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Remote Command Set

Description

Velocity set

Syntax

Remarks

This command is used to set the velocity value for an axis. The velocity setting specified

will not have any effect on a move that is already in progress. If this command is issued

when an axis’ motion is in progress, the controller will accept the new value but it will

use it for subsequent moves only. The maximum velocity for a ‘Standard’ Picomotor is

2000 steps/sec, while the same for a ‘Tiny’ Picomotor is 1750 steps/sec.

Argument

Value

Description

1 to 4

Axis number

1 to 2000

Velocity (steps/sec). Default = 2000 steps/sec

Example

1VA1750

(Set motor 1 velocity to 1750 steps/sec)

See Also

VA?, AC, AC?

VA?

Description

Velocity query.

Syntax

Remarks

This command is used to query the velocity value for an axis.

Argument

Value

Description

1 to 4

Axis number

Response

Value

Description

Value

Integer

Velocity setting (steps/sec)

Example

1VA?

(Get motor 1 velocity)

1750

(Returns 1750; motor 1 velocity)

See Also

VA, AC, AC?

Summary of Contents for New Focus Picomotor 8742

Page 1: ...Picomotor Controller Driver User s Manual Model 8742 ...

Page 2: ...nces induced by Radio Frequency Fields Immunity Test IEC 61000 4 8 2009 EMC Power Frequency Magnetic Field Immunity Test IEC 61000 4 11 2004 AMD 1 2017 EMC Voltage Dips Short Interruptions and Variations Immunity Test 1 Manufacturers Name MKS Instruments Inc 2 Tech Drive Andover MA 01810 USA Authorized Representatives Name Location MICRO CONTROLE Spectra Physics S A S Zone Industrielle 45340 Beaun...

Page 3: ...bances induced by Radio Frequency Fields Immunity Test IEC 61000 4 8 2009 EMC Power Frequency Magnetic Field Immunity Test IEC 61000 4 11 2004 AMD 1 2017 EMC Voltage Dips Short Interruptions and Variations Immunity Test 1 Manufacturers Name MKS Instruments Inc 2 Tech Drive Andover MA 01810 USA Authorized Representatives Name Location MICRO CONTROLE Spectra Physics S A S Zone Industrielle 45340 Bea...

Page 4: ... do not apply to products which have been repaired or modified without New Focus s written approval or products subjected to unusual physical thermal or electrical stress improper installation misuse abuse accident or negligence in use storage transportation or handling This warranty also does not apply to fuses batteries or damage from battery leakage THIS WARRANTY IS IN LIEU OF ALL OTHER WARRANT...

Page 5: ...ew Focus Customer shall not at any time disclose New Focus s trade secrets to any other person firm organization or employee that does not need consistent with Customer s right of use hereunder to obtain access to the New Focus Programs and Related Materials These restrictions shall not apply to information 1 generally known to the public or obtainable from public sources 2 readily apparent from t...

Page 6: ... RMA Return the product to Newport Corporation freight prepaid clearly marked with the RMA and we will either repair or replace it at our discretion Newport is not responsible for damage occurring in transit and is not obligated to accept products returned without an RMA E mail rma service newport com When calling New Focus Corporation please provide the customer care representative with the follo...

Page 7: ...ernating voltage symbol 12 1 1 7 On 12 1 1 8 Off 12 1 1 9 Ground 13 1 1 10 DC Symbol 13 1 1 11 Waste Electrical and Electronic Equipment WEEE 13 1 1 12 Control of Hazardous Substances 13 1 2 Warnings and Cautions 14 1 2 1 General Warnings 14 1 2 2 General Cautions 15 1 2 3 Summary of Warnings and Cautions 15 1 3 Location of Labels and Warnings 18 1 4 Safety Grounding Considerations 19 2 General In...

Page 8: ...4 1 Introduction 32 4 2 Grounding 32 4 3 Power 32 4 4 Connecting 8742 to a Computer via USB 32 4 5 Connecting 8742 to a Computer via Ethernet 33 4 5 1 Connecting to a Router 33 4 6 Picomotor Connections 33 4 7 Connecting Multiple Units to a Computer 34 4 7 1 Using USB Hubs 35 4 7 2 Using Ethernet Routers Switchers 36 4 7 3 Using RS 485 LAN to Daisy Chain 37 4 8 Connecting to the 8758 Hand Control ...

Page 9: ... 51 5 6 3 Embedded Dynamic HTTP Server 62 5 7 LabVIEWTM and C Programming Support 63 5 7 1 Introduction 63 6 Remote Command Set 64 6 1 Command Syntax 64 6 1 1 RS 485 Command Syntax 65 6 1 2 Summary of Command Syntax 66 6 2 Command List 67 6 2 1 Description of Commands 69 7 Appendix 97 7 1 Non Axis Specific Error Messages 97 7 2 Axis Specific Error Messages 98 8 Maintenance and Service 100 8 1 Encl...

Page 10: ...ng four units to a computer via a USB hub 35 Connecting three units to a computer via an Ethernet router 36 Connecting four units to a computer via RS 485 LAN 37 Connecting four units to a computer via RS 485 adapter 38 Single Controller Setup 39 Multiple Controller Setup 40 Picomotor Controller RS 485 LAN Topology 48 Picomotor Application Software 50 Controller Address Identification 51 Jog Tab 5...

Page 11: ...consulted to determine the nature of a potential hazard and any actions that have to be taken 1 1 2 Electric Shock Electrical Shock Symbol The Electrical Shock Symbol in the figure above appears throughout this manual and on the product This symbol indicates a hazard arising from dangerous voltage Any mishandling could result in irreparable damage to the equipment and personal injury or death 1 1 ...

Page 12: ... instrument has been designed tested and certified compliant to all applicable United Kingdom regulations and recommendations 1 1 6 Alternating voltage symbol Alternating Voltage Symbol This international symbol implies an alternating voltage or current 1 1 7 On I On Symbol The symbol in the figure above represents a power switch position on a Model 8742 This symbol represents a Power On condition...

Page 13: ...t not be disposed with regular waste Instead it is the user responsibility to dispose of waste equipment according to the local laws The separate collection and recycling of the waste equipment at the time of disposal will help to conserve natural resources and ensure that it is recycled in a manner that protects human health and the environment For information about where the user can drop off th...

Page 14: ... to cause damage to property or equipment NOTE Additional information the user or operator should consider Situation has the potential to cause the product to not comply with applicable European Union regulations Situation has the potential to cause the product to not comply with applicable United Kingdom regulations 1 2 1 General Warnings Observe these general warnings when operating or servicing...

Page 15: ...y the New Focus supplied MAINS power cord with the external DC supply Use of under rated power cords and cause property damage 1 2 2 General Cautions Observe these cautions when operating this equipment If this equipment is used in a manner not specified in this manual the protection provided by this equipment may be impaired Do not block ventilation openings Use only the specified replacement par...

Page 16: ...equipment WARNING The Model 8742 is intended for use ONLY with New Focus Picomotors Connection of other devices to the unit s motor connectors may cause damage to the unit or the connected device fire and or personal injury WARNING Before operating the Model 8742 Picomotor Driver please read and understand all of Section 1 WARNING Do not attempt to operate this equipment if there is evidence of sh...

Page 17: ...under Normal Environmental Conditions as defined in EN61010 1 2010 Operation under harsher environmental conditions can result in severe injury CAUTION The case of the Model 8742 Picomotor Controller Driver is used to dissipate internally generated heat Blocking the normal convective airflow around the unit or thermally insulating the unit can result in severe injury damage to the product and or f...

Page 18: ...bances The Model 8742 Picomotor Controller Driver is intended for use in an industrial laboratory environment Use of this product in other environments such as residential may result in electromagnetic compatibility difficulties due to conducted as well as radiated disturbances 1 3 Location of Labels and Warnings Labels and Warnings CE Mark Power Supply Voltage and Current Serial Number and WEEE S...

Page 19: ... shown in Paragraph 1 1 8 above While it is not necessary to connect this terminal to a building earth ground New Focus recommends doing so because it will simplify system level compliance with most regulatory requirements Once this connection is made the user must ensure that all other system components are appropriately grounded Do not depend upon the physical mounting hardware to accomplish thi...

Page 20: ...y Precautions because this insulation will probably need to have a breakdown voltage of several thousand volts due to lightening concerns In summary New Focus strongly recommends grounding the Model 8742 s case ...

Page 21: ... jogging etc Key Product Features A number of advanced features make the 8742 an excellent choice for many applications Intelligent 4 axis open loop control Compact integrated controller and driver design Patented Picomotor compatibility with auto sensing technology Programmable settings stored in non volatile memory Plug and play USB 2 0 interface 10 100 Mbps Ethernet connectivity Sockets interfa...

Page 22: ...vious signs of physical damage that might have occurred during shipment Report any such damage to the shipping agent immediately NOTE Retain the original packing materials in case reshipment becomes necessary 2 3 1 What is included The 8742 package contents 8742 Controller Driver USB Flash Drive which contains the user manual various documents USB driver software application and libraries 2 4 Avai...

Page 23: ...ves on one or more motor channels the case temperature may rise above what is considered safe under various international safety conventions Even after extreme use the unit s case temperature will drop to safe levels within a few minutes The user should not touch the case immediately following such use Note that the Model 8742 does contain internal temperature protection circuitry that will shut d...

Page 24: ... Power Consumption 12 Volts 2 Watts Idle 11 Watts 2 kHz speed Ambient still air operating temperature 0 C 65 C Storage temperature non operating 40 C 95 C Relative Humidity operating non condensing 10 90 Altitude 2000 meters Environment Use Indoor Use Only Pollution Degree 2 Operating outside the operating limits may damage the unit ...

Page 25: ...25 2 6 2 Weight Dimensions Weight 9 5 oz 270 g Dimensions L x W x H 5 84 in x 3 61 in x 1 02 in 148 3 mm x 91 7 mm x 25 9 mm ...

Page 26: ...ion it remains motionless holding its position Simply reversing the order of the fast and slow signals reverses the direction of rotation 3 2 Stepping the Picomotor with the 8742 Controller Driver Although the Picomotor is not a stepper per se it can be driven step by step Each step size depends on the Picomotor model but it is usually 30nm allowing for very small controlled movements 8742 can be ...

Page 27: ...lems are found the LED will blink or turn on a color corresponding to the issue found Please refer to the following table and call New Focus support if this happens CONDITION LED STATE No power applied to unit OFF Unit OK no critical errors detected Solid green Reboot condition occurred Fast blinking green for 0 5 second Unit OK 8758 hand control pad detected Slow blinking amber Corrupted firmware...

Page 28: ...ernal 2 5 A fuse will then open The TVS will also shunt the power input to ground if an internal fault shorts any high voltage to the power input The input fuse will also open if the input power voltage is reversed Brief power supply transients will not blow the fuse Therefore it is highly recommended to use the correct New Focus supplied power supply If the fuse was blown the unit has to be servi...

Page 29: ...s the 8742 input and output connections Communication Interfaces USB Ethernet RS 485 2 Power Inputs 12VDC 2 Picomotor Interfaces 4 The following figure shows the position of the inputs and outputs as well as the power switch 8742 Inputs and Outputs A heatsink can be mounted using these slots ...

Page 30: ...t will facilitate normal multi unit linking 3 5 4 Power There are two power inputs that can take a standard barrel connector with the output diameter 5 5 mm and internal diameter 2 1 mm The provided power supply can be plugged in either of these two connectors The other connector is used to link the power supply to another 8742 Controller Driver See the Accessories Section 2 4 for information on t...

Page 31: ...e top in either horizontal or vertical orientation Under conditions of extreme usage the case temperature of the Model 8742 may exceed the levels considered safe by various international safety conventions If such use is anticipated the user must position or block access to the unit so that the unit cannot be accidentally touched ...

Page 32: ...nect the external power supply to AC and connect the power barrel plug into one of the 8742 power inputs If more than one unit needs to be connected to the same power supply use the power link cable to daisy chain them Up to 3 units can be powered by one power supply 4 4 Connecting 8742 to a Computer via USB The 8742 Controller Driver can be connected to a computer with a standard Micro B to USB A...

Page 33: ... computer are connected to the router the Picomotor Controller Driver is ready to communicate with the computer The discovery utility will automatically find the IP address of the 8742 Controller Driver and the user can start sending commands to the unit See Section 5 for details If several 8742 units have to be connected to the same computer the user can connect them individually to an Ethernet h...

Page 34: ... Connecting Multiple Units to a Computer The L bracket Figure 16 is an optional accessory to stack up several 8742 or 8743 CL units The stack is shown in Figure 17 L bracket Using L brackets to stack up several Controllers ...

Page 35: ...n be connected to a USB hub Connect the hub to a computer and launch the Picomotor Application provided on the USB Flash Drive The application will automatically discover and display the 8742 units and make them available for control Connecting four units to a computer via a USB hub ...

Page 36: ...r at the LAN Local Area Network ports The router will assign an IP address to each 8742 Controller Driver Connect a computer to the same router at one LAN port Use the Picomotor Application provided on the USB Flash Drive to discover and establish a connection to each 8742 unit Connecting three units to a computer via an Ethernet router ...

Page 37: ...daisy chain configuration of devices a STAR configuration is not supported A nominally 100 ohm resistance is applied between the D and D wires at each end of the bus but not at the units in the middle of the bus To simplify implementation of these bus termination resistances the 8742 applies a 100 ohm termination between the D and D wires UNLESS a plug is inserted into BOTH of the 3 5mm jacks In o...

Page 38: ...net connectivity However the Picomotor Windows application and software support will not detect the controller s presence in this configuration and therefore user developed software will be required to make it communicate with the PC Applications handling the RS 485 bus terminations externally can cause a unit at the end of the daisy chain to disconnect its internal termination by inserting an unc...

Page 39: ...e and hence does not require a separate power supply IMPORTANT 8742 controller must run firmware version 2 2 or later to be compatible with the 8758 hand control pad NOTE Read the 8758 User s Manual completely before connecting it to the 8742 controller The 8758 hand control pad connects directly to the 8742 controller s USB port Therefore only the controller s Ethernet and RS 485 port will be ava...

Page 40: ... Slave controllers on behalf of the 8758 hand control pad or PC To avoid RS 485 LAN message conflicts only one 1 network Master is allowed Therefore only the 8758 designated LAN Master Controller is permitted to connect to a PC via its available Ethernet port if computer communication is also desired NOTE Picomotor controllers will only execute move commands from one source 8758 or PC at any given...

Page 41: ... 10 byte NL New Line Whitespace Optional between commands and between parameters Whitespace is any character with a binary value less than or equal to an ASCII space character except the NL character Numerical types Numerical parameters are passed and returned as the actual ASCII characters in the string representation of the number The 8742 Controller Driver Series instrument accepts numeric valu...

Page 42: ... controller on the network and Picomotor control may begin Be aware the computer will not be able to discover the controller if the network does not have a DHCP server included in most routers because the 8742 does not support auto negotiation of IP addresses If the network lacks a DHCP server the 8742 must be configured for static IP addressing This controller supports the following network proto...

Page 43: ...utomatically send a message to every device on the network and ask if the other device s are DHCP servers There should be exactly one DHCP server on the network The non DCHP server devices will ignore the message the only DCHP server on the network will respond to the 8742 with a use IP address xx xx xx xx message The 8742 will then begin using this IP address When your 8742 controller is configur...

Page 44: ...se of the IPv4 Address 5 Send NETMASK 255 255 255 0 6 Send the SM command to the controller to save the information entered 7 Send the RS command to reset the controller so that all entered information will take effect For those who cannot make changes to the router or for a peer to peer connection Note When the Peer to Peer Ethernet connection is used the 8742 controller must be set for Static IP...

Page 45: ...kets Host Address 192 168 1 123 If the host address is being automatically generated by a DHCP server then try to select a static IP address outside of the range used by the DHCP server because this will eliminate the possibility of address conflicts now and in the future 7 Send the SM command to the picomotor controller to save the information entered 8 Send the RS command to reset the controller...

Page 46: ... 2 for how to setup a peer to peer connection 5 4 4 Communicating Using a Hostname The hostname HOSTNAME command is used to set the controller s hostname A hostname is a label or nickname assigned to a device connected to a computer network and is used to identify the device in various forms of communication This feature enables users to assign the controller a more easily identifiable name perhap...

Page 47: ...d is addressed to it or if the command is addressed to one of the slave controllers If the command is addressed to it it processes the command and sends any responses back to the host PC On the other hand if the command is addressed to one of the slave controllers it transmits the command on the RS 485 LAN Since the controller RS 485 is configured in a multidrop parallel bus topology all the slave...

Page 48: ...n 1 and 31 Since the default address of a controller is 1 users must change the addresses of the controllers to unique values There are two 2 ways manual and automatic in which unique addresses can be assigned to all the controllers The manual approach involves powering ON only one controller at a time connecting this controller directly to a host PC via USB Ethernet changing the address to a desi...

Page 49: ...ave a slave controller address prefix added to the command For example to query the motion status of motor 2 on a slave controller with address 3 the host PC must send 3 2MD command to the master controller via Ethernet or USB In this command 3 is the slave controller address prefix This prefix tells the master controller that the command 2MD is intended for slave controller with address 3 on the ...

Page 50: ...n of the software and drivers then it is recommended that you uninstall it first before installing new software Before connecting the instrument to a host PC using a standard Micro B to USB A cable the user should install the application included in the USB Flash Drive that accompanies the Unit The application automatically installs the correct USB drivers Communication can be done through this in...

Page 51: ...ror messages status Additionally at the very bottom of the application is a connection status indicator which lets the user know when the application is actively communicating with a controller There are three 3 main application views or tabs 1 Jog tab 2 Cycle tab and 3 Terminal tab The Jog tab allows a user to jog a motor forward or backward in predefined relative displacements or in free run con...

Page 52: ... the controller s memory Clicking Apply button will immediately send the updated parameters to the controller and save them in its non volatile memory The OK buttons does the same action as Apply plus it then closes the Setup window Jog Tab Jog Motion and General Overview ...

Page 53: ...Computer Interfacing 53 Cycle Tab Cycle Motion ...

Page 54: ...54 Computer Interfacing Terminal Tab Command Line Terminal ...

Page 55: ...Computer Interfacing 55 Controller Setup Window Controller Setup Select Motor Type Velocity Box Click Setup Controller to select the motor type velocity and acceleration ...

Page 56: ...ing Ethernet Setup Window Ethernet Setup You have the option to give your controller a different name In Static Mode set the IP Address Subnet mask and Default gateway Click Setup Ethernet to select Dynamic or Static Mode ...

Page 57: ...Computer Interfacing 57 Options Window Connection Options Setup ...

Page 58: ...58 Computer Interfacing Properties Window USB and Ethernet Properties ...

Page 59: ...Computer Interfacing 59 Controller Scan Scan RS 485 LAN ...

Page 60: ...60 Computer Interfacing Address Conflict Resolution Window Automatic Address Conflict Resolution ...

Page 61: ...Computer Interfacing 61 Device Address Window View Change Controller Address ...

Page 62: ...ess which can be gotten from the Ethernet Properties view in the Windows Application see previous page Enter the IP address in the browser s address bar and this will take you to the controller s HTTP server page This advanced controller has an embedded HTTP server which generates a dynamic Web page to accept command line input and show immediate response Internet Browser View Chrome Browser v22 r...

Page 63: ... C Program Files New Focus Picomotor Application Docs Additionally sample code is found in the Samples folder Typically installed in the following folder C Program Files New Focus Picomotor Application Samples 5 7 1 Introduction The programming samples are divided into two folders C and LabVIEW These two folders contain samples that have been developed in the C programming language and the LabVIEW...

Page 64: ...mple 3PA10 is a valid command If a command does not require parameter xx and or parameter nn that field may be skipped by leaving a blank character space For example 1DH and VE are valid commands Multiple commands can be issued on a single command line by separating the commands with a semi colon For example 3VA1500 3PA1000 is a valid command line If a command line has multiple query commands the ...

Page 65: ...ntroller sends a response back to host PC it too will have a slave controller address prefix This is used to inform the host that the response came from a slave controller with that address For example the response received by a host PC to the above mentioned command might be 3 1 This indicates that the motion of motor 2 in slave controller with address 3 is complete 3 If a command does not have c...

Page 66: ...ommands are equivalent 2 PA 1000 2PA1000 COMMAND LINE Commands are executed line by line A line can consist of one or a number of commands The controller will interpret the commands in the order they are received and execute them sequentially This means that commands issued on the same line are executed significantly closer to each other than if they would be issued on separate lines The maximum n...

Page 67: ...Reset instrument AB Abort motion AC Set acceleration AC Get acceleration DH Define home position DH Get home position MC Motor check MD Get motion done status MV Move indefinitely MV Get motion direction PA Move to a target position PA Get destination position PR Move relative PR Get destination position QM Set motor type QM Get motor type RS Reset the controller SA Set controller address SA Get c...

Page 68: ...ration register ETHERNET RELATED COMMANDS Command Description Command executed when motion is in progress GATEWAY Default gateway address GATEWAY Default gateway address query HOSTNAME Hostname HOSTNAME Hostname query IPADDR IP address IPADDR IP address query IPMODE IP mode IPMODE IP mode query MACADDR MAC address query NETMASK Network mask address NETMASK Network mask address query ...

Page 69: ...d but provides more information In response to this command the controller replies with company name product model name firmware version number firmware build date and controller serial number No two controllers share the same model name and serial numbers therefore this information can be used to uniquely identify a specific controller New_Focus XXXX vYYY mm dd yy SNZZZZ Example IDN Get product i...

Page 70: ...meters to factory default settings It does not change the settings saved in EEPROM The parameters that can be restored are 1 Hostname see HOSTNAME command 2 IP Mode see IPMODE command 3 IP Address see IPADDRESS command 4 Subnet mask address see NETMASK command 5 Gateway address see GATEWAY command 6 Configuration register see ZZ command 7 Motor type see QM command 8 Desired Velocity see VA command...

Page 71: ... re initializes Ethernet communication may be significantly delayed 30 seconds in reconnecting depending on connection mode Peer to peer static or dynamic IP mode as the PC and controller are negotiating TCP IP communication See Also RS AB Description Abort motion Syntax AB Remarks This command is used to instantaneously stop any motion that is in progress Motion is stopped abruptly For stop with ...

Page 72: ...l use it for subsequent moves only Argument Value Description xx 1 to 4 Axis number nn 1 to 200000 Acceleration steps sec2 Default 100000 steps sec2 Example 2AC150000 set acceleration to 150 000 steps sec2 See Also AC VA VA AC Description Acceleration query Syntax xxAC Remarks This command is used to query the acceleration value for an axis Argument Value Description xx 1 to 4 Axis number Response...

Page 73: ... as reference point for moves Argument Value Description xx 1 to 4 Axis number nn Integer Home position steps Default 0 steps Valid values between 2147483648 and 2147483647 Example 1DH set motor 1 counter to 0 2DH1000 set motor 2 counter equal to 1000 See Also DH TP PA DH Description Home position query Syntax xxDH Remarks This command is used to query the home position value for an axis Argument ...

Page 74: ...e controller will generate MOTION IN PROGRESS error message NOTE Motor type and velocity changes are not automatically saved to non volatile memory Issue the Save SM command after motor check to save all changes NOTE Here is a command sequence which disables auto motor type detection and sets motor 1 for example to type Standard 1ZZ1 1QM3 1SM Example MC Check all motors to determine type SM Save n...

Page 75: ...mand and generate MOTION IN PROGRESS error message Issue a Stop ST or Abort AB motion command to terminate motion initiated by MV Argument Value Description xx 1 to 4 Axis number nn Move desired axis in positive direction Move desired axis in negative direction Example 1MV Move motor 1 indefinitely in positive direction AB Abort halt motion 2MV Move motor 2 indefinitely in negative direction 2ST S...

Page 76: ...ll depend on where the motor count is presently at before the command is issued Issue a Stop ST or Abort AB motion command to terminate motion initiated by PA Argument Value Description xx 1 to 4 Axis number nn Integer Absolute position steps Default 0 steps Valid values between 2147483648 and 2147483647 Example 1PA 200000 Move motor 1 to target position 200000 See Also MV PR DH PA Description Tar...

Page 77: ...ed by PR Argument Value Description xx 1 to 4 Axis number nn Integer Relative distance steps Default 0 steps Valid values between 2147483648 and 2147483647 Example 1PR 200000 Move motor 1 relative negative 200000 steps See Also MV PA PR Description Target position query Syntax xxPR Remarks This command is used to query the target position of an axis Argument Value Description xx 1 to 4 Axis number...

Page 78: ...e the Save SM command Note that the controller may change this setting if auto motor detection is enabled by setting bit number 0 in the configuration register to 0 default wit ZZ command When auto motor detection is enabled the controller checks motor presence and type automatically during all moves and updates QM status accordingly Argument Value Description xx 1 to 4 Axis number nn 0 No motor c...

Page 79: ...on xx 1 to 4 Axis number Response Value Description nn Integer Motor type Example 1QM Get motor 1 motor type setting 0 Return 0 no motor connected See Also QM CM ZZ RS Description Reset command Syntax RS Remarks This command performs a soft reset or reboot of the controller CPU Upon restart the controller reloads parameters e g velocity and acceleration last saved in non volatile memory and sets H...

Page 80: ...efault controller address is 1 Argument Value Description nn Integer Controller address Default 1 Valid values between 1 and 31 Example SA5 set controller address to 5 SM save new address in controller s memory See Also SA SC SD SA Description Controller address query Syntax SA Remarks This command is used to query the controller s address Response Value Description Value Integer Controller addres...

Page 81: ... that there are unique controllers at addresses 1 2 and 7 and more than one controller at address 23 this option will reassign only the controllers with address conflict at 23 the controllers with addresses 1 2 and 7 will remain untouched In this case after conflict resolution the final controller addresses might be 1 2 3 7 and 23 if the master determines that there are two 2 controllers initially...

Page 82: ...1 on the network 31 1 There is a controller with address 31 on the network Bits 1 31 are one to one mapped to controller addresses 1 31 The bit value is set to 1 only when there are no conflicts with that address For example if the master controller determines that there are unique controllers at addresses 1 2 and 7 and more than one controller at address 23 this query will return 135 The binary r...

Page 83: ...ings to working registers automatically after system reset or it reboots The Purge XX command is used to clear non volatile memory and restore to factory settings Note that the SM saves parameters for all motors The SM command saves the following settings 1 Hostname see HOSTNAME command 2 IP Mode see IPMODE command 3 IP Address see IPADDRESS command 4 Subnet mask address see NETMASK command 5 Gate...

Page 84: ...ed using AC command to stop motion If no axis number is specified the controller stops the axis that is currently moving Use Abort AB command to abruptly stop motion without deceleration Argument Value Description xx 1 to 4 Axis number Example 1MV Move motor 1 indefinitely in positive direction 1ST Stop motion ST Stop motion on any motor that is moving See Also AB AC ...

Page 85: ... description of the error associated with it All arguments are separated by commas Note Errors are maintained in a FIFO buffer ten 10 elements deep When an error is read using TB or TE the controller returns the last error that occurred and the error buffer is cleared by one 1 element This means that an error can be read only once with either command Response Value Description nn ssss integer stri...

Page 86: ... from 100 199 Axis 2 errors range from 200 299 and so on Note Errors are maintained in a FIFO buffer ten 10 elements deep When an error is read using TB or TE the controller returns the last error that occurred and the error buffer is cleared by one 1 element This means that an error can be read only once with either command Response Value Description nn integer Error code Example TE Get error sta...

Page 87: ...n controller was powered ON or a system reset occurred or Home DH command was received Note that the real or physical position of the actuator motor may differ as a function of mechanical precision and inherent open loop positioning inaccuracies Argument Value Description xx 1 to 4 Axis number Response Value Description nn Integer Present position steps Example 1TP Get motor 1 position status 1050...

Page 88: ...ity for a Standard Picomotor is 2000 steps sec while the same for a Tiny Picomotor is 1750 steps sec Argument Value Description xx 1 to 4 Axis number nn 1 to 2000 Velocity steps sec Default 2000 steps sec Example 1VA1750 Set motor 1 velocity to 1750 steps sec See Also VA AC AC VA Description Velocity query Syntax xxVA Remarks This command is used to query the velocity value for an axis Argument Va...

Page 89: ... See Also IDN XX Description Purge all user settings in controller memory Syntax XX Remarks This command is used to purge all user settings in the controller non volatile memory and restore them to factory default settings The following parameters are affected by this command 1 Hostname see HOSTNAME command 2 IP Mode see IPMODE command 3 IP Address see IPADDRESS command 4 Subnet mask address see N...

Page 90: ...ors connected to controllers upon reboot Performs MC command upon power up reset or reboot 1 1 Scan for motors connected to controller upon power up or reset Example ZZ 1 SM Disable automatic motor check and save to memory ZZ 3 SM Disable motor check on move check motors on system reset See Also RCL MC ZZ Description Configuration register query Syntax ZZ Remarks This command is used to query the ...

Page 91: ...ds Go to Terminal tab Argument Value Description address nn1 nn2 nn3 nn4 Gateway address Example 192 168 10 101 nn1 nn2 nn3 nn4 can be numbers between 0 and 255 Example IPMODE 0 Set to static IP mode GATEWAY 192 168 10 101 Set gateway address NETMASK 255 255 255 0 Set Netmask address IPADDR 192 168 1 101 Set IP address SM RS Save and reset system See Also IPMODE SM RS GATEWAY Description Default g...

Page 92: ...While connected via USB use the Picomotor application software to send commands Go to Terminal tab The default hostname for the controller is 8742 serialnum where serialnum is the controller s serial number The hostname can have a maximum of 15 alphanumeric characters and hyphen character The first character in the hostname cannot be a hyphen Issue Save SM and Reset RS commands to controller for t...

Page 93: ...ion While connected via USB use the Picomotor application software to send commands Go to Terminal tab Argument Value Description address nn1 nn2 nn3 nn4 IP address Example 192 168 1 101 nn1 nn2 nn3 nn4 can be numbers between 0 and 255 Example IPMODE 0 Set to static IP mode GATEWAY 192 168 10 101 Set gateway address NETMASK 255 255 255 0 Set Netmask address IPADDR 192 168 1 101 Set IP address SM R...

Page 94: ...cated server means an IP address will be assigned to your server controller only once and that IP address will belong to your dedicated server forever A static IP address will be given out to your dedicated server so that every time it logs in it will be using the same IP address for all of its sessions NOTE Send this command via USB interface as Ethernet communication may become unstable during E...

Page 95: ...dress MAC address is a unique identifier assigned to network interfaces for communications on the physical network segment MAC addresses are used for numerous network technologies and most IEEE 802 network technologies including Ethernet Logically MAC addresses are used in the Media Access Control protocol sub layer of the OSI reference model Response Value Description address nn1 nn2 MAC address ...

Page 96: ...s Ethernet communication may become unstable during Ethernet settings configuration While connected via USB use the Picomotor application software to send commands Go to Terminal tab Argument Value Description address nn1 nn2 nn3 nn4 Network mask address Example 192 168 255 0 nn1 nn2 nn3 nn4 can be numbers between 0 and 255 Example IPMODE 0 Set to static IP mode GATEWAY 192 168 10 101 Set gateway ...

Page 97: ... state 6 COMMAND DOES NOT EXIST The command sent to the controller is invalid Please check the command syntax 7 PARAMETER OUT OF RANGE The parameter sent along with a command is out of range 9 AXIS NUMBER OUT OF RANGE The axis number specified is out of range 10 EEPROM WRITE FAILED Unable to save the controller s settings in its non volatile memory 11 EEPROM READ FAILED Unable to restore the contr...

Page 98: ... generate this cyclical redundancy check CRC error message if a checksum verification of the response received by it does not match the checksum computed by slave controller NOTE Check for a improper RS 485 cable connection b controller address conflict or c prohibited multiple master configuration 48 CONTROLLER NUMBER OUT OF RANGE The controller number prefix is out of range 49 SCAN IN PROGRESS T...

Page 99: ...d exceeds the maximum velocity rating for the connected motor x11 MAXIMUM ACCELERATION EXCEEDED The acceleration parameter specified exceeds the maximum acceleration rating for the connected motor x14 MOTION IN PROGRESS A new move is commanded while an axis is already moving ...

Page 100: ...mp lint free cloth Do not use an acetone or alcohol solution this will damage the finish of the enclosure 8 2 Technical Support Information and advice about the operation of any New Focus product is available from our technical support engineers For quickest response ask for Technical Support and know the model and serial number for your product Hours 8 00 5 00 PST Monday through Friday excluding ...

Page 101: ...ment model number on the rear panel 2 Instrument serial number on rear panel or bottom of enclosure 3 Description of the problem If the instrument is to be returned to New Focus you will be given a Return Number which you should reference in your shipping documents Please fill out a copy of the service form located on the following page and have the information ready when contacting New Focus Retu...

Page 102: ...in RA prior to return of item Address ________________________________ ____________________Date _________________ Country _______________________ Phone Number ______________________________________ P O Number ___________________ FAX Number _______________________________________ Item s Being Returned Model _______________________ Serial __________________________ Description ______________________...

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