Open architecture robot controller CSS-004

with integrated variable speed controlfor programming

Overview
This product is a dual-axis stepper-motor control system for automated industrial tank-cleaning robots based on the ZN5 water-gun platform. It independently controls a continuous horizontal rotation axis (0–360°, 1:25 gear ratio) and a vertical tilt axis (0–180°, 1:50 gear ratio). The controller runs four programmable cleaning modes and exposes all operating parameters over RS-485 Modbus RTU for field configuration and fleet scaling. NEOTON MOTOR offers OEM customization of axis count, gear ratio, fieldbus protocol and enclosure rating to match specific tank geometries and cleaning requirements.

Key Highlights

• Four programmable cleaning modes: full-sweep, vertical rib targeting, horizontal rib targeting, and tank-floor purge
• Dual-axis coordination: horizontal 0–360° (1:25 ratio) and vertical 0–180° (1:50 ratio) stepper drives
• All parameters configurable via RS-485 Modbus RTU (no firmware reflash required for different tank geometries)
• Scalable network: up to 127 water guns on a single RS-485 bus
• Automatic homing sequence on power-up for repeatable coverage
• OEM-customizable: gear ratio, fieldbus, enclosure IP rating, and axis count

Quick summary

• Drive Axes: 2 (horizontal + vertical stepper motors)
• Horizontal Gear Ratio: 1:25 (360° / 25 motor turns; 14.4° per motor revolution)
• Vertical Gear Ratio: 1:50 (180° / 2500 motor turns; 0.072° per motor revolution)
• Working Speed: 1–10 RPM (RS-485 configurable)
• Communication: RS-485 Modbus RTU, 9600 baud
• Network Nodes: Up to 127 guns per bus

Full specifications — Motion Axes
Drive Axes: 2 independent stepper motor axes
Horizontal Range: 0–360° continuous rotation
Horizontal Gear Ratio: 1:25 (14.4° per motor revolution)
Vertical Range: 0–180° tilt
Vertical Gear Ratio: 1:50 (0.072° per motor revolution)
Working Speed: 1–10 RPM (independently configurable per axis)
Homing Speed: 1–10 RPM (independently configurable per axis)

Cleaning Modes
Mode 1 — Normal Sweep: Full horizontal rotation with synchronized vertical up/down travel; auto-home on completion
Mode 2 — Vertical Rib: Positions gun at up to 4 user-defined horizontal angles; vertical axis reciprocates at each position
Mode 3 — Horizontal Rib: Positions gun at up to 3 user-defined vertical angles; horizontal axis makes N laps at each level
Mode 4 — Tank Floor Purge: Sweeps floor from down-limit upward in 3 steps to 30°; centers on drain port ±30° for final flush

Communication & Control
Protocol: Modbus RTU over RS-485
Baud Rate: 9600 bps (DIP-switch selectable)
Frame Format: 1 start bit, 8 data bits, 1 stop bit, no parity
Network Topology: Bus (shielded twisted pair); 120 Ω termination at far end
Addressable Nodes: 1–127 per bus (address 0 reserved for broadcast)
Register Map: Read/write registers for mode, speed, angles, rib count, laps, drain angle, and real-time position feedback

Configurable Parameters (via RS-485)

• Horizontal Speed: 1–10 RPM (default 8)
• Vertical Speed: 1–10 RPM (default 10)
• Jog Angle: 0–360.00° (resolution 0.01°)
• Base Park Angle: 0–360.00°
• Vertical Rib Count: 1–4 (horizontal position per rib configurable)
• Horizontal Rib Count: 1–3 (vertical angle per rib configurable)
• Cleaning Laps: 1–10 laps per horizontal rib level
• Drain Port Angle: 0–360.00°

OEM & Customization
Solution Type: Representative application scenario — NEOTON MOTOR can customize gear ratio, axis count, fieldbus protocol, enclosure IP rating, and MCU firmware to match tank geometry
Typical Lead Time: project dependent
Minimum Order: No minimum — single-unit prototype to volume production
Documentation: Full system manual, RS-485 register map, wiring diagram, and commissioning guide provided

Technical specifications

• Brand: NEOTON MOTOR
• Model: CSS-004
• Application: Dual-axis control for tank cleaning robot (ZN5 water-gun platform)
• Axes: 2 stepper axes (horizontal + vertical)
• Horizontal range / ratio: 0–360° / 1:25
• Vertical range / ratio: 0–180° / 1:50
• Working speed: 1–10 RPM (configurable per axis)
• Communication: RS-485 Modbus RTU, 9600 bps (DIP-switch selectable)
• Network nodes: Up to 127 guns per RS-485 bus
• Configurable parameters: mode, speeds, angles, rib counts, laps, drain angle, position feedback
• Cleaning modes: Full sweep, vertical rib, horizontal rib, tank-floor purge