has installed the serial
converter. The COM port emulation driver must be
installed after this has completed.

Starting up

Manual

Corvus-eco

• After clicking "Finish", the Found New Hardware Wizard will continue by installing the COM port emulation
driver. The procedure is the same as that above for
installing the serial converter driver, except the PC will
autoselect the FTDIPORT.INF file.

• Open the Device Manager (located in "Control
Panel\System" then select the "Hardware" tab and
click "Device Manager…") and select "View > Devices
by Type". The device appears as an additional COM
port with the label "USB Serial Port".

Starting up

Manual

Corvus-eco

Installing VCP drivers for Windows XP
To install VCP drivers for a, FT232AM device under
Windows XP and XP SP1, follow the instructions below:

• Download the latest available VCP drivers from the
FTDI website and unzip them to a location on your PC.

• If you are running Windows XP or Windows XP SP 1,
temporarily disconnect your PC from the Internet. This
can be done by either removing the network cable
from your PC or by disabling your network card by
going to the "Control Panel\Network and Dial-Up Connections", right clicking on the appropriate connection and selecting "Disable" from the menu. The connection can be re-enabled after the installation is complete. This is not necessary under Windows XP

• SP 2 if configured to ask before connecting to Windows Update. Windows XP SP 2 can have the settings
for Windows Update changed through "Control
Panel\System" then select the "Hardware" tab and
click "Windows Update".

• Connect the Corvus-eco to a spare USB port on your
PC. This will launch the Windows Found New Hardware Wizard. If there is no available Internet connection or Windows XP.
SP 2 is configured to ask before connecting to Windows Update, the screen below is shown. Select "No,
not this time" from the options available and then click
"Next" to proceed with the installation. If there is an
available Internet connection, Windows XP will silently
connect to the Windows Update website and install
any suitable driver it finds for the device in preference
to the driver manually selected.

Starting up

Manual

Corvus-eco

• Select "Install from a list or specific location
(Advanced)" as shown below and then click "Next".

Starting up

Manual

Corvus-eco

• Select "Search for the best driver in these locations"
and enter the file path in the combo-box ("C:\VCP Drivers" in the example below) or browse to it by clicking
the browse button. Once the file path has been entered
in the box, click next to proceed.

• If Windows XP is configured to warn when unsigned
(non-WHQL certified) drivers are about to be installed,
the following screen will be displayed. Click on "Continue Anyway" to continue with the installation. If Windows XP is configured to ignore file signature warnings, no message will appear.

Starting up

Manual

Corvus-eco

• The following screen will be displayed as Windows XP
copies the required driver files.

Starting up

Manual

Corvus-eco

• Open the Device Manager (located in "Control
Panel\System" then select the "Hardware" tab andclick "Device Manger") and select "View > Devices by
Type". The device appears as an additional COM port
with the label "USB Serial Port".

Starting up

Manual

Starting up

Corvus-eco

Manual

Corvus-eco

Chapter 3
Functions

Functions

Manual

Corvus-eco

Programming mode
Corvus-eco is programmed via the RS-232 or USB interface.
The command language is Venus-1.
The principle of the host control
There are reading commands and writing commands.
Writing commands execute the activities. Reading commands are used to check the controller configuration resp. the
current state.
An automatic status reply message can be generated by a
combination of commands, see example.
During a positioning task is executed, the status of the controller and the current coordinates can be replied.
The Venus-1 command language is described in a second
part of the Corvus-eco documentation.

Functions

Manual

Corvus-eco

Venus-1 controller commands (examples)
System commands
save parameters:
sav e
restart controller:
res et

Configuration commands
[parameter] _ [axis index] _ [command] _
Example: switching on the 2nd axis
1 2 setax is
Positioning commands
[axis 1] [axis 2] [axis 3] move
Example:
Absolute move, all axes are moved to the coordinates below
1.204 4.01 3 .4 mo ve
Relative move,
0.001 0.00 2 0.001 r
Status commands
System status:
st
Status of the digital inputs:
ge ti n
Actual position read out
po s
More information see in manual "Venus-1 command language"

Functions

Manual

Corvus-eco

Automatic status reply
The following command sequence must be sent to the controller to cause the controller to send a status reply
automatically.
Example:
10 12 4 m // move to the desired coordinates
0 0 0 r
// no operation command, locks interpreter
until it is executed
st
// command will reply status
if interpreter is unlocked

Functions

Manual

Corvus-eco

Motion control functions
Linear interpolation
In the programmed positioning mode the axes are linear interpolated and a so-called vector move is executed.
In doing so, the involved axes are synchronized that way that
the time of acceleration and the time of deceleration are
equal.
A cross table with the axes x and y executes thereby a
straight movement.

Velocity and acceleration
The settings of the velocity and the acceleration always refers
to the axis with the longest moving distance. It is also called
the limiting axis.
The velocity of the other axes v is a result of the ratio of the
moving distance of these axes to the moving distance of the
limiting axis slim

s
v = --------- Þ v lim
s lim
The acceleration of the other axes is a result of their maximum velocities.

Functions

Manual

Corvus-eco

Velocity profile of a linear acceleration function
The movement profile of a programmed move which is produced with a linear acceleration function has the form of a trapezium. The area under the curve corresponds to the covered
distance s and the pitch of the curve corresponds to the acceleration a .
See v/t graph below.

• 1 = accelerated move
• 2 = continuos move
• 3 = decelerated move

Movement profile of short distances
The graph below shows the positioning of a short distance. It
can not always be guaranteed here that the axis reaches it’s
maximum velocity.
The movement profile has the form of a isosceles triangle.

Functions

Manual

Corvus-eco

Movement profile of the sin²-acceleration function
For the sin²-acceleration the torque is not provided abruptly
but in form of a sine curve. A very soft start and deceleration
of the motor is achieved with this profile.
Because the acceleration is raised in the lower speed range
it does not lead to an extension of the positioning process.

Functions

Manual

Corvus-eco

Positioning with the joystick
The joystick mode allows a very sensitive positioning of the
axes with an analog joystick.
This movement is velocity controlled and caused by the deflection of the joystick.
The larger the deflection, the larger the velocity. In joystick
mode the axes can be moved independently.
The position resolution with the joystick is enormous.
The internal calculation works with 32 bit and reaches
a resolution of theoretically 23.2 fm (femtometer).

Joystick button speed
The two parallel wired push buttons of the joystick can switch
to a freely definable second joystick velocity.
This velocity is valid as long as one of the buttons are
pressed.

Relevant commands:

Functions

Command

Description

setjoyspeed

max. joystick velocity
valid for all axes

setnjoyspeed

max. joystick velocity
each axis separately

setjoybspeed

max. joystick velocity if button is pressed
valid for all axes

setmanaccel

manual acceleration
valid for all axes

Manual

Corvus-eco

Notices for the joystick mode

• During power up the zero values of the joystick axes
are checked. Due this, the joystick axes may not be
deflected this time.
If zero value of a joystick axis is out of a determined
value, the manual mode for this axis is disabled.

• If the joystick is disconnected during a manual positioning, the axes are stopped immediately.
The joystick mode remains active.

• For safety reasons the joystick will be switched off
automatically if a programmed move is performed.
Afterwards the joystick has to be switched on.

Functions

Manual

Corvus-eco

Closed-Loop function
This function enables the operation in a feedback control
mode.
Therefore the actual position is monitored by a measuring
system and looped back to the controller.
Depending on the type of the measuring system the function
has the following advantages.

•
•
•
•
•
•

Increasing the repeatability
Improvement of the absolute accuracy
Step monitoring
Load compensation during the movement and a standstill
Improved controlling behavior
Supports fast and high precise positioning procedures
using the closed loop function " in-window "

• Enables high precision measuring functions
• Increases precision of the "trigger out function"
• Increases precision of the "position capture function"

Supported measuring systems
Corvus supports the following measuring systems:

• Digital encoder (RS422 differential)
• Analog encoder (1 Vpp differential)
• Marzhauser MR 500 measuring system

Functions

Manual

Corvus-eco

Digital encoder interface

Option

The interface supports square wave pulse trains and their inverted pulse trains. The encoder interface is also provided
with a reference signal input.

Technical data:

Functions

Encoder signal input

RS422 differential

Encoder index input

RS422 differential

Max. input frequency

20 MHz

Max. input resolution

0.233 nm (233fm)

Manual

Corvus-eco

Analog encoder interface with sin/cos module

Option
Option

Each axis can be supplied with a sin/cos module. This module
is a independent hardware data interface for sinusoidal
encoder signals. The input signal is internal multiplied.
The modules are available with a 12 Bit or 16 Bit data acquisition interface.

Technical data:
Input signal

1Vpp, differential

Reference mark

1 Vpp, differential

Max. input frequency

500 kHz

Multiplication factor
of signal interpolation

12 Bit module: 12,865
16 Bit module: 205,884

To calculate the maximum positioning resolution of the
sin/cos module, the cycle time of the measurement signal period must be divided by the multiplication factor.
The driver electronics supports a resolution up to 1nm

Functions

Manual

Corvus-eco

Status LED´s

Cycle LED

1
9

Cycle

Sensor

Status

active

Hardware ok

not active

Hardware error

Sensor LED

Status

active

No sensor available or sensor error

not active

Sensor ok

Related commands:

Functions

Command

Description

setcl oop

enables closed loop mode

setscaleinterface

configurates sin/cos module

setcl perio de

adapts to the encoder types

setclfactor

adapts to the encoder types

setscaletype

configurates sin/cos modules

setcl para

configurates PID controller

r e f mo ve

executes moves to reference
mark

Manual

Corvus-eco

Limit switches
Corvus-eco provides two hardware limits for each axis.
This limits a very useful to protect the mechanical system.
In the following the limit switch teach-in procedure is decriped. See also in Chapter "Installation".

• Programmed broadcast limit-switch teach-in
All axes are moved to the limits simultaneously.

• Programmed single axis limit-switch teach-in
The limit teach-in can be performed for each axis
separately.

• Manual teach-in
Limit-switch teach-in by the use of a joystick.

User limit switches
6

7
5

Functions

limit switch input (cal)

limit switch input (rm)
GND

Manual

Corvus-eco

Broadcast limit-switch teach-in
With the Venus-1 commands cal and rm all active axis are
moved synchronous to the "cal" or "rm" limit switches.
Synchronous means the axes are starting at the same time to
move simultaneous to the minus (cal) or plus direction (rm).
If the limit switches of one direction are switched, the axes are
moving automatically in the opposite direction until the switches are released. At this point the limit-switch teach in of one
direction is complete.
The limit-switch movement can be aborted with the command
Ctrl+c .

During the broadcast limit-switch teach-in the Venus-1 command interpreter is blocked, no other commands except the
abort command Ctrl+c will be executed.
Nevertheless the controller continues to receive commands in
it´s command FIFO. These commands are successive executed after a limit-switch teach-in procedure is completed.

Functions

Manual

Corvus-eco

Single axis limit-switch teach-in
With the Venus-1 single axis command n ca l and nrm the
limit-switch teach-in can be performed for each axis
separately.

Contrary to the broadcast limit-switch teach-in, the Venus-1
interpreter is not blocked during the limit-switch procedure.

Related Venus-1 commands:

Functions

Command

Description

cal

moves all axes to the minus limitswitch direction

ncal

moves a single axis to the minus
limit-switch direction

moves all axes to plus limitswitch direction

nrm

moves a single axis to the plus
limit-switch direction

s e t ca l v e l

setting-up the velocities of the
"cal" limit-switch procedure

setncalvel

setting-up the velocities of a "cal"
single axis limit-switch procedure

setrmvel

setting-up the velocities of the
"rm" limit-switch procedure

s e t n r mv e l

setting-up the velocities of a "rm"
single axis limit-switch procedure

Manual

Corvus-eco

Programmed limit-switch teach-in in detail
In the following pages the procedure of the programmed limit
switch teach-in is described in detail.
The procedure is divided in at least two successive movements for each axis.
1

1. The axis moves to the limit switch until the limit switch is
activated.

2
3

2. The axis moves in the opposite direction until the limit
switch is released.

3. If defined an additional move is performed to the opposite
direction (see command s etcalswdist ).
If the limit-switch teach-in procedure is performed for each direction, the working area is determined. In regular conditions
further on all movements will be ramped down and terminated
at the limit borders without activating the limit switches again.
v

s
0

cal-switch

rm-switch
lower limit

upper limit

Run out area
Mechanical hard limit

Distance defined with
setcalswdist

Functions

working area

Manual

Corvus-eco

Limit register, position counter and motor direction

With command ca l or nc al the controller moves in minus
direction to the cal limit-switch(es). The cal limit-switch procedure defines the origin while the position counter and the
lower limit register is cleared to zero. The upper limit register
is set to it´s maximum value of 16.383mm.
After teaching-in the cal limit-switch, a movement to coordinates less than zero is only possible if the cal limit-switch is
disabled and the lower limit value is changed to negative values with the command s e tl i m it.
The origin can be changed subsequently with the command
setp os .

With command rm or nrm the controller moves in plus
direction to the rm limit switch(es).
The rm limit-switch procedure, registers the maximum working range to the rm limit-switch.

+
100

After teaching-in the rm limit-switch, a movement to coordinates upper than the registered maximum range is only possible, if the rm limit-switch is disabled and the range limit value
is changed to larger values with command setlim it .

For safety reasons it is not possible to save the registered limit switch coordinates permanently.

Functions

Manual

Corvus-eco

Manually teaching-in the limits
The limits can be determined manually by the use of the joystick. This procedure is similar to the programmed limit-switch
teach-in.

Limit switch teach-in with the joystick in detail
The axis must be manually moved until the limit-switch is
active, then moved out of the switch until it is inactive. At this
point the limit is registered.
If all limits are teached-in, the working area is determined. In
regular conditions further on all movements will be ramped
down and terminated at the limits, without activating the limit
switches again.

Point of origin if limits are manually determined
Contrary to the programmed limit-switch movement, the manual teach-in does not clear the position counter.
The origin is automatically set to zero at power up and can be
changed individually with the command s et po s.
It is also possible to change the limits with command
setlim it .

-24

cal

Functions

+123

Manual

Corvus-eco

Important notices
• To determine the limits in the programmed mode, it is
essential to execute the cal or nca l procedure first,
because this procedure clears the position counter and the
limit registers.

• The velocities to execute the limit switch movements has
to be chosen very carefully because:
The motors are interrupted immediately if the limitswitches are activated, this causes a back electromotive
force (bemf) that can reset the controller
To much speed can bring the axis in collision with the
the mechanical limits.
To achieve a good repeatability of the determined limit
coordinates, especially the velocity for moving out of the
limit-switches should be chosen as small as possible.

• The broadcast limit switch teach-in procedure blocks the
Venus-1 interpreter for all other commands except Ctrl+c.

• For safety reasons the determined limits can not be stored
permanently.

• Software limits can be defined additionally. See command
s e t nl i m i t.

Functions

Manual

Corvus-eco

Digital inputs / outputs
For individual controlling tasks Corvus is supplied with an input/output interface with 3 digital inputs and 3 digital outputs.

Option

Input circuit
The input voltage range of the digital inputs is between
0 to 24V.
The inputs are optically isolated but not DC-isolated.

Input
0-24V

DGND

Technical data:

Functions

Input voltage

Identified as

0-2V

3 - 24 V

Manual

Corvus-eco

Output circuit
The output driver has a darlington circuit with open-collector
output which is also qualified for switching inductive loads.
The maximum current capacity of each output is 500 mA.
Vcc
5V - 35V
SPNG
Load

Output

The total output current of all outputs may not exceed
1000 mA.

Related Venus-1 commands:

Functions

Command

Description

setout

generates signal output

getin

input signal detection

setinfunc

safety function configuration

Manual

Corvus-eco

Input / output functions
The following functions are realised with the digital
inputs/output interface at connector "input/output"

Output signal generation
The command seto ut generates digital output signal at
Pin´s 4, 8, 9.

Input signal detection
The command ge tin reads the binary state of the data inputs
at Pin‘s 2, 6, 7.

Safety function
The function s eti nfun c uses an input signal (Pin 4,8,9) to
lock a specified axis completely or restrict their moving range
depending on the direction.
This function is works independently from the limit-switch
function.

Functions

Manual

Corvus-eco

User output voltages
To supply external devices, Corvus-eco provides the uservoltages +5V or +12V. These voltages are protected with a
electronic fuse.
The fuse elements are self-resetable this means the electric
circuit is closed again after a while when the overload situation is removed.
Technical data:

Functions

User voltage

Max. output current

5V (default)

12V (upon request)

0.3A

Manual

Corvus-eco

Chapter 4
Technical data

Technical data

Manual

Corvus-eco

Specifications
Number of axes

• 2 or 3

Phase current

• 0.2A...1,5A

Velocity max.
Velocity min.

• 15 mm/s (if pitch = 1mm)
• 15.26 nm/s

Acceleration max.
Acceleration min.

• 1m/s²
• 15.26 nm/s²

Supported motors

• Stepper motor, 2-phases or 3-phases

Programming

• ASCII command language Venus-1
• Windows user interface (WinPos)
• Software library (dll)

Resolution
programming mode

• 1.5 nm

Resolution
joystick mode

• 0.233 nm

Positioning modes

•
•
•
•

Acceleration modes

• linear (trapezoid), sin² s-curve)

Processor

• 32 Bit Risc Processor

Operating system

• Real Time Operating System (RTOS)

Motor driver

• Digital, MOS-FET technology

Communication

• RS-232 up to 57600 Baud
• USB (option)

Limits

• 2 x limit switch inputs for each axis (isolated)
• 1x origin switch input
• Voltage setting to supply switches: 5V
(12 V upon request)

Input/Outputs
(Option)

• 3 x digital inputs
• 3 x digital outputs

Technical data

Absolute, relative, vector, error correction
speed controlled with on the fly velocity updates
Limit move algorithm
Origin move algorithm

Manual

Corvus-eco

User Output power

• +5V, 1000 mA (default)
• +12V, 300 mA (upon request)

Closed Loop interface

• 1Vpp
• RS422 quadrature

RS422 inputs

•
•
•
•

3 Channel differential, incremental, RS422
Multiplication factor: x4
Encoder index pulse consideration
Input frequency 20 MHz.

1Vpp inputs

•
•
•
•

3 Channel differential, incremental 1Vpp.
Multiplication factor: x12,865 or x205,884
Encoder index pulse consideration
Input frequency max. 500 kHz

Safety functions

• Motor disable interface
• Isolated relay contact

Accessories

•
•
•
•

Trigger Out Function

• Position synchronized output (PSO)
• Trigger rate max. 4kHz
• Resolution 250µs

Position capture input

•
•
•
•

Dimensions

• L x W x H: 215 x 225 x 55 (mm)

Motor driver voltage

• 24V

Standards

• RoHS certified

Technical data

Analog joystick interface with 2 or 3 axes
Analog joystick with display
Digital encoder handwheel
Handheld Terminal

Position capture after trigger input event
Max. position memory: 1.000 coordinates
Max. event capture frequency: 2 kHz
Max. trigger position resolution: 500µs x velocity

Manual

Corvus-eco

Layout and dimensions

Technical data

Manual

Corvus-eco

Chapter 5
Releasing options

Releasing options

Manual

Corvus

Releasing options
Corvus-eco is equipped with a various number of options
which can be easily released from the customer with a so
called release code.

Informations to purchase a release code
To purchase an option following informations are essential.

1. Serial number of the controller
The number is fit at the bottom side of the Corvus-eco
chassis.

Serial number: 0604-0243

Model:

Releasing options

Corvus-eco

S/N:
Voltage:
Power:

0604-0243

90-250V

Manual

Corvus

2. Actual released options
The already released options are labeled on the rear side of
the controller. The options index can also readout with the
command ge top t io ns

Options
Axis-3
High speed (25 rev./s)
Input/Output

Axis-1 Closed loop
RS-422 1Vss MR

Releasing options

Manual

Corvus

Fill out form for release code requests

Controller type
Serial number
Desired option
Already released
options

Options
Axis-3
High speed (25 rev./s)
Input/Output
Axis-1 Closed Loop
RS422 1Vss
MR
Axis-2 Closed Loop
RS422 1Vss
MR
Axis-3 Closed Loop
RS422 1Vss
MR

current index
( get opt i ons)
Date
TABLE 1: Fill out form for release code requests

Releasing options

Manual

Corvus

Installation procedure
To install an option use WinPos16.
WinPos16 LT is added for free to each controller.
Before using WinPos, please check if your WinPos version is
able to release options.
WinPos Version 1.1 with venuscom.dat* dated 14.07.2003
or newer should be used.
*venuscom.dat is found in the WinPos directory.

Installation step by step
•
•
•
•
•
•
•
•
•

Connect serial line with Host and controller
Switch on the controller
Start WinPos
Establish a proper communication between WinPos and
the controller.
Open Venus command input line
Input release code and send it with command s et co de
Input command sav e and send it to store release code
Input command res et and send it to restart the controller
Verify released code with command geto pti on s

Connect controller

Releasing options

Manual

Corvus

Venus-1 command line
Controller connected

Release Code
with command
setcode

Releasing options

Manual

Releasing options

Corvus

Manual

Corvus

Option index table
With the command g et op t io ns the already released
options are replied as a bit coded decimal number from
0 to 1023 as shown in the following table.

Option

g et op t io ns
Index

Bit

3 rd. Axis

not used

Input / output

not used

Closed loop axis 1

Closed loop axis 2

128

Closed loop axis 3

256

High speed

512

TABLE 2: Option index table

Example:
Options: 3 rd. Axis, Input/Output
ge to pti o ns = 8 + 1 = 9

Releasing options

Manual

Corvus

Troubleshooting
• After releasing the option doesn‘t work
Check if the option is released. Use command g et o pt i on s.
Before you try again to release the option, please make sure
that your release code is correct. A wrong code will disable all
options.
In most cases you got the code via E-mail. It is a reasonable
way to copy the number from the E-mail into the clipboard and
insert it directly in the Venus command line.
- Don‘t forget to send command save after setc od e.
- Don‘t forget to send command reset after s ave.

• During releasing with WinPos you got the message
"unknown command s et co de"
You are using an older WinPos Version. Ask you dealer for
WinPos Version 1.1 with "venuscom.dat"
date code: 14.07.2003 or newer.

Releasing options

Manual

Releasing options

Corvus

Manual

Corvus-eco

Chapter 6
Firmware update

Firmware update

Manual

Corvus

Firmware update
The Firmware update can be easily accomplished with the
ITK Update Tool. This is a self-explanatory tool that guides
you through the process in three steps.

Update procedure in three steps
1. All controller settings will be read from the controller and
stored to disk.
2. A new firmware download is performed.
3. The settings are read from the disk and stored to the
controller again.

What do you need to update the controller
1. Update Tool with following files:

2. New Firmware.bin file
This file can be uploaded from the home page of your dealer
or can send you via E-mail.

3. Computer with a 115 kBaud RS-232 interface
The update is executed via the RS-232 Service line.
The baudrate for parameter upload is selectable.
The firmware download is executed with a fixed baudrate
of 115kBaud.
4. Socket wrench (5mm)
Tool to remove the cover of the D-type connector
"RS-232 Service" at the controller.
Firmware update

Manual

Corvus

Update Tool

Firmware update

Manual

Firmware update

Corvus

Manual

Corvus-eco

Chapter 7
Connectors

Connectors

Manual

Corvus-eco

Connectors overview

I/O connector
Firmware update interface
Closed Loop interface

Encoder Axis-1
5

1
9

C
Cycle

1
9

Encoder Axis-2

Motor Axis-1

S
1
6

Motor Axis-2

RS-232 / Service

1
9

Input / Output
5

1
9

5
9

Encoder Axis-3

RS-232 / Host

1
9

Motor Axis-3

USB

Joystick

RS-232 / USB interface
Motor connectors /limit switches

Joystick input

Connectors

Manual

Corvus-eco

Motor and limit switch connectors

1
9

Motor Axis-1

Motor Axis-2

1
9

Motor Axis-3

Motor control output and limit switch input a combined in this
connectors.

Name

Description

Ph 1A

Motor Phase 1A

Ph 1B

Motor Phase 1B

Ph 2A

Motor Phase 2A

Ph 2B

Motor Phase 2B

GND

Ground

cal

Limit switch input
(negative direction)

Limit switch input
(positive direction)

User 5V (12V)

Output voltage 5V (12V)

9
TABLE 3. Motor connector

* factory setting: 5V
The settings can only be changed from the factory personal
or from authorized experts

Connectors

Manual

Corvus-eco

Digital encoder input

Encoder Axis-1
5

1
9

Encoder Axis-2

1
9

Encoder Axis-3

1
9

Supports closed loop control with digital RS422 encoders.

Name

Function

Ua 1

Channel A (positive)

Ua 2

Channel B (positive)

Ua 0

Reference (positive)

DGND

GND

User 5V*

Encoder supply
User output (max. 1000mA)

Ua 1-

Channel A (negative)

Ua 2-

Channel B (negative)

Ua 0-

Reference (negative)

Error

Encoder error

TABLE 4. Digital encoder input

*Corvus eco provides the encoder supply for each encoder;
the value is fixed.

Connectors

Manual

Corvus-eco

Analog encoder input

Encoder Axis-1
5

1
9

Encoder Axis-2

1
9

Encoder Axis-3

1
9

Supports closed loop control with standard analog measurement systems 1Vpp.

Name

Function

+5V analog

Encoder supply
Analog Vcc

Event

Ua 1 +

sin +

Ua 1 -

sin -

Ua 2 +

cos +

Ua 2 -

cos -

Ua 0 +

Reference (positive)

Ua 0 -

Reference (negative)

AGND

Analog ground

TABLE 5. Analog encoder input

Connector chassis = Digital GND
*Corvus-eco provides the encoder supply for each encoder;
the value is fixed. Stability has to be achieved for longer
supply lines.

Connectors

Manual

Corvus-eco

Digital input / output
Input / Output
5

1
9

Name

Function

DGND

Digital GND

Input 2

User +5V

User output

Output 2

SPNG

Input 1

(0-24V)

Input 3

(0-24V)

Output 3

(0-24V)

Output 1

(0-24V)

TABLE 6. Digital input/output

Input
0-24V

DGND

Vcc
5V - 35V
SPNG
Load

Output

Connectors

Manual

Corvus-eco

RS-232 / USB programming interface

RS-232 / Host

USB

This interface is used for the standard programming mode
T
Pin

Name

Function

RxD

Corvus data input

TxD

Corvus data output

DTR

Connected with Pin6

GND

DSR

Connected with Pin4

RTS

CTS

9
TABLE 7. RS-232 programming interface

The RS-232 interface is working without flow control.
The handshake signals RTS and CTS are not supported.
DTR and DSR are internal connected.

Name

Function

VCC

USB +5V

D-

Corvus data input

D+

Corvus data output

GND

TABLE 8. USB connector
Connectors

Manual

Corvus-eco

RS-232 Service interface

RS-232 / Service

Name

Function

RxD

Corvus Data input

TxD

Corvus Data output

DTR

Connected with Pin6

GND

DSR

Connected with Pin4

7
8
9
TABLE 9. RS-232 service interface

Connectors

Manual

Corvus-eco

Joystick interface

Joystick

Name

Function

Axis-1 (X)

Analog input 0-3.3V

Axis-2 (Y)

Analog input 0-3.3V

Axis-3 (Z)

Analog input 0-3.3V

Joystick enable

Enable input
GND = enables joystick

+5V (User)

User output

Joystick button

GND

AGND

analog GND

3.3V (analog)

Power

TABLE 10. Joystick interface

Connectors

Manual

Corvus-eco

Your notices:

Connectors

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