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Section 6 — Motion Control Tutorial

6 - 1

Section 6
Motion Control Tutorial

6.1

Motion Systems

A typical motion control system

is

shown in Figure 6.1-1.

Controller

Driver

X-Y Stage

Figure 6.1-1—Typical Motion Control System

Its major components are:

Controller

an electronic device that receives motion commands from
a user directly or via a computer, verifies the real stage
position and generates the necessary control signals.

Driver

an electronic device that converts the control signals to the
correct format and power needed to drive the motors.

Stage

an electro-mechanical device that can move a load with the
necessary specifications.

Cables

needed to interconnect the other motion control compo-
nents.

If you are like most motion control users, you started by selecting a stage
that matches certain specifications needed for an application. Next, you
chose a controller that can satisfy the motion characteristics required.

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Содержание ESP6000

Страница 1: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

Страница 2: ...ESP6000 UNIDRIVE6000 USER S MANUAL Motion Controller Driver Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 3: ...i ESP6000 UNIDRIVE6000 Motion Controller Driver USER S MANUAL Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 4: ...t apply to defects resulting from modification or misuse of any product or part This warranty also does not apply to fuses batteries or damage from battery leakage This warranty is in lieu of all othe...

Страница 5: ...UNITY Electrostatic Discharge per IEC 1000 4 2 severity level 3 Radiated Emission Immunity per IEC 1000 4 3 severity level 2 Fast Burst Transients per IEC 1000 4 4 severity level 3 Surge Immunity per...

Страница 6: ...2 2 2 3 Equipment Controls and Indicators 2 2 2 4 Installation and Connection 2 5 2 4 1 Installing the ESP6000 Controller Card and Software Driver 2 5 2 4 2 Installing Windows Software 2 9 2 4 3 Veri...

Страница 7: ...escription 4 15 4 2 2 Features 4 15 4 2 3 Operation 4 15 Section 5 Programming 5 1 5 1 General Description 5 1 5 1 1 Windows Programming 5 1 5 1 2 How To Use The Dynamic Link Library 5 1 5 2 Descripti...

Страница 8: ...g 6 16 6 4 3 Home Search 6 17 6 5 Encoders 6 19 6 6 Motors 6 22 6 6 1 Stepper Motors 6 22 6 6 2 DC Motors 6 27 6 7 Drivers 6 28 6 7 1 Stepper Motor Drivers 6 28 6 7 2 DC Motor Drivers 6 30 Section 7 S...

Страница 9: ...ve Motor Power Supply Board B 4 B 3 Cleaning B 7 Appendix C Connector Pin Assignments C 1 C 1 ESP6000 Controller Card C 1 C 1 1 Main I O 100 Pin Connector C 2 C 1 2 Motor Driver Interface 100 to 68 Pi...

Страница 10: ...1 ESP6000 Controller Card E 1 E 1 1 Installing New Software E 1 E 1 2 Installing New Firmware E 4 Appendix F ESP Configuration Logic F 1 Appendix G Factory Service G 1 Service Form G 3 Artisan Technol...

Страница 11: ...ation Completed Screen 2 15 Figure 2 4 17 ESP Initialization Screen 2 15 Figure 2 4 18 ESP6000 Error Message Screen 2 16 Figure 2 4 19 Line Voltage Select Switch 2 17 Figure 2 4 20 Stage To UniDrive C...

Страница 12: ...rch 6 18 Figure 6 4 6 Origin Search From Opposite Direction 6 18 Figure 6 5 1 Encoder Quadrature Output 6 19 Figure 6 5 2 Optical Encoder Scale 6 20 Figure 6 5 3 Optical Encoder Read Head 6 20 Figure...

Страница 13: ...7 Figure C 1 1 Main I O 100 Pin Connector Orientation C 1 Figure C 1 2 One Hundred to Sixty Eight Pin Cable Connector Orientation C 2 Figure C 1 3 JP2 JP4 JP5 Connector Orientation C 2 Figure C 2 1 U...

Страница 14: ...Commands 9 4 Table 9 3 1 PCI Design Goals 9 5 Table A 1 Error Messages A 2 Table B 1 1 Trouble Shooting Guide B 2 Table C 1 1 Main I O Connector Pin Outs C 3 Table C 1 2 Motor Driver Interface 100 to...

Страница 15: ...ion of the Windows motion and tuning utilities are described in Section 4 Newport provided commands language specific information and error handling procedures are provided in Section 5 Programming An...

Страница 16: ...e see Appendix B Trouble Shooting There are no user serviceable parts inside the UniDrive Do not make modifications or parts substitutions Return equipment to Newport Corporation for service and repai...

Страница 17: ...onventions And Definitions This section provides a list of symbols and their definitions and com monly used terms found in this manual 1 3 1 Definitions and Symbols The following are definitions of sa...

Страница 18: ...the principal on off switch is in the off position A terminal which is used to connect instrument to earth ground This symbol informs operator to read instructions in the operator manual before proce...

Страница 19: ...r 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 that can be accurately found by an axis al...

Страница 20: ...Windows based setup utility provides a full range of functions for configuring and operating from one to six axes The system is designed to operate with Newport Corporation s ESP compatible stages but...

Страница 21: ...a acquisition and motion control Plug and play controller driver and stage setup Bench top or rack mount configuration for the UniDrive6000 Configured for any combination of motor type DC stepper or s...

Страница 22: ...se rate Open or closed loop operation PID with velocity feed forward closed loop mode Computer Interfaces PCI bus interface Utility Interfaces Connectors Analog I O 16 bit 8 channel muxed analog input...

Страница 23: ...60 Volts 10x micro stepping resolution factor Full half and mini step capability Power Input voltage 110 220V 10 Frequency 50 60Hz Current 4 Amps maximum input current Physical Height 7 00 including...

Страница 24: ...1 1 0 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 25: ...lip are in the container s Refer to Appendix G Factory Service for reporting discrepancies CAUTION The ESP6000 controller card and stages are sensitive to static electricity Wear a properly grounded a...

Страница 26: ...Workstation 6 20 MB of hard disk space 7 VGA or higher resolution video adapter 8 Microsoft Mouse or compatible pointing device 9 One interrupt line 10 3 1 2 floppy disk drive for installation only 2...

Страница 27: ...grammer Interface API initialization command 3 5V below operating range 4 Digital Signal Processor DSP not communicating with watchdog timer 2 Error LED 2 will flash ON OFF at approximately 0 5 second...

Страница 28: ...RVICE PERSONNEL Figure 2 3 2 UniDrive6000 Front and Rear View Table 2 3 2 UniDrive6000 Controls And Indicators Normal Operating Item Nomenclature Description Condition Position 1 Power on off switch T...

Страница 29: ...xpose you to hazardous voltages Observe the following precautions before proceeding Turn power OFF and unplug the unit from its power source Disconnect all cables Remove jewelry from hands and wrists...

Страница 30: ...e cut out panel for the PCI card slot and remove the panel Due to varying card guide configurations of computers it may be neces sary to remove the bracket at the end of the ESP6000 card in order to i...

Страница 31: ...uminate red continuously Refer to Equipment Controls and Indicators paragraph 2 3 of this section for detailed LED information After booting up a Windows 95 system will respond to the ESP6000 card ins...

Страница 32: ...the disk labeled ESP6000 Windows 95 Device Driver into the com puter floppy disk drive and select OK Another Windows 95 prompt appears see Figure 2 4 5 SYSTEM SETTINGS CHANGE To Finish Setting Up You...

Страница 33: ...ler card and driver software have been installed From the Windows 95 desk top press the start button and select SETTINGS and then CONTROL PANEL The Windows 95 start up screen appears see Figure 2 4 6...

Страница 34: ...4 8 Figure 2 4 8 Add Remove Programs Properties Menu Select the Install Uninstall tab from the Add Remove Programs Properties menu then select INSTALL The Install Program From Floppy Disk Or CD ROM sc...

Страница 35: ...k 1 of 4 into the floppy drive and select NEXT The Run Installation Program screen appears Figure 2 4 10 Verify that the path appears as shown in the screen and select FINISH The ESP Welcome screen ap...

Страница 36: ...creen Select NEXT The ESP Select Destination Directory screen appears see Figure 2 4 12 Figure 2 4 12 ESP Select Destination Directory Screen Artisan Technology Group Quality Instrumentation Guarantee...

Страница 37: ...Set Up 2 1 3 Select NEXT The ESP Ready To Install screen appears see Figure 2 4 13 Figure 2 4 13 ESP Ready To Install Screen Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE w...

Страница 38: ...rt New Disk message screen appears see Figure 2 4 15 prompting the user to insert disk 2 Follow the prompts for disks 2 3 and 4 Figure 2 4 15 Insert New Disk Message Screen After the last disk has bee...

Страница 39: ...2 4 3 Verifying Communication Between the ESP6000 Card and the PC The ESP 6000 software performs a verification each time the system is booted up An ESP Initialization message screen appears that ind...

Страница 40: ...he power source and disconnect it from any equipment Locate the line voltage selection switch at the right rear of the UniDrive see Figure 2 4 19 Use a flat bladed screwdriver to move the switch to th...

Страница 41: ...ST N97101D CAUTION NO USER SERVICEABLE PARTS INSIDE REFER SERVICING TO QUALIFIED SERVICE PERSONNEL Figure 2 4 19 Line Voltage Select Switch CAUTION Verify that the UniDrive6000 power switch at the fro...

Страница 42: ...s on a flat stable surface before connection to a rack mounted UniDrive Carefully connect one end of the cable to the stage and the other end to a driver axis on the UniDrive6000 see Figure 2 4 20 Se...

Страница 43: ...ch the supplied 100 pin cable to the connector labeled CONTROLLER INPUT at the rear of the UniDrive6000 Next attach the cable to the ESP6000 card connector at the rear of the personal computer see Fig...

Страница 44: ...2 2 0 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 45: ...nu in the Windows Utilities section to configure the UniDrive for non compatible non SmartStage equipment operation 3 2 Motor On CAUTION Place stages on a flat surface and move objects which could res...

Страница 46: ...l turn green to indicate a motor on condition Click on an enabled button once to disable a motor or select ALL OFF to disable all motors Buttons for disabled motors will illuminate yellow If a motor t...

Страница 47: ...d search mode Home Switch Only or Home Switch Index enter the number of units in the Home Speed input box and Select START to home the stage s Home each axis one by one Verify that each stage carriage...

Страница 48: ...e Figure 3 2 1 or select the JOG button from the tool bar The Jog menu appears see Figure 3 4 1 Figure 3 4 1 Jog Menu NOTE Enable stage s motor power before jogging Artisan Technology Group Quality In...

Страница 49: ...appears see Figure 3 4 3 Figure 3 4 2 Speed Menu Figure 3 4 3 Set X Y Speed Menu Enter a value in the New Speed text box and select OK The Jog menu appears To execute a jog in the Free Run unspecified...

Страница 50: ...nel and press an arrow key to start a movement Each depression of the arrow key will produce a movement specified by the entry in the Index Distance sub panel NOTE Stage hardware travel limits are det...

Страница 51: ...lity for analog to digital converter Set up and monitor capability for digital I O channels Software driven upgrades of the ESP6000 firmware to flash EPROM no component replacement required User defin...

Страница 52: ...on X X Deceleration X X Jerk X X NOTE Save configuration input on a systematic basis to ensure operating parameters are not lost CAUTION Do not connect or disconnect stages while the personal computer...

Страница 53: ...rder to save existing ESP6000 parameters to non volatile flash EPROM memory The ESP6000 will automatically reload saved parameters from flash memory to working registers after a hardware reset The Sav...

Страница 54: ...enu consists of a series of drop down menus as shown in Figure 4 1 3 Menu functions are described in the following paragraphs NOTE The user must first check Advanced in the File menu to access the Set...

Страница 55: ...ep factor and full step resolution Refer to the esp_set get_microstep_factor and esp_set get_fullstep_resolution motion related commands in the Programming section for input value examples Axes 7 and...

Страница 56: ...up Trajectory Tab Refer to Servo Tuning Section 7 for tuning guidelines before entering values Select the appropriate axis and enter parameters to set trajectory and PID Artisan Technology Group Quali...

Страница 57: ...tup Faults sub menu which enables a user to indicate a selection of events to be triggered if specified faults occur A user can also enable and disable checking for faults Select FAULTS to access the...

Страница 58: ...p Hardware sub menu includes tabs for defining amplifier I O analog I O digital I O servo DAC offset and travel limit parameters The tabs are shown in Figures 4 1 8 through 4 1 12 and described in the...

Страница 59: ...selecting the Amplifier Fault Input option Figure 4 1 9 Setup Hardware Analog I O Tab Use the Analog I O tab to select gain and range settings for the analog to digital conversion Refer to the Data Ac...

Страница 60: ...GH logic level Figure 4 1 11 Setup Hardware Servo DAC Offset Tab Use the Servo DAC Offset tab to designate voltage 1 volt maximum offset on the servo digital to analog outputs for each axis Input a va...

Страница 61: ...cedures NOTE The ESP6000 controller card is factory equipped with firmware which is stored in non volatile flash EPROM Firmware downloading should be used for upgrades only 4 1 3 2 5 UniDrive The UniD...

Страница 62: ...motion movements in all axes Figure 4 1 15 Stop Button 4 1 3 3 2 Home Select HOME to move the selected stage to Home reference position Refer to Section 3 Quick Start for detailed procedures 4 1 3 3...

Страница 63: ...int for dwell Select the stop light icon to stop and start the motion 4 1 3 3 5 Enable Select ENABLE to power on stage motors Refer to Section 3 Quick Start for detailed procedures 4 1 3 4 Status Menu...

Страница 64: ...tual axes only because they are auxiliary encoder feedback channels with no direct stepper or DC servo motor control output association However they can be used in master slave applications to indirec...

Страница 65: ...ut parameters for six axes of motion with UniDrive 6000 Configurable data acquisition Graphical interface for value input and commands Plotting for comparison purposes 4 2 3 Operation At boot up the p...

Страница 66: ...re utility click the right mouse button on the desired object and select DESCRIPTION A window with a description of the object will appear Refer to Section 7 Servo Tuning for further guidance NOTE Sav...

Страница 67: ...iew the examples on the utility disk for familiarization with library usage 5 1 2 How To Use The Dynamic Link Library Make calls to the dynamic link library the same way you would call any other funct...

Страница 68: ...g mtype 5 12 esp_get_motor_type long axis long mtype 5 12 esp_get_sys_config long config 5 13 esp_set_sys_fault_config long config 5 15 esp_get_sys_fault_config long config 5 15 esp_set_followerr_conf...

Страница 69: ...at time 5 34 esp_move_relative long axis double position 5 35 esp_find_home long axis long mode 5 36 esp_move_done long axis 5 37 esp_home_done long axis 5 38 esp_get_motion_status long mstat 5 39 esp...

Страница 70: ...ratio 5 63 esp_set_master_initial_position long master double position 5 64 esp_get_master_initial_position long master double position 5 64 esp_set_slave_initial_position long slave double position 5...

Страница 71: ...82 esp_get_vel_feedforward long axis float vff 5 82 esp_set_acc_feedforward long axis float aff 5 83 esp_get_acc_feedforward long axis float aff 5 83 esp_update_filter void 5 84 Data Acquisition esp_...

Страница 72: ...portb long data 5 102 esp_set_dio_portc long data 5 103 esp_get_dio_portc long data 5 103 System esp_get_error_num int error int ServoTick 5 106 esp_get_error_string char ErrorString int error int Ser...

Страница 73: ...Section 5 Programming 5 7 Initialization Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 74: ...ESP function called in any application All motors are turned OFF and ESP6000 hardware is reset after an esp_init_system function call Returns ESPOK ESPERROR Hint Always evaluate returned value from es...

Страница 75: ...lue from esp_open_system Usage Example include stdio h include stdlib h include esp6000 h void tell_error int esp_error char buffer MAX_ERROR_LEN switch esp_error case ESP_OK ESP6000 and communication...

Страница 76: ...ESPOK ESPERROR Hint Usage Example include esp6000 h main long error servotick if esp_init_system printf ESP6000 Not Initialized r n exit 1 Change Axis 1 Motor Current esp_motor_current 1 1 9 Update U...

Страница 77: ...Section 5 Programming 5 11 Configuration Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 78: ...ry because the ESP6000 needs to apply different control algorithms for different motor types For example DC servos are controlled via digital to analog converter DAC whereas stepper motors are positio...

Страница 79: ...is 6 UniDrive6000 not detected 5 1 axis 6 UniDrive6000 detected 6 0 reserved 6 1 reserved 7 0 reserved 7 1 reserved 8 0 axis 1 ESP compatible motorized positioner not detected 8 1 axis 1 ESP compatibl...

Страница 80: ...servotick systconfig if esp_init_system printf ESP6000 Not Initialized r n exit 1 Get ESP System Configuration esp_get_sys_config sysconfig print present system configuration printf Configuration x r...

Страница 81: ...hecking 1 0 do not disable all axes on interlock event 1 1 disable all axes on interlock event 2 0 reserved 2 1 reserved 3 0 reserved 3 1 reserved 4 0 configure interlock fault as active low 4 1 confi...

Страница 82: ...ration Register Returns ESPOK ESPERROR Hint Usage Example include esp6000 h main if esp_init_system printf ESP6000 Not Initialized r n exit 1 Disable Motor Power Flag Interlock Error status esp_set_sy...

Страница 83: ...uration BIT VALUE DEFINITION 0 0 disable motor following error checking 0 1 enable motor following error checking 1 0 do not disable motor power on following error event 1 1 disable motor power on fol...

Страница 84: ...ing 0 1 enable hardware travel limit error checking 1 0 do not disable motor on hardware travel limit event 1 1 disable motor on hardware travel limit event 2 0 do not abort motion on hardware travel...

Страница 85: ...ting BIT VALUE DEFINITION 0 0 disable software travel limit error checking 0 1 enable software travel limit error checking 1 0 do not disable motor on software travel limit event 1 1 disable motor on...

Страница 86: ...plifier fault event 2 1 abort motion on amplifier fault event 3 0 reserved 3 1 reserved 4 0 reserved 4 1 reserved 5 0 amplifier fault input active low 5 1 amplifier fault input active high 6 0 configu...

Страница 87: ...ster Continued 18 1 reserved 31 0 reserved 31 1 reserved Returns ESPOK ESPERROR Hint Usage Example include esp6000 h main if esp_init_system printf ESP6000 Not Initialized r n exit 1 Disable Motor Fla...

Страница 88: ...enable feedback error checking 1 0 do not disable motor on feedback error event 1 1 disable motor on feedback error event 2 0 do not abort motion on feedback error event 2 1 abort motion on feedback...

Страница 89: ...ifier Input Configuration Register Continued Returns ESPOK ESPERROR Hint Usage Example include esp6000 h main if esp_init_system printf ESP6000 Not Initialized r n exit 1 Set Flag On Feedback Error es...

Страница 90: ...onfig reports present setting BIT VALUE DEFINITION 0 0 disable E Stop checking 0 1 enable E Stop checking 1 0 do not disable power motor on E stop event 1 1 disable motor power on E stop event 2 0 do...

Страница 91: ...ocessed by the DSP Save DAC offset to non volatile flash memory with the save_parameters command This will cause the DSP to automatically use this value after system reset or reboot esp_get_dac_offset...

Страница 92: ...ESP compatible stage is detected in the same axis channel All saved settings are automatically erased when new ESP6000 firmware is downloaded Returns ESPOK ESPERROR Hint Usage Example include esp6000...

Страница 93: ...limit high 4 0 axis 5 hardware travel limit low 4 1 axis 5 hardware travel limit high 5 0 axis 6 hardware travel limit low 5 1 axis 6 hardware travel limit high 6 0 reserved 6 1 reserved 7 0 reserved...

Страница 94: ...latched high 30 0 auxiliary I O connector emergency stop latched low 30 1 auxiliary I O connector emergency stop latched high 31 0 100 pin cable interlock low 31 1 100 pin cable interlock high HARDWAR...

Страница 95: ...ed 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 digital input C low 18 1 digital input C high 31 0 reserved 31 1 reserved Returns ESPOK ES...

Страница 96: ...5 30 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 97: ...Section 5 Programming 5 31 Motion Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 98: ...pecify position parameter in user units e g millimeters Usage Example include esp6000 h main long error servotick double position if esp_init_system printf ESP6000 Not Initialized r n exit 1 enable mo...

Страница 99: ...ERROR Hint Usage Example include esp6000 h main long error servotick double position if esp_init_system printf ESP6000 Not Initialized r n exit 1 enable motor power esp_enable_motor 2 move axis 2 to a...

Страница 100: ...ero then the API will start the delay process after all axes have stopped This API call uses the PC system timer which has a 55 milli second resolution Returns ESPOK ESPERROR Hint Usage Example includ...

Страница 101: ...nt target absolute position This helps avoid cumulative errors due to over and or under shooting positioners Returns ESPOK ESPERROR Hint Usage Example include esp6000 h main long error servotick if es...

Страница 102: ...e signal NOTE Only one axis can be in homing mode at any one time At the end of a successful homing sequence the axis position counter is automati cally set to position count zero 0 All absolute motio...

Страница 103: ...unction returns 0 ESPNOTDONE while the axis has not completed the move and a 1 ESPDONE when finished Returns ESPDONE ESPNOTDONE Hint Usage Example include esp6000 h main long error servotick double po...

Страница 104: ...the axis is no longer in homing mode Returns ESPDONE ESPNOTDONE Hint Query for possible motion system errors after homing Usage Example include esp6000 h main long error servotick if esp_init_system p...

Страница 105: ...motor type not previously defined then the corresponding status bit will equal zero 0 BIT VALUE DEFINITION 0 0 axis 1 positioner not moving 0 1 axis 1 positioner moving 1 0 axis 2 positioner not movin...

Страница 106: ...enable_motor 1 esp_enable_motor 2 move axis 2 to absolute position 3 0 esp_move_absolute 1 5 0 esp_move_absolute 2 3 0 esp_get_motion_status mstat loop while axis 1 2 are still moving while mstat 0x03...

Страница 107: ...l moving axes will be stopped when axis parameter is equal to zero 0 Returns ESPOK ESPERROR Hint Usage Example include esp6000 h main long error servotick if esp_init_system exit 1 set axis 1 trajecto...

Страница 108: ...POK ESPERROR Hint Usage Example include esp6000 h main long error servotick if esp_init_system exit 1 esp_enable_motor 1 set axis 1 3 to jog trajectory mode esp_set_traj_mode 1 JOG esp_set_traj_mode 2...

Страница 109: ...Section 5 Programming 5 43 Trajectory Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 110: ...mode with start stop speed implementation to avoid inherent stepper motor resonant frequencies SCURVE sets the axis into S curve motion profile mode This helps provide smoother jerk free motion when...

Страница 111: ...printf ESP6000 Not Initialized r n exit 1 set S Curve trajectory mode esp_set_traj_mode 1 SCURVE set axis 1 trajectory parameters esp_set_speed 1 30 0 esp_set_accel 1 200 0 esp_set_decel 1 150 0 esp_s...

Страница 112: ...hallow the axis may not reach the target speed esp_get_speed reports target slew speed setting for the specified axis Returns ESPOK ESPERROR Hint Usage Example include esp6000 h main long error servot...

Страница 113: ...arameters set by other functions e g esp_set_speed which exceed maximum permissible speed esp_get_max_speed reports the maximum permissible speed for the specified axis Returns ESPOK ESPERROR Hint Usa...

Страница 114: ..._get_accel reports the target acceleration setting for the specified axis Returns ESPOK ESPERROR Hint Acceleration typically equal to deceleration Usage Example include esp6000 h main long error servo...

Страница 115: ...is esp_get_decel reports the target deceleration rate for the specified axis Returns ESPOK ESPERROR Hint Deceleration typically is set equal to acceleration Usage Example include esp6000 h main long e...

Страница 116: ...ation or deceleration parameters set by other functions e g esp_set_accel which exceed maximum permissible acceleration esp_get_max_accel reports the maximum permissible acceleration setting for the s...

Страница 117: ...jerk rate for the specified axis NOTE The jerk parameter is only effective when the specified axis trajectory mode is set to SCURVE Returns ESPOK ESPERROR Hint Usage Example include esp6000 h main lon...

Страница 118: ...function calls which exceed maximum permissible jerk esp_get_max_jerk reports the maximum permissible jerk setting for the specified axis NOTE The jerk parameter is only effective when the specified a...

Страница 119: ...s the present target slew speed setting for the specified axis NOTE If acceleration is too shallow the axis may not reach the target speed Returns ESPOK ESPERROR Hint During first time system testing...

Страница 120: ...e frequency typically around 1 motor rps of stepper motors The axis has to be in TRAPSTEP trajectory mode see esp_set_traj_mode function for esp_set_startstop_speed to take affect esp_get_startstop_sp...

Страница 121: ...e in the negative direction at set speed esp_get_jog_speed reports target slew speed setting for the specified axis In order for the axis to begin jog motion it first has to be placed in jog trajector...

Страница 122: ...5 56 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 123: ...Section 5 Programming 5 57 Motion Related Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 124: ...re automatically disabled after system initialization or reset Returns ESPOK ESPERROR Hint Usage Example include esp6000 h main long error servotick double position if esp_init_system printf ESP6000 N...

Страница 125: ...r All axes are automatically disabled after system initialization or reset Returns ESPOK ESPERROR Hint Usage Example include esp6000 h main long error servotick double position if esp_init_system prin...

Страница 126: ...qual to 1 then the motor is ON enabled NOTE If motor type not previously defined then the corresponding status bit will equal zero 0 BIT VALUE DEFINITION 0 0 axis 1 motor not enabled 0 1 axis 1 motor...

Страница 127: ...ck onoff if esp_init_system printf ESP6000 Not Initialized r n exit 1 enable motor power esp_enable_motor 2 esp_get_motor_onoff_status onoff test for exis 2 enabled if onoff 0x02 printf Axis 2 Motor E...

Страница 128: ...xis NOTE The slave s trajectory mode must be set to SLAVEP slave to master encoder position or SLAVET slave to master trajectory in order for master slave mode to take effect The controller defaults t...

Страница 129: ...on of gearing esp_get_master_slave_ratio reports the present master to slave gear ratio NOTE The controller defaults to normal non master slave mode after system reset Returns ESPOK ESPERROR Hint Usag...

Страница 130: ...thereby eliminating the initial jump that may occur in the slave axis as it begins slaving esp_get_master_initial_position reports the present master initial position setting NOTE The controller defau...

Страница 131: ...e axis is to begin tracking the master thereby eliminating the initial jump that may occur esp_get_slave_initial_position reports the present slave initial position setting NOTE The controller default...

Страница 132: ...d from one unit to another Users will have to re enter all affected motion parameters e g speed when units are changed Resolution and units are automatically set the first time an ESP compatible stage...

Страница 133: ...the stage is first homed so that software travel limits are referenced to a known repeatable location Software limits help prevent inadvertent travel into stage hardware limits esp_get_soft_limit rep...

Страница 134: ...rror threshold for the specified axis A maximum moving error of 0 disables this feature esp_get_following_error reports the maximum motor following error threshold setting for the specified axis The e...

Страница 135: ...ig command is set then esp_get_position reports encoder feedback in user units If bit 8 is 0 and the axis motor type is stepper then esp_get_position reports step count in user units esp_set_position...

Страница 136: ...put in order to achieve desired encoder based position esp_get_microstep_factor reports present microstepping factor setting in ESP6000 memory Returns ESPOK ESPERROR Hint Microstep factor is automatic...

Страница 137: ...ulses to output in order to achieve desired encoder based position esp_get_fullstep_resolution reports present microstepping factor setting in ESP6000 memory Returns ESPOK ESPERROR Hint Fullstep resol...

Страница 138: ...mmand should be followed with the esp_update_unidrive command CAUTION Motor damage can occur if current is set too high Please refer to motor specifica tions before setting value Returns ESPOK ESPERRO...

Страница 139: ...idrive command Tachometer feedback provides improved servo stability CAUTION Poor servo performance can occur if tachometer constant is inappropriately set Please refer to tachometer specifications be...

Страница 140: ...tions the motor has to make for the motion device to move one displacement unit To take immedi ate effect this command should be followed with the esp_update_unidrive command CAUTION Poor servo perfor...

Страница 141: ...Report UniDrive Axis Motor Gear Constant Continued check error status esp_get_error_num error ServoTick if error printf Error d Reported r n error See Also esp_set_tach_constant esp_update_unidrive es...

Страница 142: ...5 76 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 143: ...Section 5 Programming 5 77 Servo Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 144: ...ne utility to optimize servo PID and feedforward parameters Returns ESPOK ESPERROR Hint Usage Example include esp6000 h main long error servotick if esp_init_system printf ESP6000 Not Initialized r n...

Страница 145: ...ESP tune utility to optimize servo PID and feedforward parameters Returns ESPOK ESPERROR Hint Usage Example include esp6000 h main long error servotick if esp_init_system printf ESP6000 Not Initialize...

Страница 146: ...optimize servo PID and feedforward parameters Returns ESPOK ESPERROR Hint Usage Example include esp6000 h main long error servotick if esp_init_system printf ESP6000 Not Initialized r n exit 1 set PI...

Страница 147: ...P tune utility to optimize servo PID and feedforward parameters Returns ESPOK ESPERROR Hint Usage Example include esp6000 h main long error servotick if esp_init_system printf ESP6000 Not Initialized...

Страница 148: ...ssary use the ESP tune utility to optimize servo PID and feedforward parameters Returns ESPOK ESPERROR Hint Usage Example include esp6000 h main long error servotick if esp_init_system printf ESP6000...

Страница 149: ...tting for the specified servo axis NOTE If necessary use the ESP tune utility to optimize servo PID and feedforward parameters Returns ESPOK ESPERROR Hint Usage Example include esp6000 h main long err...

Страница 150: ...turns ESPOK ESPERROR Hint Usage Example include esp6000 h main long error servotick if esp_init_system printf ESP6000 Not Initialized r n exit 1 set PID gain esp_set_kp 1 100 0 esp_set_kd 1 200 0 esp_...

Страница 151: ...Section 5 Programming 5 85 Data Acquisition Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 152: ...nnel is software configurable for ranges of 10V 5V 2 5V and 1 25V ADC channels are located on the analog I O connector on the controller card 16 bit 100 kHz A D Converter Six Pole Anti alias Filter Pr...

Страница 153: ...e configurable for ranges of 10V 5V 2 5V and 1 25V ADC channels are located on the analog I O connector on the controller card 16 bit 100 kHz A D Converter Six Pole Anti alias Filter Programmable Gain...

Страница 154: ...h 10 10 through 0 5V 2 5V and 1 25V ADC channels are located on the analog I O connector on the controller card 16 bit 100 kHz A D Converter Six Pole Anti alias Filter Programmable Gain Instrumentatio...

Страница 155: ...s of 10V 5V 2 5V and 1 25V ADC channels are located on the analog I O connector on the controller card 16 bit 100 kHz A D Converter Six Pole Anti alias Filter Programmable Gain Instrumentation Amplifi...

Страница 156: ...tion where bit 0 channel 1 bit 1 channel 2 bit 2 channel 3 bit 7 channel 8 long rate acquisition rate which is a multiple of the servo cycle rate where 0 every servo cycle 1 every other 2 every 3rd 3...

Страница 157: ...on Mode esp_set_daq_mode 1 1 1 1 2 512 esp_enable_daq esp_enable_motor 1 esp_move_absolute 1 50 0 while esp_daq_done Wait for DAQ End esp_get_daq_status count printf d acquisitions collected r count e...

Страница 158: ...Range esp_set_adc_gain V10 esp_set_adc_range BIPOLAR Set Acquisition Mode esp_set_daq_mode 1 1 1 1 2 512 esp_enable_daq esp_enable_motor 1 esp_move_absolute 1 50 0 while esp_daq_done Wait for DAQ End...

Страница 159: ...if esp_init_system printf ESP6000 Not Initialized r n exit 1 Set ADC Gain and Range esp_set_adc_gain V10 esp_set_adc_range BIPOLAR Set Acquisition Mode esp_set_daq_mode 1 1 1 1 2 512 esp_enable_daq e...

Страница 160: ...00 h main long error servotick long Num DaqStat Mode count float DataArray 512 if esp_init_system printf ESP6000 Not Initialized r n exit 1 Set ADC Gain and Range esp_set_adc_gain V10 esp_set_adc_rang...

Страница 161: ...ition status 0 normal 1 overrun occurred Library Location esp6000 dll Description esp_get_daq_data retrieves data acquisition results The sample size depends on the number of ADC and feedback channels...

Страница 162: ...sp_set_daq_mode 1 1 1 1 2 512 esp_enable_daq esp_enable_motor 1 esp_move_absolute 1 50 0 while esp_daq_done Wait for DAQ End esp_get_daq_status count printf d acquisitions collected r count esp_disabl...

Страница 163: ...ADC Gain and Range esp_set_adc_gain V10 esp_set_adc_range BIPOLAR Set Acquisition Mode esp_set_daq_mode 1 1 1 1 2 512 esp_enable_daq esp_enable_motor 1 esp_move_absolute 1 50 0 while esp_daq_done Wai...

Страница 164: ...5 98 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 165: ...Section 5 Programming 5 99 Digital I O Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 166: ...rs on the controller card esp_get_portabc_dir reports present port configuration Port A DIO signals are externally pulled up via a 4 7K resister to 5 volts NOTE After system reset Ports A B and C are...

Страница 167: ...unction esp_set_portabc_dir to define Port A as either an input or output Port A DIO signals are externally pulled up via a 4 7K resister to 5 volts Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 PA7...

Страница 168: ...ut or output esp_get_dio_portb reports DIO port B status Port B DIO signals are externally pulled up via a 4 7K resister to 5 volts Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 PB7 PB6 PB5 PB4 PB3...

Страница 169: ...ther an input or output esp_get_dio_portc reports DIO port C status Port C DIO signals are externally pulled up via a 4 7K resister to 5 volts Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 PC7 PC6 P...

Страница 170: ...5 104 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 171: ...Section 5 Programming 5 105 System Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 172: ...he exact time of error posting NOTE ESP6000 uses a 10 word FIFO buffer to queue error messages Returns ESPOK ESPERROR Hint Check for errors after critical command sequences Usage Example include esp60...

Страница 173: ...estamp enables users to know the exact time of error posting NOTE ESP6000 uses a 10 word FIFO buffer to queue error messages Returns ESPOK ESPERROR Hint Check for errors after critical command sequenc...

Страница 174: ...character string containing DLL version number Library Location esp6000 dll Description esp_get_version reports the ESP60000 firmware and dynamic link library DLL version Returns ESPOK ESPERROR Hint...

Страница 175: ...hould be included in all your C source code 5 4 1 2 Examples There are several examples included in the install disk in the newport esp6000 vc directory If you are using Microsoft Foundation Classes M...

Страница 176: ...VI s parameter boxes are located in the same relative position on both the wiring diagram s and the front panel Each VI is configured to handle up to 3 variables input output If an axis number is a va...

Страница 177: ...ous API function call There are two 2 dedicated functions for checking errors The first is esp_get_error_string char Error long ErrorNum long ServoTick ErrorNum if non zero will contain the error numb...

Страница 178: ...5 112 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 179: ...control signals Driver an electronic device that converts the control signals to the correct format and power needed to drive the motors Stage an electro mechanical device that can move a load with t...

Страница 180: ...ur case dealing with fractions of microns 0 1 m and less even a standard laser interferometer becomes unsatisfactory For this reason all factory measurements are made using a number of high precision...

Страница 181: ...ommand the controller to move a certain distance When the motion is completed we measure the actual distance traveled with an external precision measuring device The difference the Error represents th...

Страница 182: ...or small motions the system in Figure 6 2 2 is definitely preferred Local Error is a relative term that depends on the application usually no Local Error value is given with the system specifications...

Страница 183: ...p a larger distance The error plot will be similar to Figure 6 2 5 Error motion increments 1 1 Position Motion steps Figure 6 2 5 Error Plot Once the Minimum Incremental Motion is defined the next tas...

Страница 184: ...imes It is a relative not absolute error between identical motions 6 2 8 Backlash Hysteresis For all practical purposes Hysteresis and Backlash have the same meaning for typical motion control systems...

Страница 185: ...position Trajectory ideal position ideal plot real plot Figure 6 2 8 Real vs Ideal Position 6 2 9 Pitch Roll and Yaw These are the most common angular error parameters for linear translation stages T...

Страница 186: ...straight direction on an imaginary Y trajectory we call it Yaw Screw Pitch Roll Pitch Yaw Figure 6 2 10 Pitch Yaw and Roll 6 2 10 Wobble This parameter applies only to rotary stages It represents the...

Страница 187: ...w ing error during acceleration 6 2 12 Maximum Velocity The Maximum Velocity that could be used in a motion control system is determined by both stage and driver Usually it represents a lower value th...

Страница 188: ...e desired trajectory precisely The only problem is the ripple caused by the actual stepping process The best a DC motor controller can do is to approach the stepper motor s performance in average Velo...

Страница 189: ...nding of the motion control system perfor mance and helps pinpoint problems Also due to the integrated nature of the ESP6000 system many basic errors can be significantly corrected by another componen...

Страница 190: ...ntroller Servo Controller Driver Motor Encoder Kp Figure 6 3 2 P Loop Every servo cycle the actual position as reported by the encoder is compared to the desired position generated by the trajectory g...

Страница 191: ...mportant feature for some applications Unfortunately the integral term also has a negative side a severe de stabilizing effect on the servo loop In the real world a simple PI loop is usually undesirab...

Страница 192: ...d of time The obvious conclusion is that we could take this velocity information scale it by a Kvff factor and feed it to the motor driver If the scaling is done properly the right amount of voltage i...

Страница 193: ...ent job leaving very little for the PID loop to do 6 4 Motion Profiles When talking about motion commands we refer to certain strings sent to a motion controller that will initiate a certain action us...

Страница 194: ...red and the motion continues as initially defined 6 4 2 Jog When setting up an application it is often necessary to move stages manu ally while observing motion The easy way to do this without resorti...

Страница 195: ...mine an absolute position the controller must find a switch that is unique to the entire travel called a home switch or origin switch An important prerequisite is that this switch must be located with...

Страница 196: ...igure 6 4 5 High Low Speed Origin Switch Search Motion segment B is performed at high speed with the pre programmed home search speed When the origin switch transition is encountered the stage stops w...

Страница 197: ...oders have analog outputs sine cosine signals but the digital type are more widely used Both channels have a 50 duty cycle and are out of phase by 90 Using both phases and an appropriate decoder a mot...

Страница 198: ...spaced transparent and opaque lines detector light source mask Figure 6 5 3 Optical Encoder Read Head If there is movement by either the scale or read head light will be blocked by any overlay or pass...

Страница 199: ...tions than a few mi crons To get higher resolutions in linear scales a special circuitry must be added called a scale interpolator Other technologies like interferometry or holography can be used but...

Страница 200: ...ics of a stepper motor Figure 6 6 1 Stepper Motor Operation When the winding is energized the magnetic flux will turn the rotor until the rotor and stator teeth line up This is true if the rotor core...

Страница 201: ...ycle of four steps To make a full rotor revolution we need a number of steps four times the number of rotor teeth These steps are called full steps They are the largest motion incre ment the stepper m...

Страница 202: ...sion is that varying the ratio between the currents of the two phases we can position the rotor anywhere between the two full step locations To do so we need to drive the motor with analog signals sim...

Страница 203: ...positioning error equivalent to one step a mini step To clarify what this means let s take a look at the torque produced by a stepper motor For simplicity consider the case of a single phase being en...

Страница 204: ...When mini and micro stepping motors are used in open loop applications there is inherent error but advanced controllers like the ESP6000 can control the stepper motors with closed loop operation to e...

Страница 205: ...f as soon as the pole gets there the current is switched to the next phase C the rotor will not stop but continue moving to the next target Repeating the current switch ing process will keep the motor...

Страница 206: ...looked when judging a motion control system They represent an important part of the loop that in many cases could increase or reduce the overall performance The ESP system is an integrated controller...

Страница 207: ...l torque generated is only a fraction of the nominal torque Figure 6 7 3 Phase ON nominal current Figure 6 7 3 Effect of a Short ON Time on Current How fast the current reaches its nominal value depen...

Страница 208: ...tage Amplifier The driver amplifies the standard 10V control signal to cover the motor s nominal voltage range while also supplying the motor s nominal current This type of driver is used mostly in lo...

Страница 209: ...is always the velocity feedback driver This type of driver requires a tachom eter an expensive and sometimes difficult to add device Figure 6 7 7 M T E V velocity control signal 10V Figure 6 7 7 DC Mo...

Страница 210: ...to set the ratio between the control voltage and the velocity The compensation adjustment reduces the bandwidth of the amplifier to avoid oscillations of the closed loop The UniDrive can be configured...

Страница 211: ...ntation and performance requirements all affect how the servo loop should be tuned 7 2 Tuning Procedures Servo tuning is usually performed to achieve better motion performance such as reducing the fol...

Страница 212: ...the ESP tune exe Windows utility Refer to Section 4 for a detailed description of the utility and its operation 7 2 2 Correcting Axis Oscillation There are three parameters that can cause oscillation...

Страница 213: ...t stop This indicates Kp is larger than its optimal value and should be reduced At this point the PID loop is very tight Ultimately optimal values for Kp and Kd depend on the stiffness of the loop and...

Страница 214: ...ible 7 2 4 Points To Remember Use the Windows based ESP_tune exe utility to change PID param eters and to visualize the effect Compare the results and parameters used with the previous iteration The E...

Страница 215: ...er frequency error during long reach or stay at the and higher amplitude motions and at stop desired stop position Vff Reduces following Negative following Positive following error during error during...

Страница 216: ...7 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 217: ...ptional Equipment Description Part Order Number Terminal Block Board ESP6000 INTF BD Analog I O Cable 22895 01 Digital I O Cable 22897 01 Auxiliary Cable 22896 01 Driver Interface 100 100 pin Cable 22...

Страница 218: ...r connector J8 Leads for optional Customer specified Supplied with device power supply power supply J9 Leads for non motion Customer specified Customer provided signals J11A B J16A B Leads for stages...

Страница 219: ...minal block board and cables leads and device s 8 1 2 Analog I O Cable The analog I O cable is a 26 25 ribbon cable designed for use with the ESP6000 controller card The cable has an 8 channel analog...

Страница 220: ...re sub menu Digital I O tab to configure devices for use The cable is shown in Figure 8 1 3 connections are listed in Table 8 1 3 and connector pin outs are provided in Appendix C N97108A Figure 8 1 3...

Страница 221: ...tions are listed in Table 8 1 4 and connector pin outs are provided in Appendix C N97116 Figure 8 1 4 Auxiliary I O Cable Connections Table 8 1 4 Auxiliary I O Connections ESP6000 Controller Card To D...

Страница 222: ...7 0 1 PN 2 3 6 5 7 0 1 Figure 8 1 5 Driver Interface 100 100 pin Cable 8 1 6 Motor Driver 100 68 pin Cable The motor driver cable connects the ESP6000 controller card to the UIB The cable is shown in...

Страница 223: ...grounded anti static strap when handling equipment Shut down all stage operations Power down all equipment refer to the Controls and Indicators paragraph in System Setup and unplug AC power cord s Loo...

Страница 224: ...TO QUALIFIED SERVICE PERSONNEL WARNING FOR CONTINUED PROTECTION AGAINST FIRE RISK REPLACE ONLY WITH FUSE OF SPECIFIED RATING FUSE 4A SLO BLO 250V Figure 8 2 2 Driver Card Installation Push gently unt...

Страница 225: ...screw holes and into permanent nuts inside the enclosure Installation is shown in Figure 8 2 3 N97109 O P 0 W E R FA U LT P0 W ER O N S T A T U S N O D R IV E M O T O R O N M O T O R O F F F A U LT P...

Страница 226: ...8 1 0 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 227: ...ation functions After initialization and configuration the axes are sent to specific locations by setting the axis control parameters API functions are briefly described in the following paragraphs 9...

Страница 228: ...r change requests as pending until the axes are stopped 9 2 Data Acquisition Overview The ESP 6000 motion system combines high performance data acquisition capability with control functions on one car...

Страница 229: ...default The 16 bit resolution signal is then converted into digital form for processing by the Digital Signal Processor DSP The converter can read from one to eight samples channels one at a time dur...

Страница 230: ...the point in time the information is requested esp_daq_done Provides completion status for the number of samples requested 0 DAC armed ready but not triggered 1 finished 1 acquiring esp_get_daq_data R...

Страница 231: ...of 33 MHz when an initiator parked on the PCI bus is writing to a PCI target Hidden bus arbitration Arbitration for the PCI bus can take place while another bus master is in possession of the PCI bus...

Страница 232: ...9 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 233: ...nse is the same for the user whether operating the ESP util Windows setup software or for Visual C Visual Basic or LabVIEW The ESP 6000 error message FIFO buffer can store as many as 10 error messages...

Страница 234: ...mmand Does Not Exist ESP6000 Windows DLL attempted to DLL and firmware not compatible call a command which does not exist in ESP6000 firmware 7 Parameter Out Of Range Command parameter s not within Re...

Страница 235: ...SRVO not installed 2 Jumper JP14 not installed 3 Hardware failure y00 Axis y Motor Type Not Defined Axis motor type i e stepper or DC Axis motor type must be defined before any motion commands servo n...

Страница 236: ...ative and positive direction limits become active Connected controller simultaneously then it is assumed that the motor stage is not connected to the controller This is most typically caused by a disc...

Страница 237: ...ESP compatible stage and UniDrive Modification to critical ESP system settings e g motor type Protected critical settings are protected were not allowed y18 Axis y ESP Stage Device Error Communication...

Страница 238: ...A 6 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 239: ...nvolves removing an enclosure panel which can expose you to terminals having hazardous voltages in excess of 250 VAC at various locations CAUTION Verify proper alignment before inserting cables into c...

Страница 240: ...ement or stage service unconnected UniDrive Power LED green Excessive following error Verify that all setup parameters correspond to does not illuminate the installed stage Stage does not move Incorre...

Страница 241: ...eptacle by pushing in the fuseholder until the tabs snap in place N97107C AXIS CONTROLLER POWER SUPPLY 6 5 4 3 2 1 115V POWER ENTRY MODULE PANEL TABS TABS FUSEHOLDER FUSEHOLDER SIDEVIEW FUSES LINE VOL...

Страница 242: ...nplug AC power cord before replacing fuses CAUTION The UniDrive6000 rear power line panel and motor power supply board are sensitive to static electricity Wear a properly grounded anti static strap wh...

Страница 243: ...LTAGE SELECT GROUND POST MAX 4 AMP 90 120V OR 200 240V 50 60 HZ WARNING FOR CONTINUED PROTECTION AGAINST FIRE RISK REPLACE ONLY WITH FUSE OF SPECIFIED RATING FUSE 4A SLO BLO 250V MODEL No UNIDRIVE6000...

Страница 244: ...its card guides and out see Figure B 2 3 N97119B CONTROLLER INPUT MODEL No UNIDRIVE6000 SERIAL No IRVINE CA USA Figure B 2 3 Power Supply Board Removal Artisan Technology Group Quality Instrumentation...

Страница 245: ...fuse Schurter part number 70353 Re install the power supply board Re install the rear power line board guiding the white plastic plunger back into the power switch cut out at the front of the UniDriv...

Страница 246: ...B 8 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 247: ...ith the Universal Interface Box via a 100 to 68 pin cable The connector functions are defined in the following paragraphs Cabling for the connectors is de scribed in Section 8 Optional Equipment and c...

Страница 248: ...P5 JP4 N97104 Figure C 1 3 JP2 JP4 JP5 Connector Orientation C 1 1 Main I O 100 Pin Connector This connector interfaces the ESP6000 controller card to the UniDrive6000 universal motor driver Connector...

Страница 249: ...67 Home Input Axis 4 18 Travel Limit Input Axis 4 68 Travel Limit Input Axis 4 19 Step Direction Output Axis 4 69 Step Output Axis 4 20 Index Input Axis 4 70 Index Input Axis 4 21 Encoder B Input Axi...

Страница 250: ...250mA maximum 100 Cable Interlock Return 5V 250 mA maximum 5V supply available from the PC 12V 250 mA maximum 12V supply available from the PC 12V 250 mA maximum 12V supply available from PC Amplifier...

Страница 251: ...le location Index Input The Index input is pulled up to 5 volts and pulled down to ground with 1KW resistors This facilitates both single and double ended signal handling into a 26LS32 differential re...

Страница 252: ...motor will increment one step for each pulse output Step Direction Output The Step Direction Output is an open collector i e 7407 output pulled up to 5 volts with a 1K resistor This output is used to...

Страница 253: ...79 Encoder A Input Axis 3 25 77 Index Input Axis 3 26 74 Home Input Axis 3 27 03 05V 250 mA maximum 28 75 Travel Limit Input Axis 3 29 46 Digital Ground 30 25 Travel Limit Input Axis 3 33 36 Amplifie...

Страница 254: ...upply available from the PC Amplifier Enable Output Axis 1 2 3 4 Open drain output with 1K pull up resistor to 5 volts This output is asserted active True when the axis is in the motor ON state and Fa...

Страница 255: ...in a reset state this output is a logical LOW When connected to the UniDrive6000 this output resets all driver channels Servo DAC Output Axis 1 2 3 4 The servo digital to analog converter DAC output...

Страница 256: ...round 14 15 Port C Bit 0 15 16 Ground 16 17 Port B Bit 7 17 18 Ground 18 19 Port B Bit 6 19 20 Ground 20 21 Port B Bit 5 21 22 Ground 22 23 Port B Bit 4 23 24 Ground 24 25 Port B Bit 3 25 26 Ground 26...

Страница 257: ...it blocks via software and is pulled up to 5 volts with a 1K resistor When configured as output each bit can source 64mA maximum When configured as input each bit can sink 32mA maximum Ground Ground r...

Страница 258: ...25 13 Axis 6 Encoder Input A 7 14 Axis 6 Encoder Input B 26 15 Reserved 8 16 Reserved 27 17 Reserved 9 18 Reserved 28 19 Digital Ground 10 20 Reserved 29 21 Port A Bit 0 11 22 Port A Bit 1 30 23 Port...

Страница 259: ...6 encoder channel B input Therefore this input can only be used if five 5 or fewer axes of motion are incorporated The single ended B input is pulled up to 5 volts with a 1K resistor The signal is buf...

Страница 260: ...l originates from external feedback circuitry and is used for position tracking Auxiliary Ch 8 Input B The B input is pulled up to 5 volts with a 1K resistor The signal is buffered with a 26LS32 diffe...

Страница 261: ...lisecond time period When this signal is asserted the controller will perform an Emergency Stop procedure as configured by the user When used with the Unidriver6000 motor driver this signal is coupled...

Страница 262: ...information Axis 5 6 Servo DAC Output The servo Digital to Analog converter DAC output is the 10 volt 18 bit resolution control signal used control DC servo motors These signals are made available on...

Страница 263: ...XXXX XXXXXX MODEL No UNIDRIVE6000 SERIAL No IRVINE CA USA Figure C 2 1 UniDrive Controller Input Connector Orientation C 2 2 Motor Driver Card 25 Pin I O Connector This connector interfaces a UniDrive...

Страница 264: ...Input Travel Limit Input 18 Travel Limit Input Travel Limit Input 19 Encoder Channel A Encoder Channel A 20 Encoder Channel B Encoder Channel B 21 Encoder Supply 5 12 Encoder Supply 5 5V Standard 12...

Страница 265: ...or Input This input can be connected to the positive lead of a tachometer The maximum input voltage range is 60V Tacho Generator Input This input can be connected to the positive lead of a tachometer...

Страница 266: ...d signal originates from the stage position feedback circuitry and is used for position tracking Encoder Ground Ground reference for encoder feedback Home Input This input is pulled up to 5 volts with...

Страница 267: ...here a motor driver other than a UniDrive6000 is going to be incorporated The various connector functions and signals are defined in the following paragraphs Connector orientations are shown in Figure...

Страница 268: ...um supply This supply is provided for stage home index travel limit and encoder feedback circuitry Limit_1 This input is pulled up to 5 volts with a 4 7K resistor by the controller and represents the...

Страница 269: ...nd is used for position tracking B_1 The B_1 input is pulled up to 5 volts with a 1K resistor The signal is buffered with a 26LS32 differential receiver The B_1 encoder encoded signal originates from...

Страница 270: ...signal is buffered with a 26LS32 differential receiver The A_1 encoder encoded signal originates from the stage position feedback circuitry and is used for position tracking B_1 _6 The B_1 input is p...

Страница 271: ...utput is used to control the commutation sequence of a stepper motor The motor will increment one step for each pulse output P_1 _6 The Step Direction Output is an open collector i e 7407 output pulle...

Страница 272: ...C 3 3 Optional Power Supply Connector This connector is used for to provide an external supply power for stage home limit and encoder circuits Connector pin outs are listed in Table C 3 4 and function...

Страница 273: ...rcuitry DGND Digital ground E_Stop Input The Emergency Stop E Stop input is pulled up to 5 volts with a 1K resistor The incoming signal to this input must be a low going TTL compatible digital pulse w...

Страница 274: ...with a 1K resistor The signal is buffered with a 26LS32 differential receiver The RS_B encoder encoded signal originates from the stage position feedback circuitry and is used for position tracking C...

Страница 275: ...00000101 37 00100101 6 ack 00000110 38 00100110 7 bel 00000111 39 00100111 8 bs 00001000 40 00101000 9 tab 00001001 41 00101001 10 lf 00001010 42 00101010 11 vt 00001011 43 00101011 12 ff 00001100 44...

Страница 276: ...01010100 132 10000100 85 U 01010101 133 10000101 86 V 01010110 134 10000110 87 W 01010111 135 10000111 88 X 01011000 136 10001000 89 Y 01011001 137 10001001 90 Z 01011010 138 10001010 91 01011011 139...

Страница 277: ...1100011 180 10110100 228 11100100 181 10110101 229 11100101 182 10110110 230 11100110 183 10110111 231 11100111 184 10111000 232 11101000 185 10111001 233 11101001 186 10111010 234 11101010 187 101110...

Страница 278: ...D 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 279: ...oftware installations are performed in the same manner as first time installations Before installing new software however users need to uninstall existing software Procedures for uninstalling software...

Страница 280: ...E 2 Figure E 1 1 Add Remove Programs Properties Screen Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 281: ...REMOVE The Select Uninstall Method screen appears Figure E 1 2 Figure E 1 2 Select Uninstall Method Screen Select NEXT from the Select Uninstall Method screen The Perform Uninstall screen appears Fig...

Страница 282: ...2 Installing New Firmware New firmware installation may be required due to upgrading Refer to Appendix G Factory Service to contact Newport Corporation for ordering information To begin an installati...

Страница 283: ...le in the Firmware directory and select OPEN this file is supplied with initial delivery installation The ESP6000 Firmware Update screen appears see Figure E 1 7 Figure E 1 7 Firmware Update Screen Th...

Страница 284: ...P6000 Initialization Screen When the screen message indicates that the ESP6000 is initialized the system is ready for use again Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURC...

Страница 285: ...ge or stages are disconnected re connected or the system is powered down and then back up the ESP6000 controller card verifies the type of stage s present and re configures its own flash memory if nec...

Страница 286: ...F 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 287: ...ce html Contact Newport to obtain information about factory service Telephone contact number s are provided on the Service Form see next page Please have the following information available Equipment...

Страница 288: ...G 2 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 289: ...__________________________________________________________________________________________________________________________________ _____________________________________________________________________...

Страница 290: ...G 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com...

Страница 291: ...service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE IN...

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