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MM4006

8-Axis Motion Controller/Driver

Section 7
Servo Tuning

7.1

Servo Tuning Principles

The MM4006 controller uses a PID servo loop with feed forward. Servo
Tuning sets the Kp, Ki and Kd, and Feed-Forward parameters of the digital

PID algorithm, also called the PID filter.

Tuning PID parameters requires a reasonable amount of closed-loop
system understanding. Yo u s h o u l d f i r s t r e v i e w t h e C o n t r o l L o o p s
paragraph in the Motion Control Tutorial Section and, if needed, consult
additional servo control theory books.

Always start the tuning process using the default values supplied with the
MM4006 for each motion device type, or for the generic Default type. These
values are usually v e r y conservative, favoring safe, oscillation -free
operation for a tighter, more responsive system that minimizes following
error. To achieve the best dynamic performance possible, the system must
be tuned for your specific application. Load, acceleration, stage orientation
and performance requirements all affect how the servo loop should be
tuned for best results.

7.1.1 H a r d w a r e Requirements

Tuning is best accomplished when the system response can be measured.
This can be done with external monitoring devices but this can introduce
errors.

The MM4006 controller avoids this problem by offering a Trace capability.
When Trace mode is activated, the controller can record real and desired
positions simultaneously. These are the basic pieces of information that
the controller uses to calculate the PID filter. The sample interval can be as
fast as the servo update cycle (0.0005 sec) and the total number of samples
can be up to 4000 points.

With these powerful capabilities, there is no need for additional hardware
to perform servo tuning.

7.1.2 S o f t w a r e Requirements

The

MM4006 controller offers two types of trace capabilities. One is a sin-

gle axis Trace mode supported b y the SP, XS, TM, XN and TT commands
and the other is a Global Trace mode in which

all

axes are sampled. This is

controlled by the SQ, XQ, GQ, NQ and TQ commands. The two modes are
completely independent.

Performance data for tuning can be acquired in two ways: you could write
custom software using the commands mentioned o r use the NMCServo
NEWPORT software that has all the necessary functions, including plotting
performance and saving the results.

For a detailed description of the NMCServo software and its operation
please review NMC Softwares User's Manual.

C%)

N e w p o r t .

7

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Содержание MM4006

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: ...8 Axis High Performance M o t i o n Controller Driver Version 7 01 Firmware 0 0 N e w p o r t Motion Controller M e d deddled USER S MANUAL...

Страница 3: ...ed products are warranted for the balance of the original warranty period or at least 90 days Limitation of Warranty This warranty does not apply to defects resulting from modification or mis use of a...

Страница 4: ...u i c k Start 2 3 2 1 1 Motor On 2 3 2 1 2 Home Motion Devices 2 4 2 1 3 First Jog 2 4 2 1 4 First Move 2 5 2 2 Controller Configuration 2 7 2 2 1 General Setup 2 7 2 2 2 Axis Setup 2 17 2 3 Operatin...

Страница 5: ...e 3 21 Section 4 Motion Control Tutorial Table of Contents 4 1 4 1 Motion Systems 4 3 4 2 Specification Definitions 4 4 4 2 1 Following Error 4 4 4 2 2 Error 4 5 4 2 3 Accuracy 4 5 4 2 4 Local Accurac...

Страница 6: ...7 3 7 1 1 Hardware Requirements 7 3 7 1 2 Software Requirements 7 3 7 2 Tuning Procedures 7 4 7 2 1 Axis Oscillation 7 4 7 2 2 Increasing Performance 7 5 7 2 3 Points to Remember 7 6 Section 8 Append...

Страница 7: ...tuators8 3 8 Drives8 3 8 H F a c t o r y Service8 3 9 Service Form8 4 0 s WR 4 4 3 Coif M A I O S t c res l FAVVWW 7044 Ve 4e S VeWt 744 4V tecuilesztve c wolivvvesrts 1 0 4 9 j i l t N s 09 47 v v d...

Страница 8: ...iance was demonstrated to the following specifications EMISSION Radiated and Conducted Emission in accordance with relative prescription to the EMC NF EN61326 1 Standards for measurement lab and contr...

Страница 9: ...F D110181En1020 03 03 b J e w p o r t...

Страница 10: ...Section 1 Introduction 4 4 G G 4 4 4 4 M u d Com 4k 4 66i1W406 i i r i A 0 8 y 0 9 0 0 i 0 0 40 0 4 cv Newport...

Страница 11: ...MM4006 8 Axis Motion Controller Driver evvport...

Страница 12: ...1 3 General Description 1 7 1 3 1 Features 1 9 1 3 2 Specifications 1 9 Function 1 9 Number of motion axes 1 9 Trajectory type 1 9 Motion device compatibility 1 9 CPU type 1 9 DC motor control 1 9 Ste...

Страница 13: ...6 Motor ON OFF1 1 6 End of Run Status1 1 7 Access to Communication Dip Switches 1 1 7 1 3 6 Equipped Front Panel 1 1 7 Power Stand by1 1 7 Motor ON OFF1 1 8 Numeric Keypad1 1 8 Function Keys Display 1...

Страница 14: ...r liquids are spilled on it I f the unit has been dropped or the case is damaged I f you suspect service or repair is required Whenever you clean the case To protect the equipment from damage and avoi...

Страница 15: ...d to earth ground CAUTION This product operates with voltages that can be lethal Pushing objects of any kind into cabinet slots or holes or spilling any liquid on the product may touch hazardous volta...

Страница 16: ...dition which is consid ered important to remember Menu Level sample Indicates the menu level from which to start a cer tain Quick front panel sequence ST A TUS F u n c t i o n Key sample Represents on...

Страница 17: ...ility the reference point on the travel Index pulse Pulse generated by the encoder and used in combination with the mechani cal zero during the home search Jog Undetermined length motion initiated man...

Страница 18: ...the user friendliness and raises the overall motion system performance Using other motion devices is possible but not recommended for optimal system performance Fig 1 1 shows a minimal system configu...

Страница 19: ...ion Synchronization remote safety motor off switches and be part of a larger multi axis sys tem controlled by a remote computer To other Motion Controller Remote Motor OFF Digital Analog I O s Fig 1 3...

Страница 20: ...d front panel with bright fluorescent backlit display numer ic jog keypad context sensitive function keys full motion selection and control capability and motion program creation and editing capabilit...

Страница 21: ...commands from the front panel Remote mode execution of commands received over one of the comput er interfaces Program execution mode execution of a stored program initiated either remotely or from the...

Страница 22: ...ormed when the motors are turned off and a general controller setup should not be done when the motors are on DISPLAY switches the display and front panel controls for the next or pre vious 4 axis STA...

Страница 23: ...h between them The controller will refuse to execute motion commands when the motors are turned off and will set the appropriate error flag Another difference between LOCAL and REMOTE is that the SETU...

Страница 24: ...e top menu level restrict the use of remote commands to those that read information or stop motion D o not send REMOTE commands when in LOCAL PROGRAMING or SETUP modes D o not send REMOTE commands whe...

Страница 25: ...cards Each motor driver card has a 25 pin D Sub connector mounted on a small panel visible from the rear of the controller for attaching the motion device Uninstalled axes have a blank panel with no...

Страница 26: ...e hardware handshake if needed IEEE 488 Connector This is a standard 24 pin IEEE 488 connector see Section 8 Appendix B RS 485 Connectors Two identical RS 485 connectors are available Both are connect...

Страница 27: ...low power low voltage 12 V auxiliary power supply is always on when the main power switch in the back is ON To differentiate from the rear main power switch this button is called STAND BY M U The pow...

Страница 28: ...e d Front Panel A general view of the equipped front panel is shown in figure below There are three distinct areas from left to right power controls a display and function keys and a keypad Stand by...

Страница 29: ...rge display and four function keys The display is a six line back lit LCD which shows both menu and status information Below the display are four function keys Their context sensitive functions are al...

Страница 30: ...a key will perform the select ed command or will change the display to a new menu level This capability to navigate between a number of menu levels to get to the desired com mand is the basis of the...

Страница 31: ...of this indicator does not affect the normal operation of the motion device For a complete description of the home search algorithm see Section 4 Motion Control Tutorial Indicates that the positive di...

Страница 32: ...of the Local Mode chapter SETUP I s described in detail in Section 2 2 Controller Configuration A brief intro ductory description is provided here The top level setup menu after pressing SETUP offers...

Страница 33: ...D O W N M O T O RO F F MODIFY QUIT S E T U P M A S T E R QUIT AXES HMELowSpeed H O M EHighSpeed ManualSpeed MiimumSpeed MmmumSpeed calingSpeed E noderResolution Mtor Increment Periodicity erredLoop Mo...

Страница 34: ...tion which allows the user to manually jog each axis using the numeric keypad MOVE I s a motion function which activates a lower level menu that offers position zeroing manual jog and go to position f...

Страница 35: ...ID OUIT M O V E Q U I T MOVE N E X T aun M O V E D E L E T E C H A N G E I P R O G D E L E T E LINE INPUT LINE W E N D E X E C C R E A T E MODIF Q U I T D E L E T E D O W N HRST INSERT U P IDELETE M O...

Страница 36: ...urface Check visually for any sign of damage and if found report immediately to the carrier NOTE The front two legs of the chassis have a tab that if rotated 90 forward place the controller in a sligh...

Страница 37: ...Plug the AC line cord in the power entry module on the rear panel Plug the AC line cord in the AC outlet NOTE At this point no lights should appear on the front panel Turn the main power switch on the...

Страница 38: ...uence 4 3 3 3 Press function key 2 u n t i l the desired language appears 4 Press function key 4 t h r e e times to return to the top level menu 1 4 3 Ve r i f y i n g Default Devices Before powering...

Страница 39: ...creen 5 Use the U P o r DOWN k e y s scroll through the product families until you find the one you need 6 Press the VALID k e y to accept the product family currently on the dis play The next menu le...

Страница 40: ...a t a x e s have been m o d i f i e d Save cfah an e s pi E f f 1 R O M YES N O Fig 1 15 Save screen for axis modifications 13 Press the Y E S k e y to save the changes and return to the main setup me...

Страница 41: ...MM4006 Introduction FPI 111181Eli11120 0 1 03 1 3O tNevvport...

Страница 42: ...Section 2 Local Mode C Newport...

Страница 43: ...MM4006 8 Axis Motion Controller Driver C N e w p o r t...

Страница 44: ...n2 1 0 Axis HOME Sequence2 1 1 Stop Bits2 1 2 Word Length2 1 2 Parity2 1 3 XON XOFF Mode2 1 3 Baud Rate2 1 4 IEEE 488 or RS 485 Address2 1 4 IEEE 488 SRQ Used2 1 5 Communication2 1 5 Terminator2 1 6 C...

Страница 45: ...xes Relative Move2 3 7 2 3 5 Absolute Moves2 3 7 Single Axis Absolute Move2 3 8 Multiple Axes Absolute Move2 3 8 2 3 6 Program Execution2 3 8 2 3 7 Axis Infinite Movement2 4 0 2 4 Programing in Local...

Страница 46: ...M o t o r On After first turning the controller on as described in the previous section you are ready to turn the motors on Be sure that the motion devices are placed on a flat surface and that their...

Страница 47: ...is play will ask you to select an axis for the execution of a home search rou tine Use the keypad to enter a number and then press r If you want to perform a home search on all axes leave the default...

Страница 48: ...ls one axis as indicated by the label on the left To summarize if you want to jog fast axis number 2 or 6 in the positive direction press simultaneously the keys numbered M E and M I NOTE The DISPL ke...

Страница 49: ...s The dif ference from the absolute motion is that when the relative motion on all axes is finished the display returns to the same menu This means that you can repeat the relative motion again and ag...

Страница 50: ...O 1 SETUPMENU AXES I G E N Q U r i Fig 2 4 Typical main setup menu There are two types of setup functions Axis Setup and General Setup The following sections will describe both in detail 2 2 1 G e n e...

Страница 51: ...al contains detailed descriptions mostly with the first time reader in mind To help the more experienced user looking for a quick memory refresher each operation description is also accompanied by a q...

Страница 52: ...re is a great help in troubleshooting complex programs To change speed scaling from the General Setup menu press the DOWN key until the speed scaling parameter is selected in the display To change the...

Страница 53: ...e number of time to execute this program enter a value with the numeric keypad and then press the VALID keypad to confirm this entry The program number default is 0 MotorOFF GEJUP G E N r UP M O D I F...

Страница 54: ...To change the order of the home search from the General Setup menu press U P u n t i l the 1st Axis HOME appears on the display Press MODIFI and then enter the desired priority order number on the key...

Страница 55: ...G E SETUP G E N V ALID Q U t t l Q U I T UP MODIFY CMSxx Set serial communication Stop Bit number Word Length The word length refers to the word size to be used with the RS 232 C and RS 485 interfaces...

Страница 56: ...OFF C H A N G E SETUP G E N V ALID Q U I T Q U I T U P MODIFY CMPxx Set serial communication parity XON XOFF Mode XON XOFF mode synchronies work between the transmitter and the receiv er In this mode...

Страница 57: ...r a l MotorOFF C H A N G E SETUP G E N V ALID Q U I T Q U I T UP MODIFY CMBxx Set serial communication baud rate IEEE 488 or RS 485 Address The IEEE 488 standard requires each connected instrument de...

Страница 58: ...E communication SRQ mode Communication This setting selects the communication port to be used with a host comput er The MM4006 controller can use one of RS 232 C RS 485 or IEEE 488 inter faces but onl...

Страница 59: ...Txx Set communication terminator Communication Time out This parameter represents the time duration the controller will wait when expecting an input It is a general communication parameter that applie...

Страница 60: ...y changes to one similar to Fig 2 6 P a r a m e t e r s f o r a x i s 1 C o m p o n e n t D E F A U L T P P Fig 2 6 Axis setup menu This menu is the top level Axis Setup menu labeled i n the quick key...

Страница 61: ...duct family displayed is DEFAULT This is to allows the user to define the parameters of a custom device or one that is not manufactured by Newport Once a family is selected the controller prompts you...

Страница 62: ...ou can use the UP o r bOWN keys For consistency in the following descriptions we will use only the U P k e y Units Units is the first axis parameter displayed It represents the displacement units the...

Страница 63: ...procedure from the beginning of the section pressing the U P k e y will bring you back to the first para meter that was discussed Exit the Axes Setup by pressing the QUIT k e y AxisSetup QUIT MODIFY...

Страница 64: ...o the previous menu Press the U P k e y to advance to the next parameter AxisSetup M O QUIT Q U I T Y E S UP QUIT MODIFY VALID to aftam KS Read proportional gain factor Kd This parameter is the deriva...

Страница 65: ...parameter AxisSetup MODIFY UP alUIT QUIT Y E S Q U I T MODIFY r VA L I D K1 Set integral gain Kp This parameter is the proportional gain factor of the digital PID filter The valid range is between 0 a...

Страница 66: ...d then press VALID t o accept the setting and return to the previous menu Press the U P k e y to advance to the next parameter AxisSetup M O D I F Y Q U I TQ U I T YES Q U I T WOW V A L I D SH Set hom...

Страница 67: ...V A L I D aW6 A n o SL Set left travel limit Acceleration This parameter defines the maximum acceleration deceleration value to be allowed in all programed or commanded point to point motions No remo...

Страница 68: ...tup usonesav MODIFY MODIFY V A L I D QUIT Q U I T Y E S Q U I T OL Set home search low velocity HOME High Speed This parameter sets the value of the home search high velocity portion it is recommended...

Страница 69: ...S K S S I M U itataififf AxisSetup MODIFY U P M O D I F Y QUIT Q U I T Y E S QUIT ais m aNis V ALID MH Set manual velocity Minimum Speed Stepper Motors Only This is the start stop velocity for steppin...

Страница 70: ...T 11101 M e l O i l S i g WO V ALID VA Set velocity Scaling Speed Scaling speed is a hardware calibration parameter and is not intended to be used by the operator It represents the approximate velocit...

Страница 71: ...ID AW Set axis scaling acceleration Encoder Resolution This parameter defines the physical travel of the motion device that corre sponds to one encoder count It represent the resolution of the system...

Страница 72: ...Increment parameter should reflect the actual stage driver com bination A wrong setting will cause inaccurate closed loop operation For the PP families the Motor and the Encoder Increment resolution...

Страница 73: ...h DC and stepper motors in closed loop or open loop configurations This is an important feature especially for the stepper motors As described in the tutorial sec tion when operating a stepper motor i...

Страница 74: ...vices offered with the MM4006 have an origin home switch and they can all perform a home search cycle In cases where the controller is used with a device that does not have a home switch the controlle...

Страница 75: ...tion and motion related commands from the front panel The following paragraphs describe this in detail From the top level MotorOFF menu the power on default menu press the MOTOR ON button The display...

Страница 76: ...search Use the keypad to indicate an axis num ber If you enter or accept the default number 0 the controller will execute the home search routine sequentially on all installed axes in the order speci...

Страница 77: ...a number of status indicators in front of each axis identifier and a general axis condition message at the end of each axis line Fig 2 9 3 4 Use k e y p a d f or MANUAL j o g ZERO S T A T U S Q U I T...

Страница 78: ...er you want to select or leave the 0 default to zero all active axes Press the y l i b p k e y to execute the com mand MOT ORON MANUAL Z E R O VALID Q U ZP Zero position 2 3 4 R e l a t i v e Moves A...

Страница 79: ...menu The two active function keys are A L L a n d QUIT The QUIT k e y will exit this mode and return to the top level motor on menu The ALL k e y will start a relative motion on all axes using the val...

Страница 80: ...tion value for the first active axis Fig 2 11 Fig 2 11 Absolute move menu If an axis is not to be moved you must enter the current position as the desired position and press the VALID k e y The contro...

Страница 81: ...y The controller enters the Program Mode and displays the fol lowing menu EXEC CREATE MODIFY 0 0 For now we are interested only in the EXEC a n d VIEDIT keys QUIT w i l l return the display to the top...

Страница 82: ...press ing the QUIT k e y To start the program sequence press the EXEC k e y The display informs you on line number 5 that a program is executing and no function keys are available NOTE The only way to...

Страница 83: ...s 1 or 5 in negative direction K e y MEN Stop the infinite displacement of axis 1 or 5 K e y I n f i n i t e displacement of axis 1 or 5 in positive direction K e y M I Infinite displacement of axis 2...

Страница 84: ...atile memory as is a program created locally Any program in memory can be read and edited both locally and remotely For this reason to create a program in local mode we need a way to enter alpha numer...

Страница 85: ...N O t o return to the Program mode and start over again Once a valid program number is accepted the controller enters the Program Creation mode As mentioned earlier the commands are grouped in catego...

Страница 86: ...ll axis Pressing vAu will cause the screen to display the usual position infor mation for all four axes The symbol appears for the first axis and the user can enter the desired destination for it Pres...

Страница 87: ...line and return to the Line Entry menu Command generated OR Search for home Introduce a delay in the program execution This command when added to a program causes the controller to wait for a specifi...

Страница 88: ...8 to select a bit or enter 0 to set all bits and then press rifAllrJD t o accept the selection Next press the k e y to specify the operation to be per formed on the bit set high set low or toggle Pre...

Страница 89: ...and lines that will be part of the while loop Enter command lines as described in the previous paragraph When a line is terminated the display returns to the WHILE Loop menu To enter a new line press...

Страница 90: ...E X T This menu level is the Program Editing menu The NEXT k e y advances to the next line of the menu When at the last menu line pressing it will display again the first line of the menu The six edi...

Страница 91: ...will ask if you want to save the changes Press the YES k e y to accept the modifications and return to the Program menu Operating in Blind Front Panel 2 5 1 D i p Switches to Configure the Communicati...

Страница 92: ...E n a b l e XON XOFF Mode ON O N T e r m i n a t o r LF ON O F F OFF O N OFF OFF ON O N O N OFF O N O N ON O F F O N 2 4 0 0 baud OFF OFF O N 4 8 0 0 baud ON O N O F F OFF O N O F F ON O F F OFF OFF...

Страница 93: ...s s 13 ON O F F O F F OFF O N A d d r e s s 14 OFF O F F O F F OFF O N A d d r e s s 15 ON O N O N O N O F F A d d r e s s 16 OFF O N O N O N O F F A d d r e s s 17 ON O F F O N O N O F F A d d r e s...

Страница 94: ...5 Communication A d d r e s s must be Zero ON D i s a b l e XON XOFF Mode OFF ON O N ON O F F OFF O N OFF OFF ON O N O N OFF O N O N Enable XON XOFF Mode Terminator LF Terminator CR LF Terminator LF C...

Страница 95: ...O F F A d d r e s s 16 OFF O N O N O N O F F A d d r e s s 17 ON O F F O N O N O F F A d d r e s s 18 OFF O F F O N O N O F F A d d r e s s 19 ON O N O F F O N O F F OFF O N O F F O N O F F ON O F F...

Страница 96: ...Section 3 Remote Mode C klevvport...

Страница 97: ...Newport...

Страница 98: ...ication3 9 Connecting the controller to a PC3 9 Configuring controller communication3 9 PC communication configuration3 1 0 Sending an instruction3 1 1 3 3 3 Axis Motion Control3 1 2 Axis configuratio...

Страница 99: ...sequencing3 2 0 Variable manipulation 3 2 0 Display functions3 2 0 Status functions3 2 0 Commands to define a trajectory3 2 0 Commands to execute a trajectory3 2 0 Commands to help geometric definiti...

Страница 100: ...the front panel NOTE For more details on setting up communication parameters see the Controller Configuration paragraph of the Local Mode chapter 3 1 1 R S 232 C Interface Hardware configuration The...

Страница 101: ...the proper address This identifies the unit to the other devices connected to the system To change the address or the SRQ usage follow the instructions in the Controller Configuration section of the...

Страница 102: ...80486 or later processor 1 6 MB of available memory A CD ROM drive A hard disk A 95 98 or NT Windowslm environment This software only accepts the following interfaces R S 232 C COM I or COM2 standard...

Страница 103: ...mechanical axes controlled by the Newport MM4006 Controller It automatically controls the MM4006 reads and calculates all important dynamic motion parameters Results are plotted on graphs correspondin...

Страница 104: ...te 32 is supplied on an installation CD ROM 1 For installation of softwares execute SETUP EXE from the directory ENGLISH DISK 1 of CD ROM 2 Follow the set up procedure stepwise e Motion Suite 32 P m T...

Страница 105: ...ider W C I WM to e a r flown I Wee EVIng nloden 4 1 1 a e k 5 After the file set up the MOTION Suite 32 files will appear as icons N a n MotionSuite32 I Ed O w a k t d Fors 2 Motion Suite 32 beta D o...

Страница 106: ...he general parameters with the help of U P o r DOWN keys T o change a parameter select the t t menu T o change the value of the parameter select the CHANGE key T o save the new value select the M f g...

Страница 107: ...Configuration menu to set the PC communication parameters They should be the same as for the controller Connection RS232 Terminator L F P o r t 1 XON XOff N O Transmission speed 1 9 2 0 0 Coldioutati...

Страница 108: ...Version 2 02 Eichler Edition Vue Conligur ve FlpoIC0Ht 19200 TimeOut 1 000 LF Once the instruction is sent and if the link is established the controller acknowledges receipt and sends a message to the...

Страница 109: ...ble with the help of the U P o r D O W N keys T o select a particular model press the VALID key Validate the Pos Origin KP KI KI KS parameters with the help of the V ALID key Press QUIT Select the MOD...

Страница 110: ...0 41110 000000 4TP0 0000 210 11111 00 D O I IP0 9990 21110 000000 2TP0 0000 37110 0001 100 311010010141101000000 41P0 0000 1 1 1 1 0 0 1 0 TP0 0090 21110 000000 2TP0 0000 3100 000000 31 10 0000 41110...

Страница 111: ...NO10 SauvegarceAcp iitnonGiobaleTO MEI El SauvegardeAcquisitionGlobaleTOet Be F 1pout fade comi 57600 TimeOutiMO IF N U M 1 7 Select filed separator tabulation or space and decimal point indicator or...

Страница 112: ...9 0 999977 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Remote Mode J Progress of buffer reading is indicated lecturedubuffer PModedecomrnandeadistance...

Страница 113: ...ated with the command format Controller responses The MM4006 does not send any data out over the communication line unless asked to do so Even in the case of an error the controller does not send anyt...

Страница 114: ...lowing nn parameters Blank spaces Blank spaces are allowed and ignored in any position including inside a numerical value For the clarity of the program and memory saving considerations use blank spac...

Страница 115: ...phabetical order The tables also show the modes in which each command can be used The mode mnemonics used in the tables have the following meaning IMM I M M e d i a t e mode C o n t r o l l e r is idl...

Страница 116: ...xx V B n n Set velocity Set base velocity Stepper motor only Special motion parameters xx P B n n xx P E n n Set start position of generation of pulses of synchronization Set end position of generatio...

Страница 117: ...u xx A X xx A Y C A n n CR n n CX n n CY n n EL FA n n LX n n LY n n MX n n MY n n NT ET VS n n VV n n AT xx L T XA XE XT XU n n XV n n Commands to define a trajectory Define the IllaNi11111111 allowe...

Страница 118: ...n all axes with a fast deceleration and then turns motor power OFF It should be used only as an immediate command not in a program Returns N o n e Errors N o n e Rel Commands A P Abort program KC A b...

Страница 119: ...le memory After power on the controller will use the default value the maximum allowed acceleration NOTE Avoid changing the acceleration during the acceleration or deceleration periods For more predic...

Страница 120: ...ry only when an a line segment element of type MY MY followed by any other kind of elements NOTE Before changing this value it is important to check if it is reasonable to change it It is very complex...

Страница 121: ...V tension input range I f nn 3 0 to 5 V tension input range Returns I f the sign takes place of nn parameter and xx is missing the controller returns the actual analog input mode Errors C Parameters...

Страница 122: ...hed 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 com mands It could for instance terminate a program on t...

Страница 123: ...If nn 1 this command generates one pulse at output on pin 12 if xx 0 or pin 11 if xx 1 to 8 of the 25 pin auxiliary connector at the moment of command execution NOTE xx 0 I f the global acquisition m...

Страница 124: ...command erases all string variable from 1 to 8 If the sign takes place of aa and xx is different of zero this command reports actual xx string buffer content A Unknown message code C Parameter out of...

Страница 125: ...he element number of the tra jectory that is currently being executed Returns A T n n nn Element number Errors S Communication time out Rel Commands XT Te l l number of elements in the trajectory LT E...

Страница 126: ...ption T h i s command sets the maximum acceleration value for an axis see Acceleration in the Section Local Mode of this user s manual This is the maximum value that the AC command can not exceed Retu...

Страница 127: ...imum value that the AU command can not exceed otherwise an error is returned This command is effective only when the torque control has already been set by choosing a torque motor stage SF command or...

Страница 128: ...l axis will be the X geo metric axis for the next trajectory that will be loaded ET command will ver ify the correct assignation in execution If AX takes place of the xxAX this command reports the act...

Страница 129: ...geo metric axis for the next trajectory that will be loaded ET command will ver ify the correct assignation in execution Returns I f AY takes place of the xxAY this command reports the actual number...

Страница 130: ...on 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 Returns Errors...

Страница 131: ...ing Sweep angle 0 then it is used as Counter Clock Wise Sweep angle 0 then it is used as Clock Wise Returns N o n e Errors C H V A Parameter out of limits Calculation overflow Too long trajectory T y...

Страница 132: ...is 10001100 which means that I O output bits num ber 3 4 and 8 will be cleared remember that I O bits are numbered from 1 to 8 If xx is missing or set to 0 and nn is not specified the controller clea...

Страница 133: ...placement I f nn 0 S t a r t nn end 0 if positive displacement Start 0 end nn if negative displacement This command has effect not only on infinite movements MV MV but also on other types of displacem...

Страница 134: ...00 xx different or missing 9600 P Parity xx 1 O d d parity xx 2 E v e n parity xx x 1 2 or missing N O parity L Data length xx 7 xx 7 or missing 8 S Stop bit number xx 2 xx X 2 or missing 1 O Communic...

Страница 135: ...erase the old version of the program with XX command Otherwise the new ver sion of the program will be appended to the old one A program can be executed without being first compiled with CP This com...

Страница 136: ...me radius r 0 arcs we have specified the radius by this command every time before the CA command Returns N o n e Errors C V A e Parameter out of limits Too long trajectory Trajectory Arc r 0 radius is...

Страница 137: ...is a variable Ypp or Snn is concatenated in the end of the xx string Returns I f the sign takes place of aa and xx is different of zero this command reports actual string stocked in the xx numbered st...

Страница 138: ...t to zero at the moment of motors on button MOTOR p r e s s e d or MO command executed but it can be modified later by the CT command at any time The controller time evolves only if the controller sta...

Страница 139: ...ement of trajectory of the type arc of circle f CX CY Returns N o n e Errors Rel Commands C V e CY XE EL Example N T CX10 CY10 XE XE Arc x y 10 10 90 Parameter out of limits Too long trajectory Trajec...

Страница 140: ...rns N o n e Errors C Parameter out of limits H Calculation overflow V T o o long trajectory Type error arc expected Trajectory Arc r 0 radius is too small A Trajectory Arc r 0 radius is too big Arc x...

Страница 141: ...ultaneously and returns all four values If the command is used inside a program make sure a host computer is ready to receive and store the returned data Returns x x D F n n or xx1DFnn1 xx2DFnn2 xx8DF...

Страница 142: ...is means that the current position will be reset to the value preset by ZH or by the front panel SETUP utility If the home preset value is 0 this command is equiva lent to ZP Returns I f the sign take...

Страница 143: ...eration of the DL JL command pair is similar to commands in other computer languages that allow conditional jumps or GOTOs to prede fined labels in a program NOTE This command does not generate an err...

Страница 144: ...otion is in progress Returns x x D P n n or xx1DPnn1 xx2DPnn2 xx8DPnn8 x x XX1 x x 2 x x 8 A x i s number nn nni nn2 n n 8 D e s i r e d position in predefined units Errors A U n k n o w n message cod...

Страница 145: ...s text from field num ber 1 Writing to field number 2 xx 2 erases the previous text from field number 2 If xx 0 or default the controller erases the entire line 5 before writing its new text If some s...

Страница 146: ...dis played on Writing to field number 1 erases the previous text on the entire line Writing to field number 2 erases the previous text only from field number 2 This command is useful in monitoring the...

Страница 147: ...ed by error where represents the ASCII error code On line 6 the last function key will be defined as QUIT and the program will resume execution after pressing this key Setting nn to zero disables the...

Страница 148: ...Errors D Unauthorized execution S Communication time out b Trajectory is empty Rel Commands L T Extended list of the trajectory NT S t a r t definition of a new trajectory XE Te l l the last element...

Страница 149: ...number that is automatically executed on power on If xx is zero or missing no program is executed If nn is missing the xx numbered program is executed one time Returns I f the sign takes place of the...

Страница 150: ...mode use the QP com mand If a program already exists the new commands entered will be inserted to the line nn of program if nn is valid or added to the end of program if nn is missing So to replace a...

Страница 151: ...2PA10 2WS T h e program is now listed 3EP3 E d i t i o n of program 3 insert at line 3 DS WAIT E n t e r a line 1SB E n t e r a line WT5000 E n t e r a line 1CB E n t e r a line 3QP Q u i t Edition of...

Страница 152: ...ns N o n e Errors B Incorrect axis number D Unauthorized execution S Communication time out b Trajectory is empty Trajectory Units not translational or not identical Synchronization pulses generation...

Страница 153: ...ing program execution only commands that ask for information or that stop the motion are allowed Any of the following commands will terminate a program AB AP MF and ST The easiest way to stop program...

Страница 154: ...y on screen Wait for 3 seconds Quit the program 2 Program 3 Define string 3 Define value 101 Concatenate string 3 and value 101 Display on screen Wait for 3 seconds Quit the program 3 Program 4 Displa...

Страница 155: ...his value is necessary if you want to start a new trajectory with the start tangent angle other than 0 So this command is enabled only when the number of elements of trajectory is zero NOTE On NT comm...

Страница 156: ...s are numbered from 1 to 8 from left to right NOTE The command is valid only in Programing mode where the function keys are not used by the normal operation of the controller Returns N o n e Errors A...

Страница 157: ...normal operation of the controller Returns N o n e Errors A J Unknown message code Command authorized only in Programing mode Rel Commands F B L a b e l function key FD Display function keys WF W a i...

Страница 158: ...defined function keys not the ones used by the normal operation of the controller Returns N o n e Errors A Unknown message code J Command authorized only in Programing mode Rel Commands F B L a b e l...

Страница 159: ...position of a motion device The real position is the one reported by the position sensing device encoder scale etc and the theoretical posi tion is calculated by the controller each servo cycle If for...

Страница 160: ...d by master slave reduction ratio position error of the slave axis The position error of an axis is defined as the differ ence between the theoretical position and the real position of this axis If fo...

Страница 161: ...auxiliary connector The nn parameter represents the frequency of the output sig nal Setting nn to 0 disables the frequency generator The output has an open collector configuration and a frequency ran...

Страница 162: ...nterval is the one set by the SQ command To read the recorded trace data use the TQ command To disable the global trace mode set nn to 0 NOTE Since it starts executing immediately the best use of this...

Страница 163: ...axis will also have its speed and acceleration in the same ratio than the position Be careful that the ratio used for the slave axis doesn t cause overflow of this axis parameters speed acceleration e...

Страница 164: ...mand Real home means that the con troller will move the stage to find the home position floating means that the controller will assume the current position to be the new home Returns I f the sign take...

Страница 165: ...tion it controls If the selected bit xx has the specified state nn all following com mands on that line are executed If xx is set to 0 or missing the test is per formed on the entire I O input byte an...

Страница 166: ...efined label This is a flow control command that alters the normal sequential flow of a program It must be used in conjunction with a DL com mand which defines a label Returns N o n e Errors A U n k n...

Страница 167: ...ommand the controller will finish executing the command in progress abort execution of the remaining ones and return to the immedi ate mode Returns N o n e Errors N o n e Rel Commands A B A b o r t mo...

Страница 168: ...evice that has been selected to operate in closed loop including those driven by stepper motors The command can be sent at any time but it has no effect until the UF update filter is received See the...

Страница 169: ...ion device that has been selected to operate in closed loop including those driven by stepper motors The command can be sent at any time but it has no effect until the UF update filter is received See...

Страница 170: ...otion device that has been selected to operate in closed loop including those driven by stepper motors The command can be sent at any time but it has no effect until the UF update filter is received S...

Страница 171: ...luated in nn 0 to 1 times of the maximum pos sible level of output signal The command can be sent at any time but it has no effect until the UF update filter is received Returns I f the sign takes pla...

Страница 172: ...C or IEEE 488 During the transmis sion no other command should be sent to the controller To read a program from the non volatile memory first use the MP com mand to download its content in RAM Returns...

Страница 173: ...xxLTdd X XX Y yy A tt R r r B ss S ww f CR CA xxLTee X XX Y yy A tt R rr B ss S w w where as L i n e x 8 bb L i n e y 0 cc L i n e x y dd A r c x y ee A r c r 0 xx X end position of the element yy Y...

Страница 174: ...gment I LX tangent Returns N o n e Errors Rel Commands C H S V Y e LY XE Parameter out of limits Calculation overflow Communication time out T o o long trajectory Trajectory Line x y Line expected Tra...

Страница 175: ...t f LY tangent Returns N o n e Errors Rel Commands Example XE Line y 0 10 10 45 C H S V Y e LX XE Parameter out of limits Calculation overflow Communication time out Too long trajectory Trajectory Lin...

Страница 176: ...g the ST or AR commands Turning the motor power off from the front panel or using the MF com mand also exits the manual jog mode NOTE If the display was disabled by using the RD command it will be re...

Страница 177: ...the controller stops motion on the indicated axis with a fast deceleration and then turns motor power OFF If xx is missing the con troller stops motion on all axes The command can be also used to tur...

Страница 178: ...gh velocity value of an axis from front panel or joystick This is the high speed manual jog mode activated by simultaneously pressing the center key with a direction key The manual jog low speed is 1...

Страница 179: ...ailable To return to remote mode use MR command NOTE If the ML command is issued while a program or a motion is in progress the controller will first abort the program and stop all axes similarly to a...

Страница 180: ...the front panel MOTOR r i n button CAUTION If the motor power is turned off by the controller detecting a fault condi tion before turning the power back on make sure that the cause of the fault is co...

Страница 181: ...or execution or editing it is automatically copied to RAM When it is erased from RAM with XX command it can be restored from nonvolatile memory with this command Returns N o n e Errors I Unauthorized...

Страница 182: ...the power and motor power buttons remain active Not recommended for use in Programing mode NOTE If the MR command is issued while a program or a motion is in progress the controller will first abort...

Страница 183: ...pped T r i p p e d Mechanical zero signal L o w H i g h Not used D e f a u l t 7 N o t used Default The byte returned is in the form of an ASCII character Converting the ASCII code to binary will give...

Страница 184: ...during motion the MM4006 stops all motion and generates an error message and turns the motor s power off However with this command reaching the travel limit is the desired function so other motions w...

Страница 185: ...f so it will refuse the execution and set error code D NOTE If the axis was previously defined as a synchronized axis MV command do not generate a motion For synchronized axes use SE command to execut...

Страница 186: ...urns N o n e Errors C Parameter out of limits S Communication time out V T o o long trajectory Y T r a j e c t o r y Line x y Line expected Z T r a j e c t o r y Line x y Too big discontinuity e T r a...

Страница 187: ...ory of the type Line segment I MX MY Returns N o n e Errors C Parameter out of limits S C o m m u n i c a t i o n time out V T o o long trajectory Y Trajectory Line x y Line expected Z Trajectory Line...

Страница 188: ...y be inferior than 100 and the value of NB must be s the value of NE s the total element number this value of NB will be reexamined in NS and ET commands If the sign takes place of the an value this c...

Страница 189: ...ferior than 100 and the value of NB must be s the value of NE s the total element number this value of NE will be reexamined in NS and ET commands Returns I f the sign takes place of the nn value this...

Страница 190: ...command NOTE Because NI and NN are complement commands the last entered NI com mand value replaces all of NI or NN commands one entered previously Returns I f the sign takes place of the nn value this...

Страница 191: ...nd NOTE Because NI and NN are complement commands the last entered NN com mand value replaces all of NI or NN commands one entered previously Returns I f the sign takes place of the nn value this comm...

Страница 192: ...al unit is described below Unit m m p m I n m i n p i n D g G r R a d m R d p R d I n c MDR 6 3 7 4 1 6 6 6 3 1 0 To restore the default value of the actual unit use xxNP NOTE This command returns an...

Страница 193: ...Q1000 2PRO 2 3PR1 NQ NQ157 NQ NQ342 WS NQ NQ1000 Communication time out Set global trace mode Set global sample rate Read global trace data Set global trace sample period to 5 ms Enable trace mode for...

Страница 194: ...of the global trace mode defined previously by any GQ command NOTE This command if used must precede immediately ET command Returns N o n e Errors D Unauthorized execution Synchronization pulses gener...

Страница 195: ...d to get ready to load a new trajectory for execution NT sets the initial position X Y and first tangent angle to 0 0 Returns N o n e Errors D Unauthorized execution S Communication time out Rel Comma...

Страница 196: ...n g Error C Out of range Error C Description T h i s command sets the acceleration and deceleration portion of the veloci ty profile generator for home search All subsequent home search accelera tion...

Страница 197: ...If the selected output bit xx has the specified state nn all fol lowing commands on that line are executed If xx is set to 0 or missing the test is performed on the entire I O output byte and then nn...

Страница 198: ...f range Error C Description T h i s command sets the high velocity of the HOME search algorithm of the selected axis For a detailed description of the home search routine see the Home Search paragraph...

Страница 199: ...n g Error C Out of range Error C Description T h i s command sets the desired value for low absolute velocity used during home search For a detailed description of the home search routine see the hom...

Страница 200: ...ragraph of the Introduction section For a detailed description of the home search routine see the Home Search Motion Profile Section in the Motion Control Tutorial section NOTE There is a maximum allo...

Страница 201: ...he controller has detected a fault condition NOTE Even though the command is accepted while a motion is in progress care should be taken not to reverse direction of motion When this com mand is receiv...

Страница 202: ...tion of pulses of synchroniza tion for an axis The command can be sent at any time but it has no effect until the PS com mand is received Returns I f the sign takes place of the nn value this command...

Страница 203: ...ts end position of generation of pulses of synchronization for an axis The command can be sent at any time but it has no effect until the PS com mand is received Returns I f the sign takes place of th...

Страница 204: ...ro the generation of pulses of synchronization is disabled The command can be sent at any time but it has no effect until the PS com mand is received The minimum value of step the displacement of stag...

Страница 205: ...command except if the controller has detected a fault condition NOTE Even though the command is accepted while a motion is in progress care should be taken not to reverse direction of motion When this...

Страница 206: ...d can be reread by TT command I f pp 1 actual positions of all axis are stocked in the global trace buffer and can be reread by TQ command I f pp 2 actual positions are not stocked I f pp 3 this comma...

Страница 207: ...s 1P13 20 I S e t start position for axis 1 to 20 units 1PEO I S e t end position for axis 1 to 0 units 1P12 S e t step to 2 units 1PA 50 D i s p l a c e m e n t without generation of pulses 1PS I A l...

Страница 208: ...range Error C Description T h i s command calculates the necessary time for the displacement of axis xx of distance nn Returns T h e necessary time seconds for displacement of axis xx of distance nn E...

Страница 209: ...in SETUP mode it is valid only when motor power is turned off If the command is issued when the motor power is on the controller will ignore it and report error D NOTE Before saving make sure that the...

Страница 210: ...N o n e Errors I U n a u t h o r i z e d command in Programing mode Rel Commands E P E d i t i o n of program XX E r a s e program Example 3 X X C l e a r program413from memory 3EP I Activate program...

Страница 211: ...it is valid only when motor power is turned off If the command is issued when the motor power is on the controller will ignore it and report error D NOTE Before saving make sure that the new set of p...

Страница 212: ...f xx is missing or set to 0 the controller returns the values found in all four A D converters successively NOTE For the hardware definition of the analog input port please see Appendix B Connector Pi...

Страница 213: ...ting the I O byte To find the values of each bit the number must be converted to binary NOTE For the hardware definition of the I O port please see Appendix B Connector Pinouts GPIO Connector Returns...

Страница 214: ...ith WK command at the end of a program when the local mode is selected with the ML com mand or while the manual jog mode is active When the controller exits the manual jog mode the display returns to...

Страница 215: ...C S e t manual mode ML S e t local mode MR S e t remote mode RD Disable display refresh Example SP0 002 I S e t trace period to 2 ms 2TM2000 I S e t trace mode for axis 2 and 2000 data points 2PRO 1...

Страница 216: ...e number must be con verted to binary NOTE For the hardware definition of the I O port please see Appendix B Connector Pinouts GPIO Connector Returns xxROnn OROnn1 or ROnn2 xx I O output bit number nn...

Страница 217: ...me similar to a nn value of 1 NOTE Any command placed on a line after RP is ignored without issuing an error NOTE Be careful when using flow control commands specially nested ones Avoid mixing differe...

Страница 218: ...ng the interrupt the host computer interrupt service routine should perform an IEEE 488 serial poll or send the TS com mand and read the response If the interrupt was a result of the RQ com mand then...

Страница 219: ...is 10001100 which means that I O output bits number 3 4 and 8 will be set remember that I O bits are numbered from 1 to 8 If xx is missing or set to 0 and nn is not specified the controller sets all...

Страница 220: ...l operate in closed loop NOTE Because this is a setup instruction do not use it when motor power is on If sent during a motion or when motors are on the controller will refuse the execution and set er...

Страница 221: ...to the Speed Scaling parame ter in the General Setup menu Using the SD command will actually modify the Speed Scaling percentage value NOTE The motions affected are the ones initiated by PA and PR is...

Страница 222: ...ions generate a straight line in the defined coordinate system NOTE When the axes synchronization feature is no longer needed terminate it by using the SY command and returning the axes to the default...

Страница 223: ...device name device units parameters of the axis nn to the axis xx NOTE The SF command must be used carefully All axis parameters are replaced by the new specified stage parameters NOTE This command mu...

Страница 224: ...its cannot be set on the same side of the home position A more obvious restriction is that the negative limit cannot be greater than the positive limit If any of these restrictions is not met the cont...

Страница 225: ...home SR S e t right travel limit Example ISL 41 4 I S e t negative software travel limit of axis 1 to 41 4 units_ 1SL I Reading of the negative software travel limit of axis 1 1SL 41 4 I T h e control...

Страница 226: ...e Errors Rel Commands C P EP MP QP I Unauthorized command in Programing mode Compile program Edition of program Download EEPROM to RAM Quit program mode Example 3 X X C l e a r program 3 from memory...

Страница 227: ...ters will he recalculated to adapt for the new unit The standard names of units are following Translation grope mm pm In min pin and Inc Rotation grope Dg Gr Rad mRd pRd and Inc If the sign takes plac...

Страница 228: ...s number 1 2 5 6 and 7 will be cleared remember that I O bits are numbered from 1 to 8 NOTE Remember that having an open collector configuration a set bit means a conducting transistor Using a pull up...

Страница 229: ...y 0 0003 sec use the SP command to read the actual trace sample interval used The value returned with SP usually differs from the one preset in the SPnn command because it reflects the real clock used...

Страница 230: ...the servo cycle is not exactly 0 0003 sec use the SQ command to read the actual global trace sample interval used The value returned with SQ may differ slightly from the one preset with the SQnn comma...

Страница 231: ...limits cannot be set on the same side of the home position A more obvious restriction is that the negative limit cannot be greater than the positive limit If any of these restrictions is not met the c...

Страница 232: ...L S e t left travel limit Example 1SR41 4 I S e t positive software travel limit of axis 1 to 81 4 units 1SR I Reading of the positive software travel limit of axis 1 1SR41 4 I T h e controller return...

Страница 233: ...follow the theoretical position of its master axis If p 1 it follows the real position of its master NOTE If the CD command is used in conjunction with the SS command and GR command the slave axis cy...

Страница 234: ...y motion on that axis will be stopped A motion interrupted with this command will stop using the programed acceleration deceleration for each axis This is the preferred motion termi nation method NOTE...

Страница 235: ...s encoder loop mode encoder resolution value is set all together with motor resolution value SV command I f the motor is of type STEPPER the entered value must not be smaller than the actual motor res...

Страница 236: ...tion value with the same value I f the encoder really exists real encoder mode the entered value must not be bigger than the actual encoder resolution value I n all other cases the command is not exec...

Страница 237: ...dinate system This type of motion is also referred to as linear interpolation If the nn parameter is set to 0 the specified xx axis is defined as indepen dent non synchronized If nn is set to 1 the ax...

Страница 238: ...using TB or TE the error buffer is cleared This means that an error can be read only once with either command If TB is used only for translating an error code by supplying the aa parameter the existin...

Страница 239: ...rns T D a a a aaa Program error line Errors S Communication time out Rel Commands T B R e a d error message TE R e a d error code Example l E P I Program 1 50R I A n error generating line Q 1 3 I E n...

Страница 240: ...hat has occurred If more than one error has occurred since the last reading only the last one is reported and the rest are lost NOTE For a complete listing and description of all error codes see Appen...

Страница 241: ...ed but the digital filter has not been updated by sending an UF the command will still read the old values Returns x x T F xxKPnn1 xxKlnn2 xxKDnn3 xxFEnn4 xx nni nn2 nn3 nn4 Axis number Proportional g...

Страница 242: ...at I O output bits num ber 3 4 and 8 will be inverted remember that I O bits are numbered from 1 to 8 If xx is missing or set to 0 and nn is not specified the controller toggles all 8 bits This is equ...

Страница 243: ...primary use is while a motion is in progress The command is useful in determining the following error of a motion device by comparing the theoretical position to its real position Returns x x T H n n...

Страница 244: ...o read the recorded trace data use the Ti command To disable the trace mode issue the TM command with nn set to 0 NOTE Once the trace mode is enabled the controller will record data every time a PA or...

Страница 245: ...n of all axes If xx is a number between 1and 4 the controller returns the actual position of that axis Returns x x T P n n or XX ITPnni xx2TPnn2 xx8TPnn8 xx xx1 xx2 X X 8 A x i s number nn nni nn2 n n...

Страница 246: ...global trace buffer If nn 1 the controller returns the values of theoretical and real positions and in addition the values of analog inputs stored in the global trace buffer at the moment of theoretic...

Страница 247: ...R e a d global trace sample 9 9TQ 1T111 002 ITP1 001 27 111 034 27P1 033 3T115 002 37P5 001 47111 402 4TP1 401 I Controller returns global trace data for sample 9 9TQ I I R e a d global truce sample 9...

Страница 248: ...for Bit LOW B i t HIGH 0 1 2 3 4 5 6 Axis 5 motor state S t a t i o n a r y I n motion Axis 6 motor state S t a t i o n a r y I n motion Axis 7 motor state S t a t i o n a r y I n motion Axis 8 motor...

Страница 249: ...E S 5 A x i s is referenced to HOME Y E S N O 6 N o t used D e f a u l t 7 N o t used D e f a u l t Bit Function for c2 Meaning for Bit LOW B i t HIGH 0 1 4 Following error N O Y E S Axis is default...

Страница 250: ...I T THnni TPnn2 xx Sample number nn1 Theoretical position nn2 A c t u a l position NOTE If xx was set to 0 in the TT command all samples are returned starting with number 1 each one on a separate line...

Страница 251: ...bed in the following table The byte returned is in the form of an ASCII character Converting the ASCII code to binary gives the status bit values NOTE For a complete ASCII to binary conversion table s...

Страница 252: ...traffic on the communication otherwise you can use several commands TS MS to get the same information and simplifies the development of the user s software TX 1w1w2ala2b1b2c1c2did2 Controller s task s...

Страница 253: ...i t HIGH 0 Axis is referenced to HOME YES NO 1 Limit switch is activated NO YES 2 Limit switch is activated NO YES 3 Constant speed phase NO YES 4 Axis is synchronized NO YES 5 Not used Default 6 Not...

Страница 254: ...loaded simultaneously and without problems If the axis specifier xx is missing or set to 0 the controller updates the fil ters for all axes If xx is a number between 1 and 4 the controller updates on...

Страница 255: ...the bit specifier xx is missing or set to 0 the program will wait for all bits to be high NOTE The command can be placed on a line by itself or with other commands If placed on a line with other comm...

Страница 256: ...pecifier xx is missing or set to 0 the program will wait for all bits to be low NOTE The command can be placed on a line by itself or with other commands If placed on a line with other commands the ad...

Страница 257: ...NOTE Avoid changing the velocity during the acceleration or deceleration peri ods For better predictable results change velocity only when the axis is not moving or when it is moving with a constant s...

Страница 258: ...i s s i n g Error C Out of range Error C Description T h i s command sets the start stop velocity for stepping motors only The allowed start stop velocity must be less than or equal to the velocity s...

Страница 259: ...ontroller type and version enables us to help you fix the problem fast Use this command to deter mine the controller type and in particular the firmware version Returns V E MM4006 Controller Version x...

Страница 260: ...mits the vector acceleration to MTA if the parameter entered is greater than MTA It is then advised to read MTA just before this command with help of the command XU1 and to read assigned trajectory ac...

Страница 261: ...ge Error C Description T h i s command sets the maximum velocity value for an axis see the Maximum Speed in the Section Local Mode of this user s manual This is the maximum value that the VA command c...

Страница 262: ...just before this command with help of the command XV1 and to read assigned trajectory velocity after this command with help of the com mand VV or XV In fact MTV is defined as the minimum value of min...

Страница 263: ...command sets the scaling velocity value for an axis see the Scaling Speed in the Section Local Mode of this user s manual That is the maxi mum value that the VU command can not exceed Returns I f the...

Страница 264: ...hat the controller will wait nn milliseconds before exe cuting the next command NOTE Even though this command can be executed in immediate mode its real value is as a flow control instruction inside p...

Страница 265: ...e line NOTE All While loop commands WG WH WL and WY must be terminated with a WE command Returns N o n e Errors J Command authorized only in Programing mode Rel Commands W G While variable greater tha...

Страница 266: ...ion key is pressed the controller beeps shortly to acknowl edge the entry places the ASCII code of the key in the specified xx variable and continues program execution Key pressed Pt 2 3rd 4th M Left...

Страница 267: ...g WE are executed The loop is repeated until the test becomes false At that point program execution continues with the line immediately following the WE command Returns N o n e Errors A U n k n o w n...

Страница 268: ...ng the WE command If xx is set to 0 or missing the test is performed on the entire I O input byte and then nn could have a value from 0 to 255 representing the byte value to compare it with NOTE If th...

Страница 269: ...he value defined by WI is superior than the trajec tory total length or by error after trajectory stop the trajectory execution do not reach the desired length the command execution breaks and returns...

Страница 270: ...5 and the menus on line 6 offer two choices QUIT and EXEC If the function key corresponding to QUIT is pressed program execution is terminated If EXEC is pressed the program continues execution Retur...

Страница 271: ...ue all following commands up to the corresponding WE are executed The loop is repeated until the test becomes false At that point the program executed continues with the line immediately following the...

Страница 272: ...T command If the value defined by WN is superior than the total number of element of the trajectory or by error after trajectory stop the trajectory execution do not reach the desired element the comm...

Страница 273: ...owing commands only after axis xx reaches position nn NOTE Make sure that position nn is inside the travel of axis xx The controller cannot always detect if a value is outside the travel range of an a...

Страница 274: ...ler waits for all motion in progress to end If nn is specified different than 0 the controller waits an additional nn millisec onds after the motion is complete and then executes the next commands NOT...

Страница 275: ...ified amount of time This means that the controller will wait nn milliseconds before exe cuting the next command NOTE Even though this command can be executed in immediate mode its real value is as a...

Страница 276: ...executed The loop is repeated until the test becomes false At that point the program executed continues with the line immediately following the WE command Returns N o n e Errors Rel Commands A J L C...

Страница 277: ...retrieves from the controller the current maximum allowed discontinuity angle Returns X A n n nn Maximum discontinuity angle Errors S Communication time out Rel Commands A D Define the maximum allowe...

Страница 278: ...n of the element cc y end position of the element dd A n g l e of the tangent at the end position Errors S C o m m u n i c a t i o n time out Rel Commands X T T e l l number of elements in the traject...

Страница 279: ...ogram If nn is default the command deletes the last line of this program NOTE This command is useful for modifying an existing program without delete it None A C D F Unknown message code Parameter out...

Страница 280: ...r xx if the returned value is 0 the program does not exist NOTE The controller is saving programs in their original format thus using one byte per character Returns x x X M n n nn Returned value in by...

Страница 281: ...n i c a t i o n time out Rel Commands N o n e Example SP0 005 2TM1000 2PRO 2 XN XN157 XN XN342 2WS XN XN1000 Set trace sample period to 5 ms Enable trace mode for axis 2 and acquire 1000 samples Start...

Страница 282: ...ber of valid elements that have been loaded into the trajectory Returns X T n n nn Errors S Rel Commands Number of elements Communication time out AT Te l l the element number under execution LT Exten...

Страница 283: ...current trajectory acceleration if nn missing or 0 aa MTA if nn greater or equal 1 Errors S C o m m u n i c a t i o n time out Rel Commands V S D e f i n e the vector acceleration on trajectory traje...

Страница 284: ...h e current trajectory velocity if nn missing or 0 aa MTV if nn greater or equal 1 Errors S C o m m u n i c a t i o n time out Rel Commands V V D e f i n e the vector velocity on trajectory trajectory...

Страница 285: ...s stored in non volatile memory into RAM If a program is erased using the XX com mand to run the same program number a new one must be created or the old one downloaded from non volatile memory using...

Страница 286: ...reating loops in a program The value may be positive or negative NOTE If at any time the operation will cause the variable value to go out of range error H unauthorized execution is generated Returns...

Страница 287: ...of a variable After executing this com mand the value of variable xx takes the opposite sign Returns N o n e Errors A 0 Unknown message code Variable number out of range Rel Commands Y S Initialize v...

Страница 288: ...esult placed in variable xx If the result is outside the 32767 to 32767 variable range the operation is not performed and error H is generated Returns N o n e Errors Rel Commands A C H 0 YA YS Example...

Страница 289: ...ero the operation is not performed and error H is generated The decimal part of the division result is truncated Returns N o n e Errors A U n k n o w n message code C Parameter out of limits H Calcula...

Страница 290: ...ne and it applies only to that command line NOTE Even though this command can be executed in immediate mode its real value is as a flow control instruction inside programs Returns N o n e Errors A U n...

Страница 291: ...error H is generat ed If the result of the multiplication is outside the 32767 to 32767 range the operation is not performed and error H is generated The decimal part of the multiplication result is t...

Страница 292: ...t the begin ning of a line and it applies only to that command line NOTE Even though this command can be executed in immediate mode its real value is as a flow control instruction inside programs Retu...

Страница 293: ...if one is pressed it places its ASCII code in variable xx If no key is pressed at the time of testing the variable is set to zero The following table lists all possible values returned Returns N o n...

Страница 294: ...line and it applies only to that command line NOTE Even though this command can be executed in immediate mode its real value is as a flow control instruction inside programs Returns N o n e Errors A...

Страница 295: ...ariable xx If the result is out of the 32767 to 32767 range the operation is not performed and error H is generated Returns N o n e Errors A Unknown message code H Calculation overflow 0 Variable numb...

Страница 296: ...ning of a line and it applies only to that command line NOTE Even though this command can be executed in immediate mode its real value is as a flow control instruction inside programs Returns N o n e...

Страница 297: ...n absolute value is bigger than 10 nn 10 or nn 10 nn will be limited between 10 and 10 NOTE For the hardware definition of the analog input port please see Appendix Connector Pinouts Remote Control Co...

Страница 298: ...i s s i n g Error B Out of range Error B nn M i s s i n g Error C Out of range Error C Description T h i s command sets the current theoretical position in the desired Y float variable Returns N o n e...

Страница 299: ...e nn M i s s i n g Out of range II MIP Axis number Float variable to 8 101 to 120 None None Error B Error B Error C Error C This command sets the current position in the desired Y float variable None...

Страница 300: ...in a variable The selected port xx is read and the value is loaded in variable nn NOTE For the hardware definition of the analog input port please see Appendix Connector Pinouts Remote Control Connec...

Страница 301: ...en this command is received the specified variable xx is initialized to nn value NOTE Always initialize a variable before using it At power up or after running other programs the value of a variable m...

Страница 302: ...the keyboard and places it in the variable xx If xx from I to 100 the value is entered as an integer Else if xx from 100 to 120 the value is entered as a float If message exists message is displayed i...

Страница 303: ...9 2 5 0 3 5 1 9 52 53 54 55 56 57 Pt L e f t A 2 d M O 3rd 4th I M N Right 45 46 65 66 67 68 Errors A U n k n o w n message code J Command authorized only in Programing mode 0 V a r i a b l e number o...

Страница 304: ...copied to variable xx After execution both variables will have the same value Returns N o n e Errors A Unknown message code 0 Variable number out of range Rel Commands Y C A d d variables YD Divide va...

Страница 305: ...t panel SETUP mode when a home search is initiated using the OR command or from the front panel the home position will be set to 0 NOTE The change takes effect only when a subsequent home search routi...

Страница 306: ...e for the negative restrict travel in the negative direction to protect Returns I f the sign takes place of the nn value this of negative left travel limit for the xx axis Errors A U n k n o w n messa...

Страница 307: ...ardless of the zero position the positive and negative software limits are recalculated to stay in the same place in space None A U n k n o w n message code B I n c o r r e c t axis number D Unauthori...

Страница 308: ...lue for the hard positive right travel limit It is used to restrict travel in the negative direction to protect the motion device or its load Returns I f the sign takes place of the nn value this comm...

Страница 309: ...N I f xx 0 Reports the parameters configuration of the axis xx I f xx 0 missing and nn 0 missing Reports the parameters configu ration of all of axes I f xx x 0 and nn I reports the general parameters...

Страница 310: ...Section 4 Motion Control Tutorial Ilevvport...

Страница 311: ...MM4006 8 Axis Motion Controller Driver C EDI10181En 1020 03 03 2 N e V V p O r t...

Страница 312: ...steresis 4 8 4 2 9 Pitch Roll and Yaw4 9 4 2 10 Wobble4 1 0 4 2 11 Load Capacity4 1 0 4 2 12 Maximum Velocity 4 1 1 4 2 13 Minimum Velocity4 1 1 4 2 14 Velocity Regulation4 1 2 4 2 15 Maximum Accelera...

Страница 313: ...MM4006 8 Axis Motion Controller Driver cv ED110181E01020 03 03 4 2 M e v v p o r t...

Страница 314: ...commands from an operator directly or via a computer verifies the real motion device position and gen erates the necessary control signals Driver An electronic device that converts the control signal...

Страница 315: ...r case dealing with fractions of microns 0 1 pm and less even a stan dard laser interferometer becomes unsatisfactory For this reason all factory measurements are made using a number of high precision...

Страница 316: ...the actual dis tance traveled with an external precision measuring device The difference the Error represents the positioning Accuracy for that particular motion Because every application is different...

Страница 317: ...plication requires high accuracy for small motions the system in Fig 4 3 a is definitely pre ferred Local Error is a relative term that depends on the application usually no Local Error value is given...

Страница 318: ...ig 4 5 Error Plot Motion Steps Position Once the Minimum Incremental Motion is defined the next task is to quan tify it This is more difficult for two reasons one is its random nature and the other is...

Страница 319: ...l a s h Hysteresis For all practical purposes Hysteresis and Backlash have the same meaning for typical motion control systems The term Hysteresis has an electro magnetic origin while Backlash comes f...

Страница 320: ...eal Position Trajectory ideal position Fig 4 8 Real vs Ideal Position 4 2 9 P i t c h Roll and Yaw These are the most common angular error parameters for linear translation stages They are pure mechan...

Страница 321: ...the rotating axis generates a circle Fig 4 11 Fig 4 11 Wobble A real rotary stage may have a more complex Wobble where the axis of rotation follows a complicated trajectory This type of error is caus...

Страница 322: ...velocity regulation First the controller sets the slowest rate of motion increments it can make The encoder resolution determines the motion increment size and then the application sets a limit on th...

Страница 323: ...e to implement the MM4006 can both use or simulate a tachometer through special circuitry and obtains the same result 4 2 15 M a x i m u m Acceleration The Maximum Acceleration is a complex parameter...

Страница 324: ...ms one of the most important questions is the type of servo loop implemented The first major distinction is between open and closed loops Of course this is of particular interest when driving stepper...

Страница 325: ...n Motor Trajectory Generator Motion Controller xK1 Servo Controller 1 1 D r i v e r Fig 4 14 P Loop Encoder Every servo cycle the actual position as reported by the encoder is com pared to the desired...

Страница 326: ...ollowing error to zero an important feature for some applications Unfortunately the integral term also has a negative side a severe destabi lizing effect on the servo loop In the real world a simple P...

Страница 327: ...locity 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 is sent to the motor to get the desired velocities without the...

Страница 328: ...d signal could perform an excellent job leaving very little for the PID loop to do The MM4006 uses this type of velocity control driver to get the highest per formance possible In addition since tacho...

Страница 329: ...er time it will start decelerating so that when the motor stops the device is at the cor rect position The velocity plot of this type of motion will have a trape zoidal shape Fig 4 20 For this reason...

Страница 330: ...proves the movement quality Parabola 2 a la dt a Te m p o r a r y acceleration am Maximum acceleration a a y Parabola 1 Average acceleration value set from the front panel of the controller Axis Setup...

Страница 331: ...is precise position referencing the MM4006 motion control system executes a unique sequence of moves First lets look at the hardware required to determine the position of a motion device The most comm...

Страница 332: ...p in between Also during Ethe display update is suppressed to eliminate any unnecessary overhead The routine described above could work but has one problem Using the low speeds it could take a very lo...

Страница 333: ...B C D and E All home search routines are run so that the last segment E is performed in the positive direction of travel CAUTION The home search routine is a very important procedure for the position...

Страница 334: ...Section 5 Trajectory Functions Tutorial Newport...

Страница 335: ...MM4006 8 Axis Motion Controller Driver C Newport...

Страница 336: ...and Conventions5 4 5 3 Geometric Conventions5 4 5 4 Defining Trajectory Elements5 5 5 4 1 Defining Lines 5 6 5 4 2 Defining Arcs5 6 5 5 Programing a Trajectory5 8 5 6 Trajectory Element Parameters5 9...

Страница 337: ...MM4006 8 Axis Motion Controller Driver EDH0181En1020 03 03 5 2 N e w p o r t...

Страница 338: ...exception of the acceleration and deceleration periods 5 1 2 T r a j e c t o r y Element A segment of a trajectory that can be defined by a simple geometric shape in our case a line or an arc of circ...

Страница 339: ...x0 2 y ye R2 A trajectory is always defined relative to the predefined stage units To avoid confusion it is recommended to use same units of displacement on both axes Each trajectory is defined relati...

Страница 340: ...uch that its entry angle corresponds to the exit angle of the preceding element to insure the continuity of the trajectory But when defining a line by its X Y end point this responsibility falls on th...

Страница 341: ...indus try Fig 5 3 X Y Fig 5 3 Line to X Y As described previously when using this method the user must make an extra effort in making sure the maximum discontinuity angle is not exceeded A second mod...

Страница 342: ...ng the exit angle of the previous element the controller will determine the unique arc that fits the parameters Fig 5 6 Fig 5 6 Arc defined with end point This automatic mode of describing an arc can...

Страница 343: ...r commands ET I Execute trajectory A trajectory can be defined once and executed any number of times To allow this feature all trajectories are defined relative to the starting point NT I Start new t...

Страница 344: ...t vector velocity to 20 units sec Define trajectory ET I Execute trajectory XV I R e a d actual vector velocity in use XV12 736 I Controller returns actual vector velocity used O n l y one trajectory...

Страница 345: ...angent MX nn D e f i n e X position for a line segment I MX MY MY nn D e f i n e Y position and build a line segment f MX MY 5 7 3 R e p o r t i n g Commands AT T e l l the element number under execut...

Страница 346: ...Section 6 Feature Descriptions Tutorial Newport...

Страница 347: ...MM4006 8 Axis Motion Controller Driver C Nevvport...

Страница 348: ...1 1 Pulses Synchronized to One Axis6 3 6 1 2 Pulses Synchronized to a Trajectory6 5 6 1 3 Synchronizing Events to Trajectory Elements6 6 6 1 4 Synchronizing Events to Trajectory Position6 7 6 2 Synchr...

Страница 349: ...MM4006 8 Axis Motion Controller Driver ED11018lEn I 020 03 03 6 2 N e v v p O r t...

Страница 350: ...osition indicated by PE or at the end of the motion when the effect of the PS command is canceled The necessary conditions for generating the signal verified by PS are T h e start position defined by...

Страница 351: ...ble and avoid any conflicts the PS command terminates and clears any settings made by a TM command To use the trace mode after a motion with synchronized signals the TM command must be re initiated A...

Страница 352: ...rified by ET to generate the signal are Values defined by NB and NE must be less than or equal to the total number of trajectory elements T h e value of NB must be less than that of NE T h e number of...

Страница 353: ...of X or Y axis If M a x E r r o r encoder resolution of X axis then M a x E r r o r encoder resolution of X axis If M a x E r r o r encoder resolution of Y axis then M a x E r r o r encoder resolutio...

Страница 354: ...er activities could be initiated Example Increase the trajectory velocity when the trajectory reaches position 5 and reduce the velocity when it reaches position 24 2XX I Erase program 2 if exists 2EP...

Страница 355: ...master axes cannot have the same slave B y default standard MM4006 configuration all axes are declared mas ters However each time a master slave system is defined its character istics are saved in th...

Страница 356: ...X axis direction PY S l i d e switch to reverse the Y axis direction PXY S l i d e switch to exchange the X and Y axes directions HOME B u t t o n to start an origin search cycle JOG B u t t o n to s...

Страница 357: ...e corresponding messages are displayed when the joystick goes to state 1 axes 1 and 2 and state 2 axes 3 and 4 In state 1 o r 2 the potentiome ter can be used to manipulate the axes NOTE In remote mod...

Страница 358: ...2 SB I S e t bits lAS This I Define string 1 2AS is i Define string 2 1CS S2 I Concatenate string 1 and string 2 DS S1 a string I Display on screen WT3000 I W a i t for 3 seconds QP I Q u i t program...

Страница 359: ...MM4006 F e a t u r e Descriptions Tutorial cv EDI10181En1020 03 03 6 12 N e w p o r t...

Страница 360: ...Section 7 Servo Tuning rano at 1 2 2 p EOF 110 1 0 0 0 0 0 ill fpL4 cv Newport...

Страница 361: ...MM4006 8 Axis Motion Controller Driver C Nevvport...

Страница 362: ...3 7 1 1 Hardware Requirements7 3 7 1 2 Software Requirements7 3 7 2 Tuning Procedures7 4 7 2 1 Axis Oscillation7 4 7 2 2 Increasing Performance7 5 Following Error Too Large7 5 Errors At Stop Not In P...

Страница 363: ...MM4006 8 Axis Motion Controller Driver EDH0181En 1020 03 03 7 2...

Страница 364: ...can be measured This can be done with external monitoring devices but this can introduce errors The MM4006 controller avoids this problem by offering a Trace capability When Trace mode is activated t...

Страница 365: ...TE In the following descriptions it is assumed that some kind of NMCServo software is being used to capture the response of the servo loop during a motion step command and to visualize the results 7 2...

Страница 366: ...Kd at a high enough value but not so high as to reintroduce oscillations Next add more gain Increase the Kp value by 50 at a time until signs of excessive ringing appear again Alternatively increase...

Страница 367: ...too low Follow the steps in the previous paragraph keeping in mind that it is desirable to increase the integral gain factor as little as possible 7 2 3 P o i n t s to Remember T h e MM4006 controlle...

Страница 368: ...Section 8 Appendices INevvport...

Страница 369: ...MM4006 8 Axis Motion Controller Driver CkJ Newport...

Страница 370: ...ector 9 Pin D Sub 8 1 4 RS 232C Interface Cable8 1 4 IEEE488 Interface Connector 24 Pin 8 1 6 RS 485 Interface Connector 5 Pin 8 1 6 Connecting RS 232 C to a Protocol Converter8 1 7 Point to Point Fou...

Страница 371: ...MM4006 8 Axis Motion Controller Driver EDI10181EnI020 03 03 8 2 N e v v p o r t...

Страница 372: ...ster communication throughput use the TE command to read only the error code Use the TB command to read an existing error or to translate an error code Error List The following is a list of all error...

Страница 373: ...creens available on the front panel display there are a number of error screens that appear only in special error conditions Parameters E r r o r Fig A 1 Error screen English n t o u c o n t i n u e r...

Страница 374: ...ld appear if the command line being edited exceeds the 110 character limit The last command entered will be lost but the rest of the line is retained and can be saved The XXXX represents the actual co...

Страница 375: ...ar Yes SPD Serial Poll Disable No SPE Serial Poll Enable Yes SRQ Service Request Yes TAD Talk Address Yes TCT Take Control No UNL Unlisten Yes UNT Untalk Yes B I E E E 488 Link Characteristics NOTE In...

Страница 376: ...The MM4006 responds to the DCL Device Clear and when made Listener the SDC Selected Device Clear interface message DTO Device Trigger The MM4006 does not support GET Group Execute Trigger interface me...

Страница 377: ...ample on how to conduct a serial poll SRQ and Serial Polling with NI 488 Device Functions The following example illustrates the use of the ibwait and ibrsp functions in a typical SRQ servicing situati...

Страница 378: ...anel MOTOR U M or MOTOR E a buttons The minimum rating for the switches should be 50 mA at 24 V and the maxi mum contact resistance should be less than 100 Q Pin D e s c r i p t i o n 1 N C 2 U T I L...

Страница 379: ...Inhibition connector If no remote controller are used the pins must be shorted Pin Description 1 D G N D 2 1 3 4 5 6 7 8 9 10 11 12 13 14 15 0 UTIL UTIL UTIL UTIL UTIL DGND DGND UTIL UTIL UTIL UTIL U...

Страница 380: ...the analog inputs are in Fig C 1 The value of 1 LSB depends of the used range 1 LSB is 20 V 4096 5 mV for the 10 V range 1 LSB is 10 V 4096 2 5 mV for the 5 V range and 0 10 V range 1 LSB is 5 V 4096...

Страница 381: ...2 2 D G N D 2 4 I D i g i t a l port Input 1 2 3 D G N D 2 5 I D i g i t a l port Input 2 2 4 D G N D 2 6 I D i g i t a l port Input 3 2 5 D G N D 2 7 I D i g i t a l port Input 4 2 6 D G N D 2 8 I D...

Страница 382: ...toisolated logical inputs These inputs works with current driven into the led If there is no current input is read as a I if there is current through the LED input is read as a 0 To drive current thro...

Страница 383: ...3 is to override the hardware handshake when an of the shelf cable is used for the RS 232C interface This guaranties proper communication even when the handshake cannot be controlled from the communic...

Страница 384: ...bed above If you do not wish to add an adapter you can use an off the shelf 9 to 25 pin RS 232C cable or build one like in Fig C 6 9 9 Pin D Sub Femal Connector on Controller Side 25 Pin D Sub Femal C...

Страница 385: ...ctor 24 Pin The IEEE488 connector has a standard configuration shown in Fig C 8 Pin Fig C 8 IEEE488 connector definition RS 485 Interface Connector 5 Pin Two identical RS 485 connectors are available...

Страница 386: ...ROLINE IC 485S1 Burr Brown LDM485S Refer to the protocol convert er s to properly configure it and check it s connection to a RS 232 C interface The above figure gives the standard RS 232 C pin out a...

Страница 387: ...lers is switched off The standard command set of the MM4006 controller is directly usable with the following changes Each command must be initiated with the string address to be under stood by the rig...

Страница 388: ...x Pulse I 0 V Logic 0 V Logic_ 0 V Logic 0 V Logic End of Run 0 V Logic End of Run N C End of Run End of Run End of Run N C End of Run End of Run End of Run 19 20 21 Encoder Phase A Encoder Phase B 5...

Страница 389: ...8 I E n c o d e r Phase B 9 I I n d e x Pulse I 10 0 P u l s e Command 11 0 D i r e c t i o n Command 12 0 1 0 V Analog Output 13 N C 14 0 V Encoder Supply 15 0 D r i v e r Inhibition Command 16 N C...

Страница 390: ...n memory with the same name num ber If you are operating the controller from a remote computer start by issuing the XX command for that program number Then enter the pro gramming mode by using the EP...

Страница 391: ...sting 2XX E r a s e program 2 if it exists 0 0 2EP 1VA4 Enter programming mode and store all entries as program 2 Set velocity of axis 1 to 4 mm sec 1 1 1 z 1PA10 1WS M o v e axis 1 to absolute positi...

Страница 392: ...t individual veloci ties Also when finished with an interpolated motion always return the axes to the non synchronized mode Velocity Axis 1 Axis 2 Axis 1 Time Fig D 3 Overlapping Axis Acceleration Dec...

Страница 393: ...s 1 and 2 to absolute position 0 mm wait for all axes to complete motion 1VA4 2VA4 S e t velocity of axes 1 and 2 to 4 nun sec 1AC8 2AC8 S e t acceleration of axes 1 and 2 to 8 mm s2 1PA14 M o v e axi...

Страница 394: ...as shown in Fig D 6 Y A x i s 2 0 Fig D 6 We decide to make the symbol 13 mm high and 17 5 mm wide But using a pen with a 0 5 mm wide tip the actual trajectory must be shrunk to 12 5 17 mm To control...

Страница 395: ...ion wait for motion to complete 2PR3 SE WS S e t relative destination of axis 2 3 mm away from current position start motion on the synchronized axis wait for motion to complete 1PRO 5 2PR 0 596 SE WS...

Страница 396: ...and 2 non synchronized 8CB S e t I O hit 8 low this will lift the pen up 1PA17 WS M o v e axis 1 to 17 mm start synchronized axis wait for motion to complete 8SB S e t I O hit 8 high this brings the p...

Страница 397: ...t for motion to complete 1PA5 5 SE WS S e t destination of axis 1 to 5 5 mm start synchro nized axis wait for motion to complete 2PA10 712 SE WS S e t destination of axis 2 to 10 712 mm start syn chro...

Страница 398: ...er switch turned off No electrical power Unplugged power cord Corrective Action Turn on the main power switch located on the power entry mod ule in the rear of the unit Verify with an adequate tester...

Страница 399: ...rrect con nection Verify that the motion device is connected to the correct driver card as specified by the labels Incorrect para meters Verify that all relevant parame ters PID velocity etc are set p...

Страница 400: ...y that the controller is set to communication on the left port RS 232 C or IEEE 488 Wrong commu nication para meters Verify that all communication parameters match between the computer and the control...

Страница 401: ...dc4 00010100 56 8 00111000 21 nak 00010101 57 9 00111001 22 syn 00010110 58 00111010 23 etb 00010111 59 00111011 24 can 00011000 6 0 00111100 25 em 00011001 61 00111101 26 eol 00011010 62 00111110 27...

Страница 402: ...11010 138 10001010 91 01011011 139 10001011 92 01011100 140 10001100 93 01011101 141 10001101 94 A 01011110 142 10001110 9 5 01011111 143 10001111 96 01100000 144 10010000 97 a 01100001 145 10010001 9...

Страница 403: ...1 184 10111000 228 11100100 185 10111001 229 11100101 186 10111010 230 11100110 187 10111011 231 11100111 188 10111100 232 11101000 189 10111101 233 11101001 190 10111110 234 11101010 191 10111111 235...

Страница 404: ...400PP MTL200CC1 MTM100CCO 1HA 0 GVM1000PE10 IMS400CC MTL25OPPO 1 MTMIOOCC0 1HA 1 GVM1000PE100 IMS400CCHA MTL25OPP1 MTM100CCOAHAT 1 GVM100OPP1 IMS500PP MTL25OPP2 54 MTM100CCOAHAT 0 GVM1000PP10 IMS500CC...

Страница 405: ...2 5 C C 1 D D 1 MTM200PE1 0 M T M 2 5 0 C C 1 7 9 1 T S W 1 5 0 D C 1 MTM200PE1 1 M T M 2 5 0 C C 0 1 H A 1 TSW150DC0 5 U T M 5 O P E 0 1 1 MTM200PP0 1 1 M T M 2 5 0 C C 0 1 H A 0 T S V 1 5 0 D C 0 5...

Страница 406: ...05 UTM IOOPP0 1 1 UTM I 50CC0 5HA 72 1 UZM160CC0 05 72 UTM 100PP1HL 1 UTM15013E0 1 1 UTMI5OCC0 511A 72 0 UZM160CC0 1 UTM100PP1HL 0 UTM150PE0 1 0 UTM150CC0 5HA 72 1 UTMIOOPP1HL 1 UTM150PE0 1 1 urmisoc...

Страница 407: ...CHL RV240HAT SR5OPP URM80APP URM100CCHL 72 RV240HAHLT SR5OCC URM8OCC URM 100ACCHL RV350PE URM8OACC URM 150PP RV350PEHL UBG5OPP URM8OCCHL URM150CCHL RV35OPPHL UBG5OCC URM80CCHL 72 850F C M A 1 2 P P V...

Страница 408: ...ration or your Newport representative for assistance Obtaining Service To obtain information about factory service contact Newport Corporation or your Newport representative Please have the following...

Страница 409: ...ization Please obtain prior to return of item Compagny Actress D a t e Country P h o n e Number P O Number F a x Number Item s Being Returned Model S e r i a l Description Reasons of return of goods p...

Страница 410: ...A7 h7s z c 7...

Страница 411: ...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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