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set derivative gain

IMM

PGM

MIP

SYNTAX

nn or xx

active for any DC servo based motion device that has been selected to operate in
closed loop.

RETURNS

If the “?” sign takes the place of

value, this command reports the current

setting

USAGE

♦

PARAMETERS

Description

[ int ] -

axis number

[float] -

derivative gain factor Kd

Range

MAX AXES

2e9,

to read current setting

Units

none

Defaults

missing:

error 37, AXIS NUMBER MISSING

out of range:

error 9, AXIS NUMBER OUT OF RANGE

missing:

error 38, COMMAND PARAMETER MISSING

out of range:

error xx2, PARAMETER OUT OF RANGE

DESCRIPTION

This command sets the derivative gain factor Kd of the PID closed loop. It is

The command can be sent at any time but it has no effect until the UF (update

filter)

received.

See the "

Servo Tuning

" chapter on how to adjust the PID filter parameters.

REL. COMMANDS

set integral gain factor

KP -

set proportional gain factor

KS -

set saturation gain factor

UF -

update filter

EXAMPLE

3KD0.01 |

set derivative gain factor for axis # 3 to 0.01

•

3UF

update PID filter; only now the

command takes effect

Section 3 – Remote Mode

3-91

Содержание ESP300 Series

Страница 1: ...ESP300 Motion Controller Driver User s Manual...

Страница 2: ...have been repaired or modified without Newport s written approval or products subjected to unusual physical thermal or electrical stress improper installation misuse abuse accident or negligence in us...

Страница 3: ...re that all its personnel protect the Newport Programs as trade secrets of Newport Corporation Customer shall not at any time disclose Newport s trade secrets to any other person firm organization or...

Страница 4: ...ESP300 1999 EU Declaration of Conformity iv Preface...

Страница 5: ...ar Panel Description 1 9 1 5 System Setup 1 11 1 5 1 Line Voltage 1 11 1 5 2 First Power ON 1 11 1 6 Quick Start 1 12 1 6 1 Connecting Motion Devices 1 12 1 6 2 Motor On 1 13 1 6 3 Homing 1 13 1 6 4 F...

Страница 6: ...3 2 Making Circular Move 4 3 4 1 4 Making Contours 4 4 4 1 5 Miscellaneous Commands 4 7 4 2 Slaving a Stage to Trackball Joystick or a Different Stage 4 7 4 2 1 Introduction Slaving a Stage 4 7 4 2 2...

Страница 7: ...tion Profiles 5 18 5 4 1 Move 5 18 5 4 2 Jog 5 19 5 4 3 Home Search 5 20 5 5 Encoders 5 22 5 6 Motors 5 26 5 6 1 Stepper Motors 5 26 5 6 1 1 Stepper Motor Types 5 31 5 6 2 DC Motors 5 32 5 7 Drivers 5...

Страница 8: ...1 3 Motor Driver Card 25 Pin I O Connector C 2 C 1 4 Signal Descriptions Motor Driver Card 25 Pin I O Connector C 3 C 1 5 Auxiliary Encoder Inputs C 5 C 1 6 IEEE488 Interface Connector 24 Pin C 6 C 1...

Страница 9: ...Systems 5 1 Figure 5 2 Position Error Test 5 4 Figure 5 3a High Accuracy for Small Motions 5 5 Figure 5 3b Low Accuracy for Small Motions 5 5 Figure 5 4 Effect of Stiction and Elasticity on Small Moti...

Страница 10: ...Energization 5 30 Figure 5 40 External Force Applied 5 30 Figure 5 41 Unstable Point 5 30 Figure 5 42 Torque and Tooth Alignment 5 30 Figure 5 43 DC Motor 5 32 Figure 5 44 Simple Stepper Motor Driver...

Страница 11: ...ble 4 5 Closed Loop Stepper Positioning Commands 4 12 Table 4 6 Commands to Synchronize Motion to External Events 4 15 Table 6 1 Servo Parameter Functions 6 5 Table B 1 Trouble Shooting Guide Descript...

Страница 12: ...O bits for jog mode 39 CL set closed loop update interval 40 CO set linear compensation 41 DB set position deadband 42 DC setup data acquisition 43 DD get data acquisition done status 45 DE enable dis...

Страница 13: ...gain 92 KP set proportional gain 93 KS set saturation level of integral factor 94 LP list program 95 MD read motion done status 96 MF motor off 97 MO motor on 98 MT move to hardware travel limit 99 M...

Страница 14: ...142 TV read actual velocity 143 TX read controller activity 144 UF update servo filter 145 UH wait for DIO bit high 146 UL wait for DIO bit low 147 VA set velocity 148 VB set base velocity for step mo...

Страница 15: ...stage motors for home and jog motions and for system shut down are provided in Section 1 Introduction Overview of operating modes LOCAL and REMOTE and Menu Options in LOCAL Mode are provided in Sectio...

Страница 16: ...n it If the unit has been dropped or the case is damaged If you suspect service or repair is required When you clean the case To protect the equipment from damage and avoid hazardous situations follow...

Страница 17: ...s or spilling any liquid on the product may touch hazardous voltage points or short out parts WARNING When opening or removing covers observe the following precautions Turn power OFF and unplug the un...

Страница 18: ...dhered to could result in damage to property or equipment NOTE Calls attention to a procedure practice or condition that is considered important to remember in the context This symbol indicates the pr...

Страница 19: ...iguration parameters Newport stages or other stages without this feature are referred to as being not ESP compatible and must be uniquely configured by the user Home position the unique point in space...

Страница 20: ...applications Integrated controller and driver design is cost effective and space saving Compact standard 2U height rack mountable or bench top enclosure Allows any combination of motor types 2 phase...

Страница 21: ...y Digital PIDFF servo loop 0 4 ms update rate Stepper motor control Up to 1000 microstep resolutions per full step Computer Interface RS232 C 19200 baud 8 bits 8 N 1 IEEE 488 optional Please contact N...

Страница 22: ...odels Weight 10 90Lbs max 4 9kg max for ESP300 XXXXX1 Models 14 05Lbs max 6 37kg max for ESP300 XXXXX2 Models Operating conditions Temperature 0 C to 40 C Humidity 20 to 90 RH non condensing Other Pol...

Страница 23: ...e 1 2 ESP300 Front Panel with Displays BLANK FRONT PANEL This version does not provide a display or local operation Power Section The black push button type switch on the lower left corner is used to...

Страница 24: ...C 1 4 These channels can be used for master slaving see Section 4 2 trackball and other applications Additionally 4 digital I O pins are provided See Section C 1 2 MOTOR INTERLOCK CONNECTOR The coaxi...

Страница 25: ...ontroller and stages for any damage Place all components on a flat and clean surface 1 5 1 Line Voltage NOTE The controller can operate from 100 240VAC 10 at a frequency of 50 60 Hz 1 5 2 First Power...

Страница 26: ...uide you through a very basic motion sequence that verifies that the system is working properly 1 6 1 Connecting Motion Devices NOTE Never connect disconnect stages while the ESP300 is powered on Powe...

Страница 27: ...the display to enable power for the respective axis The ON state of the motor power is indicated on the display Blank Front Panel must use external interface to enable motor power 1 6 3 Homing HOME Se...

Страница 28: ...or details If right jog key is pressed the selected axis will move slowly in the positive direction To move a single step at a time press this switch once See Section 2 2 4 for details If the HIGH SPE...

Страница 29: ...This page is intentionally left blank Section 2 Modes of Operation 1 15...

Страница 30: ......

Страница 31: ...otion parameters like velocity and acceleration without using a computer or terminal NOTE See Section 2 2 for a detailed description of the front panel 2 1 2 REMOTE Mode In COMMAND Mode the ESP300 rec...

Страница 32: ...Menu Item Cancel Entered Value Enter Menu Verify Entered Value De select Menu Item Scroll Up Menu OR Increment Value Figure 2 1 Menu Section 2 2 2 Navigating the Menu Once in the menu listing the x y...

Страница 33: ...e digit can be incremented with the Up Arrow button or decremented using the Down Arrow button Other digits can be changed similarly 6 The set value can now be validated by pressing the OK button or c...

Страница 34: ...either move button above See SET VELOCITY menu items in Section 2 2 5 Home Respective Axis See SET HOME MODE and SET VELOCITY menu items in Section 2 2 5 Stop All Motion When this button is pressed al...

Страница 35: ...DE GET ERRORS SET PID GET STAGE MODEL RESET POSITION SET LO JOG VEL SET HIGH JOG VEL SET HOME VEL SET ACCELERATION SET DECELERATION RUN INCREMENT SW INDEX SW Note This menu item is only displayed if t...

Страница 36: ...to 99 different programs in its non volatile program memory 25KB total This menu allows execution of any of the stored programs 1EX Execute program 1 SET VELOCITIES This menu makes it possible to cha...

Страница 37: ...o accelerate to the desired velocity when the jog buttons are used AC Set Acceleration SET DECELERATION Sets the deceleration that is used to decelerate to the standstill when the jog buttons are rele...

Страница 38: ...SW INDEX SW Index home search means the controller returns the stage to a position determined by the home switch in connection with an index pulse OR1 Set Home Mode to Switch Index POSITION 0 Moves t...

Страница 39: ...derivative gain SET IL Sets the limit for the integrated value due to the integral gain KI factor of the digital PID filter IL Set integration limit SET FE Sets the maximum following error before moti...

Страница 40: ...ws the user to retrieve the current RS232 configuration settings SAVE PARAMETERS This menu allows the users to save all current settings velocity acceleration etc to the ESP300 non volatile memory 2 1...

Страница 41: ...the host terminal e g PC to download a series of commands and then proceed to other tasks while the ESP controller processes the commands As command characters arrive from the host terminal they are p...

Страница 42: ...hat instructs the controller to wait Executing a move does not automatically suspend command execution until the move is complete If the WS command were not issued in Example 1 the controller would st...

Страница 43: ...ion mode using the previous example Example 3 EP invoke program entry mode 1PA 30 enter program 1WS 2PR 10 QP exit program entry mode 1EX execute compiled program 1 As shown above the sequence of comm...

Страница 44: ...to a computer COMMUNICATION PROTOCOL The RS 232C interface must be properly configured on both devices communicating A correct setting is one that matches all parameters baud rate number of data bits...

Страница 45: ...ts own language and command set the IEEE 488 interface is used only as a communication port The extended protocol is not supported The ESP controller has an ASCII command set and also outputs system s...

Страница 46: ...ts 0 through 5 are under user control and are set with the RQ command For example command RQ5 sets bits 0 and 2 This is useful in helping the application program determine which RQ in a program with m...

Страница 47: ...or example BO1 3WS and AB are all valid commands If a command requires multiple parameters in the third field all these parameters must be comma delimited For example 1HN1 2 is a valid command In a si...

Страница 48: ...ple is very confusing and uses more than twice the memory 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 i...

Страница 49: ...mmand can be used The acronyms used in the tables have the following meaning IMM IMMediate mode Controller is idle and the commands will be executed immediately PGM ProGraM mode Controller does not ex...

Страница 50: ...atus 3 142 TV Get velocity 3 143 TX Get controller activity 3 144 VE Get firmware version 3 150 XM Get available program memory 3 156 MOTION POSITION CONTROL Cmd Description IMM PGM MIP Page AB Abort...

Страница 51: ...stored program 3 58 JL Jump to label 3 89 LP List program 3 95 QP Quit program mode 3 117 SM Save to non volatile memory 3 132 XM Get available program memory 3 156 XX Delete a stored program 3 157 T...

Страница 52: ...on 3 33 BM Assign DIO bits to notify motion status 3 34 BN Enable DIO bits to notify motion status 3 35 BO Set DIO Port Direction 3 36 BP Assign DIO for jog mode 3 38 BQ Enable disable DIO jog mode 3...

Страница 53: ...Cmd Description IMM PGM MIP Page AF Acceleration Deceleration feed forward gain 3 25 CL Set closed loop update interval 3 40 DB Set position deadband 3 42 KD Set derivative gain Kd 3 91 Set integral...

Страница 54: ...DIO bits to notify motion status 3 34 BN Enable DIO bits to notify motion status 3 35 BO Set DIO port A B C direction 3 36 BQ Enable DIO bits for jog mode 3 39 CL Set closed loop update interval 3 40...

Страница 55: ...HP Read group position 3 78 HQ Wait for group command buffer level 3 79 HS Stop group motion 3 80 HV Set group velocity 3 81 HW Wait for group motion stop 3 82 HX Delete group 3 84 HZ Read group size...

Страница 56: ...rvice request 3 122 RS Reset the controller 3 123 SA Set device address 3 125 SB Set get DIO port A B C bit status 3 126 SH Set home preset position 3 128 SI Set master slave jog velocity update inter...

Страница 57: ...XX Delete a stored program 3 157 ZA Set amplifier I O configuration 3 158 ZB Set feedback configuration 3 161 ZE Set E stop configuration 3 163 ZF Set following error configuration 3 165 ZH Set hardw...

Страница 58: ...AXES where MAX AXES is dependant on the configuration of the ESP motion controller Commands related to coordinated motion and contouring group commands take a group number as a parameter For such comm...

Страница 59: ...of range DESCRIPTION detailed description of the command Note notes reminders and things to consider when using the command if any RETURNS Type format and description of the return the command is gen...

Страница 60: ...wer OFF however individual axes can be configured to stop using emergency deceleration rate set by AE command and maintain motor power It should be used only as an immediate command not in a program N...

Страница 61: ...on is in progress It can be used as an immediate command or inside a program If the requested axis is a member of a group the commanded acceleration becomes effective only after the axis is removed fr...

Страница 62: ...celeration to 9 units s2 2AG6 set deceleration to 6 units s2 2AU15 set axis 2 maximum acceleration deceleration to 15 units s2 2AU read maximum allowed acceleration deceleration of axis 2 15 controlle...

Страница 63: ...hile a motion is in progress It can be used as an immediate command or inside a program If the requested axis is a member of a group the commanded e stop deceleration becomes effective only after the...

Страница 64: ...n and deceleration AG set deceleration AC set acceleration EXAMPLE 2AE read e stop deceleration of axis 2 100 controller returns a value of 100 units s2 2AE150 set e stop deceleration to 150 units s2...

Страница 65: ...ps in Motion Control Tutorial section to understand the basic principles of feed forward Note The command can be sent at any time but it has no effect until the UF update filter is received RETURNS If...

Страница 66: ...mand is processed even while a motion is in progress It can be used as an immediate command or inside a program If the requested axis is a member of a group the commanded deceleration becomes effectiv...

Страница 67: ...ration of axis 2 10 controller returns a value of 10 units s2 2AC9 set acceleration to 9 units s2 2AG6 set deceleration to 6 units s2 2AG read maximum current deceleration of axis 2 6 controller retur...

Страница 68: ...rent command line finished executing It can be used as an immediate command or inside a program Inside a program it is useful in conjunction with program flow control commands It could for instance te...

Страница 69: ...rror messages GROUP MAXIMUM ACCELERATION EXCEEDED or GROUP MAXIMUM DECELERATION EXCEEDED are generated if the commanded value is less than group acceleration or deceleration respectively Refer to Adva...

Страница 70: ...rection is reversed The controller keeps track of the motion sequence and for each direction change it adds the specified nn correction Setting nn to zero disables the backlash compensation NOTE The c...

Страница 71: ...d stored program Execution of the stored program begins when the specified DIO bit changes its state from HIGH to LOW logic level Note Each DIO bit has a pulled up resistor to 5V Therefore all bits wi...

Страница 72: ...executed per E stop configuration Refer ZE command for further details If the axis is not moving any new move commands are refused as long as the DIO bit is asserted In either case DIGITAL I O INTERL...

Страница 73: ...s RETURNS If the sign takes the place of nn value this command reports the current status REL COMMANDS BK Assign DIO bits to inhibit motion BO Set DIO port A B direction BM Assign DIO bits to notify m...

Страница 74: ...O bit state changes to the level specified with this command refer parameter nn2 Note The direction of the DIO port A or B the desired bit belongs to should be set to output in order for the DIO bit t...

Страница 75: ...ts RETURNS If the sign takes the place of nn value this command reports the current status REL COMMANDS BM Assign DIO bits to notify motion status BO Set DIO port A B BK Assign DIO bits to inhibit mot...

Страница 76: ...eport its present HIGH or LOW logic level Whereas a DIO bit within a port configured as an output can set 1 or clear 0 the corresponding DIO hardware to HIGH or LOW logic level Reading the status of a...

Страница 77: ...lear DIO bits EXAMPLE BO read DIO port direction configuration 0H controller returns a value of 0H all ports are input BO 1H configure DIO port A as output SB 0FFH set all port A DIO output HIGH Secti...

Страница 78: ...f range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command is used to assign DIO bits for jogging axes in either negative or positive directions RETURNS If sign is issued along with command the...

Страница 79: ...ange error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command is used to disable or enable jogging of a requested axis through DIO bits RETURNS If sign is issued along with command the controller ret...

Страница 80: ...specified interval to all the axes RETURNS If sign takes the place of nn value this command reports the current setting REL COMMANDS ZB set feedback configuration EXAMPLE 3ZB300 enable encoder feedba...

Страница 81: ...re error error accumulated over the measured travel range Note RETURNS If sign takes the place of nn value this command reports the current setting EXAMPLE If a stage has a travel range of 100 mm and...

Страница 82: ...be effective Refer to feedback configuration ZB command for enabling these features in the case of stepper motors RETURNS If sign takes the place of nn value this command reports the current setting...

Страница 83: ...ition analog data acquisition ADC as well as acquisition of certain trace variables using ESP motion controller PARAMETER nn1 Data acquisition modes 0 2 support different ways in which position feedba...

Страница 84: ...e controller responds with a servo cycle tick count along with every data sample collected RETURNS None REL COMMANDS DD get data acquisition done status DF get data acquisition status number of sample...

Страница 85: ...t data acquisition when trigger axis start motion nn3 0 nn4 4 Position feedback from channel 3 nn5 1 Collect data entry often servo cycle DE1 Enable data acquisition DD Query data acquisition done sta...

Страница 86: ...None REL COMMANDS DC setup data acquisition request DG get acquired data DF data acquisition status returns of samples collected DD data acquisition done status EXAMPLE DC1 1 0 4 1 500 nn1 1 Start dat...

Страница 87: ...tus EXAMPLE DC1 1 0 4 1 500 nn1 1 Start data acquisition when trigger axis start motion nn3 0 nn4 4 Position feedback from channel 3 nn5 1 Collect data entry often servo cycle DE1 Enable data acquisit...

Страница 88: ...uisition DD Query data acquisition done status If true DEO Disable data acquisition DF Get data acquisition sample count DG Get data collected USAGE PARAMETERS None RETURNS This command returns byte w...

Страница 89: ...the current position will be preset to the value defined by parameter nn REL COMMANDS OR execute a home search cycle EXAMPLE 3OR1 perform a home search on axis 3 3DH define current position on axis 3...

Страница 90: ...umps or GOTO s to predefined labels in a program Note RETURNS none REL COMMANDS JL jump to label EXAMPLE 3XX clear program 3 from memory if any 3EP create program 3 Description xx int label number Uni...

Страница 91: ...with axis 2 etc In the case of ESP100 and ESP300 motion controllers however there are two DAC channels associated with every axis DAC channels 1 and 2 are associated with axis 1 DAC channels 3 and 4...

Страница 92: ...s desired position The command could be sent at any time but its real use is while a motion is in progress RETURNS nn where nn desired position in pre defined units REL COMMANDS PA move to an absolute...

Страница 93: ...al use is while motion is in progress RETURNS nn where nn desired velocity of the axis in pre defined units REL COMMANDS PA move to an absolute position PR move to a relative position EXAMPLE 3TP read...

Страница 94: ...s executed once RETURNS If the sign takes place of nn value this command reports the number of the program that is executed on power on and the number of times of execution REL COMMANDS QP quit progra...

Страница 95: ...To exit program entry mode and return to immediate mode use QP command Programs can be entered in any order If a program already exists then it must be first deleted using XX command Note Programs are...

Страница 96: ...n is initiated immediately following the detection of an external trigger However if the number of samples is specified to be greater than 1 the event action is initiated only after all the external t...

Страница 97: ...Acquire feedback channels 1 3 510 101 2 Param 5 No consequence for this data acquisition mode Param 6 Acquire one sample of data ES 1MF Turn OFF motor 1 when the external event trigger occurs DE1 Enab...

Страница 98: ...cording to the flow control instructions During program execution only commands that ask for information and that stop the motion are still allowed Any of the following commands will terminate a progr...

Страница 99: ...he one reported by the position sensing device encoder scale etc and the theoretical position is calculated by the controller each servo cycle If for any axes and any servo cycle the following error e...

Страница 100: ...the display will show values in exponential form If the user units refer SN command are in encoder counts or stepper increments the position information is displayed in integer form independent of the...

Страница 101: ...of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command is used to set the encoder full step resolution for a Newport Unidrive compatible programmable driver with step motor axis RETURNS If...

Страница 102: ...nd to specify the desired trajectory mode for a slave axis Note Use this command very carefully The slave axis will have its speed and acceleration in the same ratio as the position Also ensure that t...

Страница 103: ...ation value for a group This value will be used during coordinated motion of axes assigned to the group It will override any original acceleration values specified for individual axes using AC command...

Страница 104: ...er returns a value of 50 units second2 2AU query maximum acceleration of axis 2 60 controller returns a value of 60 units second2 1HA50 set vectorial acceleration of group 1 to 50 units second2 1HA qu...

Страница 105: ...s error number 15 GROUP NUMBER NOT ASSIGNED REL COMMANDS HN create a new group HX delete a group EXAMPLE 1HN1 2 create a new group 1 with physical axes 1 and 2 1HN read axes assigned to group 1 1 2 co...

Страница 106: ...eleration and deceleration along an arc The group target position is determined based on the position of axes at the beginning of move center of arc and sweep angle If this command is received while a...

Страница 107: ...cal axes 1 and 2 1HV10 set vectorial velocity of group 1 to 10 units second 1HA50 set vectorial acceleration of group 1 to 50 units second2 1HD50 set vectorial deceleration of group 1 to 50 units seco...

Страница 108: ...ation value for a group This value will be used during coordinated motion of axes assigned to the group It will override any original deceleration values specified for individual axes using AG command...

Страница 109: ...er returns a value of 50 units second2 2AU query maximum deceleration of axis 2 60 controller returns a value of 60 units second2 1HD50 set vectorial deceleration of group 1 to 50 units second2 1HD qu...

Страница 110: ...any original e stop deceleration values specified for individual axes using AE command The axes original values will be restored when the group to which they have been assigned is deleted This command...

Страница 111: ...MF command to turn the power OFF of individual axes The group power is assumed to be OFF if power to any one of the axes in the group is OFF RETURNS If sign is issued along with command the controlle...

Страница 112: ...p to which they have been assigned is deleted If vectorial jerk is set to zero a trapezoid velocity profile is employed during motion Otherwise an S curve velocity profile is employed This command tak...

Страница 113: ...leration and deceleration along a line A trapezoid velocity profile is employed when vectorial jerk is set to zero Otherwise an S curve velocity profile is employed If this command is received while a...

Страница 114: ...set vectorial velocity of group 1 to 10 units second 1HA50 set vectorial acceleration of group 1 to 50 units second2 1HD50 set vectorial deceleration of group 1 to 50 units second2 1HO enable group 1...

Страница 115: ...Missing parameter error 21 GROUP PARAMETER MISSING DESCRIPTION This command is used to create a new group A few rules are in place to facilitate easy management of groups A group has to be created wi...

Страница 116: ...DS HV set vectorial velocity for a group HA set vectorial acceleration for a group HD set vectorial deceleration for a group HO enable a group HF disable a group HC move a group of axes to desired pos...

Страница 117: ...Refer MO command to turn the power ON of individual axes The group power is assumed to be ON if power to all axes in the group is ON RETURNS If sign is issued along with command the controller return...

Страница 118: ...TION This command is used to read the actual position the instantaneous real position of all axes assigned to a group RETURNS nn1 nn2 nni where nni actual position of ith axis in the group REL COMMAND...

Страница 119: ...lue the controller returns the room available in via point buffer for more commands REL COMMANDS HN create a new group HL move group to target position along a line HC move group to target position al...

Страница 120: ...EL COMMANDS HN create a new group HC move a group of axes to desired position along an arc HL move a group of axes to desired position along a line EXAMPLE 1HN1 2 create a new group 1 with physical ax...

Страница 121: ...individual axes using VA command The axes original values will be restored when the group to which they have been assigned is deleted This command takes effect immediately It can be executed when con...

Страница 122: ...ing it until the group has reached target position If nn is not equal to zero the controller waits an additional nn milliseconds after the group motion is complete before executing any further command...

Страница 123: ...group to reach target position wait an additional 500 ms and then move group 2 to a target position 30 20 units axis 3 30 units and axis 4 20 units Section 3 Remote Mode 3 83...

Страница 124: ...ASSIGNED DESCRIPTION This command deletes a group and makes available any axes that were assigned to it for future assignments RETURNS none REL COMMANDS HN create a new group EXAMPLE 1HN1 2 create a...

Страница 125: ...error 15 GROUP NUMBER NOT ASSIGNED DESCRIPTION This command is used to read the number of axes assigned to a group RETURNS This command reports the current setting REL COMMANDS HN create a new group...

Страница 126: ...write up to 16 character custom ID Newport ESP compatible positioner stage model and serial number Note An important information needed when asking for help with the motion control system or when repo...

Страница 127: ...Y EXCEEDED DESCRIPTION This command is used to set the high speed for jogging an axis Its execution is immediate meaning that the value is changed when the command is processed including when motion i...

Страница 128: ...ssing error 38 COMMAND PARAMETER MISSING out of range error xx15 MAXIMUM JERK EXCEEDED DESCRIPTION This command is used to set the jerk i e rate of change in acceleration value for an axis Its executi...

Страница 129: ...ogram execution by jumping to a pre defined label xx This is a flow control command that alters the normal sequential flow of a program It must be used in conjunction with the DL command which defines...

Страница 130: ...d present setting Units xx none nn reset units second Defaults xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out o...

Страница 131: ...of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command sets the derivative gain factor Kd of the...

Страница 132: ...actor Ki of the PID closed loop It is active for any DC servo based motion device that has been selected to operate in closed loop The command can be sent at any time but it has no effect until the UF...

Страница 133: ...ain factor Kp of the PID closed loop It is active for any DC servo based motion device that has been selected to operate in closed loop The command can be sent at any time but it has no effect until t...

Страница 134: ...error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command sets the saturation level of the integral factor of the PID closed loop and is useful for preventing integral wind up It is active for any DC...

Страница 135: ...port RS232 or IEEE488 During the transmission no other command should be sent to the controller Note The program list always terminates with the word END RETURNS program listing REL COMMANDS EP enter...

Страница 136: ...command can be used to monitor Homing absolute and relative displacement move completion status RETURNS nn 0 or 1 where 0 motion not done FALSE 1 motion done TRUE REL COMMANDS PA move to an absolute p...

Страница 137: ...RANGE DESCRIPTION This command turns power OFF of the specified motor axis RETURNS If sign is issued along with command the controller returns 0 motor power is OFF REL COMMANDS AB abort motion MO 0 c...

Страница 138: ...controller detecting a fault condition before turning the power back on make sure that the cause of the fault was corrected RETURNS If sign is issued along with command the controller returns 1 motor...

Страница 139: ...tive direction or for negative direction nn none Defaults xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE DESCRIPTION This command is used to move an axis to its...

Страница 140: ...nd initiates infinite motion When received the selected axis xx will move indefinitely with the predefined acceleration and velocity in the direction specified by nn If the requested axis is member of...

Страница 141: ...T stop motion MD move done status EXAMPLE 3MV move axis 3 indefinitely in positive direction 3MV query status of move 0 controller returns 0 meaning motion is in progress 3ST stop axis 3 motion 3MV mo...

Страница 142: ...N This command is used to move an axis to its nearest index positive or negative It uses the home search speed during travel to nearest index Note This command cannot be issued after enabling DAQ refe...

Страница 143: ...nge error xx10 MAXIMUM VELOCITY EXCEEDED DESCRIPTION This command sets the high speed used to search for home location for an axis Its execution is immediate meaning that the value is changed when the...

Страница 144: ...error xx24 SPEED OUT OF RANGE DESCRIPTION This command sets the low speed used to search for home location for an axis Its execution is immediate meaning that the value is changed when the command is...

Страница 145: ...tion Count Home Switch and Index Signals Home Switch Signal Positive Limit Signal Negative Limit Signal Positive Limit and Index Signals and Negative Limit and Index Signals If nn 0 and the front pane...

Страница 146: ...mmand If nn 0 the axes will search for zero position count If nn 1 the axis will search for combined Home and Index signal transitions If nn 2 the axes will search for Home signal transition only If n...

Страница 147: ...annot be issued after enabling DAQ refer ASCII command DE RETURNS none REL COMMANDS DH define home OH set home search speed OM set home search mode MD read motion done status SH set home preset positi...

Страница 148: ...y to the absolute position specified by nn If the requested axis is member of a group this command does not initiate the desired motion Instead error xx31 COMMAND NOT ALLOWED DUE TO GROUP ASSIGNMENT i...

Страница 149: ...ware travel limit high 2 0 axis 3 hardware travel limit low 2 1 axis 3 hardware travel limit high 3 0 reserved 3 1 reserved 4 0 reserved 4 1 reserved 5 0 reserved 5 1 reserved 6 0 reserved 6 1 reserve...

Страница 150: ...served 26 1 reserved 27 0 reserved 27 1 reserved 28 0 auxiliary I O emergency stop unlatched low 28 1 auxiliary I O emergency stop unlatched high 29 0 reserved 29 1 reserved 30 0 auxiliary I O connect...

Страница 151: ...reserved 14 0 reserved 14 1 reserved 15 0 reserved 15 1 reserved 16 0 digital input A low 16 1 digital input A high 17 0 digital input B low 17 1 digital input B high 18 0 reserved 18 1 reserved 31 0...

Страница 152: ...a relative motion When received the selected axis xx will move with the predefined acceleration and velocity to a relative position nn units away from the current position If the requested axis is me...

Страница 153: ...settings into working registers Note This command should not be issued during motion since the motor power is automatically turned OFF RETURNS none REL COMMANDS QS set microstep factor QG set gear co...

Страница 154: ...unction with QT tachometer gain command The gear constant is defined as the number of revolutions the motor has to make for the motion device to move one displacement This command must to be followed...

Страница 155: ...used to set the maximum motor current output for a Newport Unidrive compatible programmable driver axis This command must to be followed by the QD update driver command to take affect RETURNS If the...

Страница 156: ...the for axis xx Defining motor type is necessary because the ESP needs to apply different control algorithms for different motor types Note It will not be possible to control an axis if its motor typ...

Страница 157: ...s one will be executed immediately RETURNS none REL COMMANDS EX execute stored program AP abort stored program execution XX erase program EXAMPLE 3XX clear program 3 from memory if any 3EP activate pr...

Страница 158: ...ntage nn2 after motion has stopped and the specified time nn1 has expired The purpose of this command is to help reduce the motor heating typically generated by stepper motors If xx is equal to 0 the...

Страница 159: ...to set the microstep factor for a Newport Unidrive compatible programmable driver with step motor axis This command must be followed by the QD update driver command to take affect RETURNS If the sign...

Страница 160: ...ommand should be used in conjunction with QG gear constant command This command must to be followed by the QD update driver command to take affect RETURNS If the sign takes the place of nn value this...

Страница 161: ...verage motor voltage output for a Newport Unidrive compatible programmable driver axis This command must to be followed by the QD update driver command to take affect RETURNS If the sign takes the pla...

Страница 162: ...the interrupt Upon receiving the interrupt the host computer interrupt service routine should perform an IEEE 488 serial poll If the interrupt was as a result of the RQ command then bit 6 of the respo...

Страница 163: ...volatile flash memory on the controller will be restored Furthermore the controller will detect any stages ESP compatible or otherwise and drivers connected to the controller This process can take an...

Страница 164: ...ETURNS None REL COMMANDS None EXAMPLE RS Reset the controller P5 RS232 P2 For ESP100 and ESP300 motion controllers JP7 JPWDT1 JP11 For ESP6000 and ESP7000 motion controllers 3 124 Section 3 Remote Mod...

Страница 165: ...ntroller address for use with IEEE 488 or USB communications if equipped The address change takes affect immediately after the command is processed Use the SM command to save new address setting to no...

Страница 166: ...configured as an output can set 1 or clear 0 the corresponding DIO hardware to HIGH or LOW logic level Reading the status of a port configured as output returns its present output status Note All dire...

Страница 167: ...it 7 at logic level 1 HIGH default setting RETURNS If the sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS BO set DIO port direction EXAMP...

Страница 168: ...means that unless a new value is defined using this command the home position will be set to 0 when a home search is initiated using the OR command or from the front panel if available Note The chang...

Страница 169: ...opriate trajectory mode has to be specified using TJ command before this command becomes effective RETURNS If sign is issued along with command the controller returns slave axis jog velocity update in...

Страница 170: ...ommand to specify slave jog velocity update interval Note Appropriate trajectory mode has to be specified using TJ command before this command becomes effective RETURNS If sign is issued along with co...

Страница 171: ...the home switch and or sensor must be inside the travel limits This means that both positive and negative travel limits cannot be set on the same side of the home position A more obvious restriction i...

Страница 172: ...r modifying system and or axis parameters and settings to assure that the new data will not be lost when the controller is powered off Note User programs created with EP command are automatically save...

Страница 173: ...G out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command is used to set the displacement units for the for axis xx Note The unit of measure as used with this controller is intended as...

Страница 174: ...must be allowed to find its home position the home switch and or sensor must be inside the travel limits This means that both positive and negative travel limits cannot be set on the same side of the...

Страница 175: ...lready in a trajectory mode that is specific to master slaving A slave axis cannot be moved individually using PA or PR commands if its trajectory mode is specific to master slaving This command gets...

Страница 176: ...TION This command stops a motion in progress using deceleration rate programmed with AG set deceleration command on the specified axes If the ST command is sent with no axis parameter all axes are sto...

Страница 177: ...sed to set the encoder resolution for axis xx Note The encoder resolution can only be changed when encoder feedback is enabled See ZB command RETURNS If sign takes the place of nn value this command r...

Страница 178: ...The message is a 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 T...

Страница 179: ...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 cle...

Страница 180: ...TER CHANGE NOT ALLOWED DURING MOTION DESCRIPTION This command sets the trajectory mode nn on the axis specified by xx Changing trajectory during motion is not allowed Change trajectory mode only when...

Страница 181: ...GE DESCRIPTION This command is used to read the actual position It returns the instantaneous real position of the specified axis RETURNS nn where nn actual position in pre defined units REL COMMANDS P...

Страница 182: ...Bit HIGH 0 Axis 1 motor state Stationary In motion 1 Axis 2 motor state Stationary In motion 2 Axis 3 motor state Stationary In motion 3 Reserved 4 Motor power of at least one axis OFF ON 5 Reserved...

Страница 183: ...where nn actual velocity of the axis in pre defined units REL COMMANDS PA move to an absolute position PR move to a relative position EXAMPLE 3TP read position on axis 3 5 32 controller returns positi...

Страница 184: ...Note Please refer to the Appendix for a complete ASCII to binary conversion table Meaning for Function Bit LOW Bit HIGH 0 At least one program is executing NO YES 1 Wait command is executing NO YES 2...

Страница 185: ...ithout any transitional glitches in the loop If the axis specifier xx is missing or set to 0 the controller updates the filters for all axes If xx is a number between 1 and 4 the controller updates on...

Страница 186: ...I O bit xx is high already the program will continue to execute subsequent commands All DIO bits are pulled high on the board Therefore a missing signal will cause the wait to complete and subsequent...

Страница 187: ...edge sensitive This means that at the time of evaluation if the specified I O bit xx is low already the program will continue to execute subsequent commands RETURNS none REL COMMANDS UL Wait for DIO b...

Страница 188: ...ted axis is member of a group the commanded velocity becomes effective only after the axis is removed from the group Refer the Advanced Capabilities section for detailed description of grouping and re...

Страница 189: ...meaning that the velocity is changed when the command is processed even while a motion is in progress It can be used as an immediate command or inside a program Avoid changing the velocity during the...

Страница 190: ...ng for technical support for the motion control system or when reporting a problem is the controller version Use this command to determine the controller type and in particular the firmware version RE...

Страница 191: ...Motion Control Tutorial section to understand the basic principals of feed forward Note The command can be sent at any time but it has no effect until the UF update filter is received RETURNS If the...

Страница 192: ...RANGE DESCRIPTION This command is used to set the maximum velocity value for an axis This command remains effective even if the requested axis is member of a group In this case an error message GROUP...

Страница 193: ...after axis xx has reached position nn Ensure that position nn is within the travel range of axis xx The controller cannot always detect if a value is outside the travel range of an axis to flag an err...

Страница 194: ...is completed The program is continued only after axis xx reaches its destination If xx is not specified the controller waits for all motion in progress to end If nn is specified different than 0 the...

Страница 195: ...MISSING out of range error xx2 PARAMETER OUT OF RANGE Note Even though this command can be executed in immediate mode its real value is as a flow control instruction inside programs Wait commands are...

Страница 196: ...s This command reports the amount not used Note Available memory space is updated only after the stored program memory is purged using XX command RETURNS Available storage space REL COMMANDS EP enter...

Страница 197: ...er only after the entire stored program memory is purged by issuing the command 0xx Note Purging the stored program memory takes approximately 3 seconds for completion RETURNS None REL COMMANDS EP ent...

Страница 198: ...king and event handling for axis specified with xx Note If bit 0 or both bits 1 and 2 are set to zero 0 then no action will be taken by the controller Note The controller always interprets the nn valu...

Страница 199: ...9 0 do not invert servo DAC output polarity 9 1 invert servo DAC output polarity 10 0 amplifier enable output active low 10 1 amplifier enable output active high 11 0 stepper motor winding is FULL 11...

Страница 200: ...0011 Binary Bits 0 1 5 8 1 All other bits 0 Bits 0 2 5 8 1 All other bits 0 2ZA 125H set amplifier I O configuration to 125H for axis 2 125H 0001 0010 0101 Binary SM save all controller settings to n...

Страница 201: ...well as stepper closed loop positioning for axis specified with xx Note If bit 0 or both bits 1 and 2 are set to zero 0 then no action will be taken by the controller Note The controller always interp...

Страница 202: ...ing 9 0 disable stepper closed loop positioning 9 1 enable stepper closed loop positioning 10 0 reserved 10 1 reserved 31 0 reserved 31 1 reserved default setting RETURNS If the sign takes the place o...

Страница 203: ...it 0 or both bits 1 and 2 are set to zero 0 then no action will be taken by the controller Note The controller always interprets the nn value as a hexadecimal number even when the letter H is not appe...

Страница 204: ...eserved default setting RETURNS If the sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS ZA set amplifier I O configuration ZB set feedback...

Страница 205: ...xis specified with xx Note If bit 0 or both bits 1 and 2 are set to zero 0 then no action will be taken by the controller Note The controller always interprets the nn value as a hexadecimal number eve...

Страница 206: ...reserved default setting 1 2 3 5 7 ZB set feedback configuration ZZ set general system configuration RETURNS If the sign takes the place of nn value this command reports the current setting in hexade...

Страница 207: ...axis specified with xx Note If bit 0 or both bits 1 and 2 are set to zero 0 then no action will be taken by the controller Note The controller always interprets the nn value as a hexadecimal number ev...

Страница 208: ...erved 6 1 reserved 7 0 reserved 7 1 reserved 31 0 reserved 31 1 reserved default setting 1 2 RETURNS If the sign takes the place of nn value this command reports the current setting in hexadecimal not...

Страница 209: ...ed with xx Command Issued Note If bit 0 or both bits 1 and 2 are set to zero 0 then no action will be taken by the controller Note The controller always interprets the nn value as a hexadecimal number...

Страница 210: ...t abort motion on software travel limit event RETURNS If the sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS ZA set amplifier I O configu...

Страница 211: ...0 reserved 7 1 reserved 8 0 axis 1 ESP compatible motorized positioner not detected 8 1 axis 1 ESP compatible motorized positioner detected 9 0 axis 2 ESP compatible motorized positioner not detected...

Страница 212: ...ZS set software limit configuration ZZ set system configuration EXAMPLE ZU read ESP system configuration 150015H controller returns a value of 150015H 3 172 Section 3 Remote Mode...

Страница 213: ...ler Note The controller always interprets the nn value as a hexadecimal number even when the letter H is not appended to the desired value Since nn is a hexadecimal number it is possible that the most...

Страница 214: ...otect ESP system critical settings 9 0 Enable queue purge on time expiration 9 1 Disable queue purge on time expiration 1 0 0 Do not display units along with certain responses 10 1 Display units along...

Страница 215: ...mplicity all further discussion of coordinated motion will be restricted to a 2 D plane The procedure for defining a group and all the group parameters required for making coordinated motion is descri...

Страница 216: ...o it can be changed An axis assigned to a group cannot be moved individually using commands such as PA and PR Use group linear move commands instead Refer to the description of this command in the com...

Страница 217: ...tion of the group Xf and Yf represent desired final position of the group 4 1 3 2 Making Circular Move Once a group has been defined and all group parameters have been specified the ASCII command HC c...

Страница 218: ...ogress the new commands get queued into a via point buffer The queued commands are executed on a FIFO basis when the move already in progress has reached its destination The group does not come to a s...

Страница 219: ...e 4 2 A contour with multiple linear and circular moves Circular move 1 Circular move 2 Circular move 3 Position of axis 1 Position of axis 2 Start Stop Linear moves Circular moves Position of axis 1...

Страница 220: ...current move segment Otherwise it begins a new move segment without stopping after completing the current move The group transitions from current move segment to a new move segment smoothly if the ta...

Страница 221: ...oup can be powered ON or OFF individually using MO and MF commands also A group is considered to be ON if all axes assigned to that group are ON HP This command is used to read the actual position of...

Страница 222: ...ken for a slave axis to follow master s position This mode may be chosen exclusively when absolute or relative move commands can be issued to the master Steps Move Command Action by Move Command 1 Def...

Страница 223: ...ging slave axis 2BP0 1 Jog axis 2 in negative direction if DIO bit 0 is low Jog axis 2 in positive direction if DIO bit 1 is low 2 Enable DIO bits for jog mode 2BQ1 3 Define slave axis jog velocity up...

Страница 224: ...nly enable the feature and define two 2 parameters desired deadband and closed loop update interval The following block diagram illustrates this feature When the desired motion is completed the contro...

Страница 225: ...epper motor positioning Steps ASCII Command Action by Controller 1 Set feedback configuration 1ZB300 Enable encoder feedback and closed loop positioning of stepper motors for axis 1 2 Specify deadband...

Страница 226: ...ut or output If a port is configured to be an input the DIO bits that belong to that port can only report the state HIGH or LOW logic level of the corresponding DIO hardware On the other hand if the p...

Страница 227: ...sent to the controller the controller will execute the stored program called Abs0mm when DIO bit 0 changes its state from HIGH to LOW logic level Example 2 EP CYC2MM Define stored program called Cyc2m...

Страница 228: ...inhibited 2BL1 Enable inhibition of motion using DIO bits for axis 2 BO 04H 04H 0100 Binary Set DIO ports A B to input and port C to output i e set bits 0 15 to input and 16 23 to output After the ab...

Страница 229: ...ogical level when axis 2 is not in motion Commands related to utilizing DIO for initiating inhibiting motion of desired axis and notifying motion status of these axes are listed in the table below ref...

Страница 230: ...4 16 Section 4 Advanced Capabilities...

Страница 231: ...in Figure 5 1 Figure 5 1 Typical Motion Control Systems Its major components are Controller An electronic device that receives motion commands from an operator directly or via a computer verifies the...

Страница 232: ...lar system performance specification we will also mention which components affect performance the most and if appropriate which components improve it 5 2 Specification Definitions People mean differen...

Страница 233: ...having an imaginary ideal motion device that executes exactly the motion profile they are requesting In reality the real motion device will find itself deviating from this ideal trajectory Since most...

Страница 234: ...l moves and at every stop the user should record the position Error The user performs this operation for the entire nominal travel range When finished the Error data is plotted on a graph similar to F...

Страница 235: ...max error Error 0 Figure 5 3b Low Accuracy for Small Motions For applications requiring high accuracy for small motions the system in Figure 5 3a is definitely preferred Local Error is a relative ter...

Страница 236: ...use for this is in the mechanics Load Motor Encoder Elasticity Stiction Figure 5 4 Effect of Stiction and Elasticity on Small Motions Figure 5 4 shows how excessive stiction and elasticity between the...

Страница 237: ...size and present them in a format that an operator can use to determine the Minimum Incremental Motion by its own standards Motion step size in resolution increments Relative error 100 80 60 40 20 1...

Страница 238: ...y capable controllers All parameters discussed up to now that involve the positioning Error assumed that all motions were performed in the same direction If the user tries to measure the positioning e...

Страница 239: ...tch Roll and Yaw should be zero The commonly used representation of the three errors is shown in Figure 5 9 Pitch is rotation around the Y axis Roll is rotation around the X axis and Yaw is rotation a...

Страница 240: ...ng or excessively deforming it Determining the Load Capacity of a stage for a particular application is more complicated than it may first appear The stage orientation and the distance from the load t...

Страница 241: ...ation sets a limit on the velocity ripple To illustrate this take the example of a linear stage with a resolution of 0 1 m If the user sets the velocity to 0 5 m sec the stage will move 5 encoder coun...

Страница 242: ...or controller can do is to approach the stepper motor s performance in average Velocity regulation but it has the advantage of significantly reduced velocity ripple inherently and through PID tuning I...

Страница 243: ...urate value but also gives a better understanding of the motion control system performance and helps pinpoint problems Also due to integrated nature of the ESP300 system many basic errors can be signi...

Страница 244: ...l gain factor Kd derivative gain factor e instantaneous following factor The following paragraphs explain the PID components and their operation P Loop Lets start with the simplest type of closed loop...

Страница 245: ...ut too much of it will generate instabilities and oscillations e Trajectory Generator Motion Controller Servo Controller Driver Motor Encoder Kp Trajectory Generator Motion Controller Servo Controller...

Страница 246: ...ing force in a PID loop is the proportional term The other two correct static and dynamic errors associated with the closed loop Taking a closer look at the desired and actual motion parameters and at...

Страница 247: ...or Voltage Trajectory Generator Motion Controller Servo Controller Driver Motor Encoder Kp Ki e Kd Kvff de dt e Figure 5 18 PID Loop with Feed Forward There is another special note that has to be made...

Страница 248: ...t are identified by name The following paragraphs describe a few of them 5 4 1 Move A move is a point to point motion On execution of a move motion command the motion device moves from the current pos...

Страница 249: ...Jog When setting up an application it is often necessary to move stages manually while observing motion The easy way to do this without resorting to specialized input devices such as joysticks or trac...

Страница 250: ...m the encoder Since there is no absolute position information position zero is where the controller was powered on and the position counter reset To determine an absolute position the controller must...

Страница 251: ...at a very low speed and without a stop in between Also during E the display update is suppressed to eliminate any unnecessary overhead or inde igin switch E D motion encoder x pulse Figure 5 23 Slow...

Страница 252: ...e position direction of travel origin switch E D C motion encoder index pulse A B Figure 5 25 Home Origin Search from Opposite Direction The ESP300 moves at high speed up to the home switch transition...

Страница 253: ...meaning that the encoder resolution is multiplied by 4 For example and encoder with 10 m phase period can offer a 2 5 m resolution when used with a X4 type decoder A B 1 2 3 4 Figure 5 26 Encoder Qua...

Страница 254: ...re the transparent areas line up or blocked when they do not line up Figure 5 29 The detector signal is similar to a sine wave Converting it to a digital waveform the user will get the desired encoder...

Страница 255: ...e expansive and need more space Figure 5 30 Two Channel Optical Encoder Scale and Read Head Assembly The most popular encoders are rotary Using gear reduction between the encoder and the load signific...

Страница 256: ...and stay there In order to make a motion another phase must be energized which in turn will find a new stable point thus making a small incremental move a step Figure 5 31 shows the basics of a steppe...

Страница 257: ...ps are called full steps They are the largest motion increment the stepper motor can make Running the motor in this mode is called full stepping Figure 5 32 Four Phase Stepper Motor A B C D A The four...

Страница 258: ...ping The advantage is that we can get double the resolution from the same motor with very little effect on the driver s side The timing diagram for half stepping is shown in Figure 5 35 A 1 2 3 4 5 6...

Страница 259: ...or each step command the motor will move only a fraction of the full step Motion steps are smaller so the motion resolution is increased and the motion ripple noise is decreased However mini stepping...

Страница 260: ...External Force Applied If the misalignment keeps increasing at some point the torque peaks and then starts diminishing again such that when the stator is exactly between the rotor teeth the torque bec...

Страница 261: ...cations The most common type of stepper motor is the Hybrid stepper motor It is the fine teeth and stepping angle of a variable reluctance motor and the efficiency of the permanent magnet motor The ro...

Страница 262: ...continuously The only way to stop a DC motor is not to apply any current to its windings Due to the permanent magnets reversing the current polarity will cause the motor to move in the opposite direc...

Страница 263: ...ctor and an identifying label Always make sure that the motor specified on the driver card label matches the label on the motion device There are important advantages to having an integrated controlle...

Страница 264: ...sed technique is a high voltage chopper Current Figure 5 45 Current Build up in Phase When the pulse rate is fast the current does not have time to reach the desired value before it is turned off and...

Страница 265: ...ipolar On the other hand Figure 5 48 shows a Bipolar Driver built in a dual H bridge configuration The name H Bridge comes from the topology of the transistors controlling one load coil In this case b...

Страница 266: ...ntage the motor inductance does not increase allowing it to perform well at higher speeds Disadvantage requires the driver to supply twice the motor s nominal current 2 4 6 8 1 3 5 7 Figure 5 48 Dual...

Страница 267: ...educes the dynamic following error Figure 5 50 DC Motor Current Driver The tachometer connected to the motor s rotor outputs a voltage directly proportional with the motor velocity The circuit compare...

Страница 268: ...oscillations of the closed loop 5 7 3 1 PWM Drivers M T E V velocity control signal 10V tach gain compensation tachometer gain Even though linear amplifiers are simpler and cleaner do not generate noi...

Страница 269: ...ry high acceleration causing large following errors and overshoot Use the smallest acceleration the application can tolerate to reduce overshoot and make tuning the PID filter easier Start the tuning...

Страница 270: ...ts Users can write their own application s or use the ESP tune exe Windows utility Please refer to the description of ASCII command DC to setup data acquisition 6 2 2 Correcting Axis Oscillation If os...

Страница 271: ...will decrease almost to zero Remember that if acceleration is set too high overshoot cannot be completely eliminated with Kd If Kd is further increased at some point oscillation will reappear usually...

Страница 272: ...lowing Error During Motion This is caused by a Ki and IL value that is too low Follow the procedures in the previous paragraph keeping in mind that it is desirable to increase the integral gain factor...

Страница 273: ...ectory Positive following error during the constant velocity phase of a motion Stage is ahead of the desired trajectory Kp Higher frequency oscillation and or audible noise in the motor caused by larg...

Страница 274: ...This page is intentionally left blank 6 6 Section 6 Servo Tuning...

Страница 275: ...each character typed on the keypad Additionally status messages are echoed to the display in certain cases e g error codes Four macro keys on the top row of the keypad permit execution of previously s...

Страница 276: ...cters are sent to the ESP300 SPACE BKSP 7 1 2 Activating the Keypad Plug one end of the cable that was supplied with the keypad into the receptacle on the bottom side of the keypad and the other end i...

Страница 277: ...output buffer 1 PCI COMMUNICATION TIME OUT 2 Reserved for future use 3 Reserved for future use 4 EMERGENCY SOP ACTIVATED 5 Reserved for future use 6 COMMAND DOES NOT EXIST The issued command does not...

Страница 278: ...be a member of this group is out of range Refer to the description of HN command for valid range of axis numbers that can be assigned to a group 18 GROUP AXIS ALREADY ASSIGNED 19 GROUP AXIS DUPLICATE...

Страница 279: ...er to the description of issued command for valid number of parameters 30 GROUP PARAMETER OUT OF RANGE 31 GROUP MAXIMUM VELOCITY EXCEEDED The specified group velocity exceeds the minimum of the maximu...

Страница 280: ...ith this command is missing Refer to the description of issued command for valid number of parameters 39 PROGRAM LABEL NOT FOUND The issued command could not be executed because the requested label wi...

Страница 281: ...er to the description of ZH command to configure the motion controller tasks upon encountering a hardware limit x06 POSITIVE SOFTWARE LIMIT DETECTED The motion controller sensed that the axis has reac...

Страница 282: ...specified axis jerk exceeds maximum jerk allowed for the axis Refer to the description of JK command for valid jerk range x16 MAXIMUM DAC OFFSET EXCEEDED The specified axis DAC offset exceeds maximum...

Страница 283: ...ALLOWED The specified parameter cannot be changed while the axis is in motion Wait until the axis motion is complete and issue this command again Refer to the description of MD command to determine i...

Страница 284: ...p Refer to the description of issued command for further details x32 INVALID TRAJECTORY MODE FOR MOVING The specified trajectory mode is invalid to make absolute or relative moves Refer to the descrip...

Страница 285: ...ON Verify proper alignment before inserting connectors Procedures are to be performed only by qualified service personnel Qualified service personnel should be aware of the shock hazards involved when...

Страница 286: ...ribed in the System Setup section Beware that the fuse blows only when a serious problem arises If the fuse blows again contact Newport for service Error message or physically present stage is declare...

Страница 287: ...limits are set correctly do not try to move past them Software travel limit Move command not executed Incorrect parameters Verify that all relevant parameters PID velocity etc are set Faulty origin or...

Страница 288: ...Remove and inspect the fuses Replace as needed with appropriate fuse 4A T 250V fuse for ESP300 xxxxx1 models and 6 3A T 250V fuse for ESP300 xxxxx2 models Figure B 1 Rear Power Line Panel Fuse Replace...

Страница 289: ...amp but not wet lint free cloth Clean external cable surfaces with alcohol using a clean lint free cloth WARNING CAUTION Do not expose connectors fans LEDs or switches to alcohol or water Power down a...

Страница 290: ...This page is intentionally left blank B 6 Appendix B Trouble Shooting and Maintenance...

Страница 291: ...used for all digital signals 5V 100mA maximum 5V supply 15V 25mA maximum Digital I O The digital I O can be programmed to be either input or output in 8 bit blocks via software DGND Pin Description 1...

Страница 292: ...al Input Output 16 22 DGND DGND 26 DGND DGND 30 DGND DGND 36 DGND C 1 3 Motor Driver Card 25 Pin I O Connector 2 Phase Stepper Motor DC Motor Stepper Phase 1 N C N C Stepper Phase 2 N C DC Motor Phase...

Страница 293: ...st be connected to Winding A lead of a two phase stepper motor The voltage seen at this pin is pulse width modulated with a maximum amplitude of 48V DC Stepper Motor Phase 2 Output This output must be...

Страница 294: ...ge position feedback circuitry and is used for position tracking Encoder A Input The A input is pulled up to 5V and pulled down to ground with 1K resistors This facilitates both single and double ende...

Страница 295: ...fferential receiver The Index signal originates from the stage and is used for homing the stage to a repeatable location Encoder Supply 5V 250mA Maximum A 5V DC supply is available from the ESP300 Thi...

Страница 296: ...500 mA max 21 5V 500 mA max 22 DGND 23 DGND 24 N C 25 N C Table C 3 Auxiliary Encoder Connector Pin Outs C 1 6 IEEE 488 Interface Connector 24 Pin The IEEE488 Interface Connector has a standard confi...

Страница 297: ...ide Figure C 2 Conductor pin to pin RS 232C interface cable C 1 9 Motor Interlock Connector BNC This connector is provided for the wiring of one or more remote Emergency Stop switches They will have t...

Страница 298: ...shell GND during normal controller operation An open circuit is equivalent to pressing STOP ALL on the front panel Connector Shield Provides GND for switch Connector BNC with Dust Cap Figure C 3 Motor...

Страница 299: ...SCII Code Binary Code 0 Null 00000000 1 Soh 00000001 2 Stx 00000010 3 Etx 00000011 4 Eot 00000100 5 Enq 00000101 6 Ack 00000110 7 Bel 00000111 8 Bs 00001000 9 Tab 00001001 10 Lf 00001010 11 Vt 0000101...

Страница 300: ...0110011 52 4 00110100 53 5 00110101 54 6 00110110 55 7 00110111 56 8 00111000 57 9 00111001 58 00111010 59 00111011 60 00111100 61 00111101 62 00111110 63 00111111 64 01000000 65 A 01000001 66 B 01000...

Страница 301: ...101 E 01100101 102 F 01100110 103 G 01100111 104 H 01101000 105 I 01101001 106 J 01101010 107 K 01101011 108 L 01101100 109 M 01101101 110 N 01101110 111 O 01101111 112 P 01110000 113 Q 01110001 114...

Страница 302: ...100 149 10010101 150 10010110 151 10010111 152 10011000 153 10011001 154 10011010 155 10011011 156 10011100 157 10011101 158 10011110 159 10011111 160 10100000 161 10100001 162 10100010 163 10100011 1...

Страница 303: ...101 198 11000110 199 11000111 200 11001000 201 11001001 202 11001010 203 11001011 204 11001100 205 11001101 206 11001110 207 11001111 208 11010000 209 11010001 210 11010010 211 11010011 212 11010100 1...

Страница 304: ...100 237 11101101 238 11101110 239 11101111 240 11110000 241 11110001 242 11110010 243 11110011 244 11110100 245 11110101 246 11110110 247 11110111 248 11111000 249 11111001 250 11111010 251 11111011 2...

Страница 305: ...will expose you to hazardous voltages Refer all servicing internal to this controller enclosure to qualified service personnel who should observe the following precautions before proceeding Turn power...

Страница 306: ...ables from the controller 2 Remove the 3 screws two as shown and one is on the Rear Panel which is labeled Cover Tab with Screw See Figure E 1 which shows how to remove the cover Figure E 1 Removal of...

Страница 307: ...ady for use Axis 1 Axis 2 Axis 3 IEEE 488 Driver Module Front Panel Figure E 2 Interior of the unit explaining the connectors E 2 Adding IEEE488 1 Follow steps 1 3 adding axes 2 Insert the IEEE 488 dr...

Страница 308: ...t that attach Front Panel to Chassis Figure E 3 How to remove screws inside the unit for the Front Panel 4 Remove the 6 screws on the bottom of the unit that attach the Front Panel to the unit chassis...

Страница 309: ...roller card verifies the type of stage s present and re configures its own flash memory if necessary i e new stage The controller card in the ESP300 system configuration the stage motor and the curren...

Страница 310: ...s Typ Cu En Was An Was Same Is A Non Copy ESP Stage Data To Controller Flash Memory Is Drive Axis Present Is Motor e rrent Defined Erase Controller Flash Memory And Load Default Parameters Configure S...

Страница 311: ...s encoder feedback counting etc are designed to operate with Newport controllers In this case only a certain amount of commands are necessary to setup the axis before moving the stage The second level...

Страница 312: ...micron 1fr0 01 set stepper motor full step resolution to 10 micron 1vu20 set maximum velocity to 20 mm sec 1va10 set working velocity to 10 mm sec 1jh10 set jog high velocity to 10 mm sec 1jw1 set jo...

Страница 313: ...ce newport com Table H 1 Technical Customer Support Contacts Contact Newport to obtain information about factory service Telephone contact number s are provided on the Service Form see next page Pleas...

Страница 314: ...ist any specific problems __________________________________ ____________________________________________________________________________________ ______________________________________________________...

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