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FCL User Manual - Newport Corporation

1. 2 6 2 6 USB R5422 1 8 USB Adapter uu ee ee e easet 6 2 1 9 Daisy Chain Communication Cable 6 TOT UD qmm 7 PAP lsi iU Mmm 8 PAP D i EP RER mm 8 222 Meclhunical Specricatiols u uuu qis 9 2 2 3 Load Characteristics and Stiffness aaaasssssssssssssssssa 9 2 3 System Environmental Specifications 9 24 Connector ldentilie8tion J L U Lun L a some 10 225 Communication Selllnpa nn 11 30 Sarte Re 12 3 1 Mounting and Initial Set D ce Rann 12 32 COn m 12 3 3 Initialization and Homing RRRRR RLRLR 14 D CAS D D eee eee eee 15 3 5 Multi Stage Configuration 16 AN eiu DS ss Tm 17 17 CODES eee ener 19 QW Newport Experience Solutions iii EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages AS Command Execution teire een enie a ERE ner E aia 19 E Mp l RTT 20 GEL acceleration aa PL Erste Pea bes a o a be a
2. 10 15 28 D JR Set Get jerk time FCL Series Intelligent Stepper Motor Linear Stages Usage Syntax Parameters Description Range Units Defaults Description Returns Errors Rel Commands Example QW Newport Experiences Solutions MM Enter Leave DISABLE state Not Ref Config Disable Ready Motion xxMMnn or xxMM xx int Controller address nn int Whether to enter 1 or leave 0 the DISABLE state xx 0 031 nn 0 changes state from READY to DISABLE 1 changes state from DISABLE to READY XX None nn None xx Missing Change to 0 will forward this command to all controllers Out ofrange Error B nn Missing Error C Out ofrange Error C When the MM command is sent without preceding controller number or the controller number 15 0 the MM command 15 executed on all controllers MMO changes the controller s state from READY to DISABLE In DISABLE state the control loop is open and the motor is not powered MMI changes the controller s state from DISABLE to READY The controller s set point position is set equal to its current position and the control loop gets closed depending on the closed loop state Any residual error is cleared and the motor is powered If the sign 1s used instead of nn this command returns the current state Refer to the TS command section for the list of controller states Unknown message code or f
3. A Unknown message code or floating point controller address B Controller address not correct C Parameter missing or out of range D Execution not allowed H Execution not allowed in NOT REFERENCED state J Execution not allowed in DISABLE state K Execution not allowed in READY state L Execution not allowed in HOMING state M Execution not allowed in MOVING state Rel Commands BA Set backlash compensation Example 1BH0 015 Set controller 1 backlash compensation to 0 015 units CY Newport EDH0340En1020 10 15 24 sas FCL Series Intelligent Stepper Motor Linear Stages Usage Syntax Parameters Description Range Units Defaults Description Returns Errors Example QW Newport Experiences Solutions FR Set Get stepper motor configuration Not Ref Config Disable Ready Motion O _ _ _ xxFRSnn xxFRM or xxFRS xx int Mmm int Snn float XX mm nn XX Mmm Snn xx Missing Out of range mm Missing Out of range nn Missing Out of range Controller address Amount of micro steps per full step Full step displacement length in 1 1000 of unit 1 to 31 gt 0 and lt 2000 gt 10 and lt 10 None None 1 1000 of unit Error B Error B Error C Error C Error C Error C FRM For compatibility No effect Always 128 usteps FRS This command sets
4. B C D H J K L M RS ISA3 Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed Execution not allowed in NOT REFERENCED state Execution not allowed in DISABLE state Execution not allowed in READY state Execution not allowed in HOMING state Execution not allowed in MOVING state Reset controller s address Set controller s RS422 address to 3 39 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages SE Configure Execute simultaneous started move Usage Syntax Parameters Description Range Units Defaults Description Returns Errors Not Ref Config Disable Ready Motion xxSEnn xxSE or SE xx int Controller address nn float New target position Xx 0 031 nn 2 gt SLand lt SR XX None nn Preset units xx Missing Change to 0 will forward this command to all controllers Out of range Error nn Missing Error C Out of range Error The SE command allows starting a move on different controllers at the same time The command xxSEnn sets a new target position for the controller nn But contrarily to the PA PR commands the move is not executed immediately but only after receipt of an SE command without preceding controller number nor position value When receiving the 2nd SE command all controllers star
5. Defaults Description Returns Errors BH Set Get hysteresis compensation Not Ref Config Disable Ready Motion O E xxBHnn or xxBH xx 10 Controller address nn float Hysteresis value Xx 110321 nn gt 0and lt 10 Xx None nn Preset units xx Missing Error Out ofrange Error B Floating point Error A nn Missing Error Out ofrange Error C The BH command sets the hysteresis compensation value When set to a value different than zero the controller will issue for each move in the positive direction a move of the commanded distance plus the hysteresis compensation value and then a second move of the hysteresis compensation value in the negative direction This motion ensures that a final position gets always approached from the same direction and distance and helps compensating for non repeatable mechanical defects like hysteresis or mechanical stiffness variations The value 0 disables this function The BH command can not be used when the backlash compensation is enabled BA command When a value different from 0 is set the travel range of the stage is decreased by the same amount in the positive direction NOTE The homing set on the positive end of run and hysteresis compensation are not compatible Any attempt to use both features together will make the stage fail If the sign is used instead of nn this command returns the current programmed value
6. 4 1 State Diagram For a safe and consistent operation the FCL uses 6 different operational states Not referenced Configuration Homing Ready Disable and Moving In each state only specific commands are accepted by the FCL Therefore it is important to understand the state diagram below and to know which commands and actions cause transitions between the different states Also see section 4 4 for command state information RS RS Reset controller address to 1 Not Referenced SGamma Configuration Actions in each state when End of Runs is encountered NOT REFERENCED No action CONFIGURATION No action HOMING Only check at end of HOMING and then change to NOT REFERENCED state MOVING Abort motion and then changes to NOT REFERENCED state READY Changes to NOT REFERENCED state DISABLE Changes to NOT REFERENCED state QW Newport Experiences Solutions 17 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages EDH0340En1020 10 15 After connecting the FCL to a power source the stage 1s in the NOT REFERENCED state and must be initialized first When initialization Is successful the controller goes to the NOT REFERENCED state From the NOT REFERENCED state the controller can go to the CONFIGURATION state with the PW1 command In the CONFIGURATION state the FCL allows changing stage and motor configuration parameters The PWO command saves all changes to the controller
7. Newport Experiences Solutions 3 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages 2 1 4 Dimensions lt 3 94 100 31 HOLES M6 THD 1 97 50 gt DEPTH 31 8 NM s lt il A 1 a Re Eee O o 3 94 2 95 1 97 98 100 75 50 25 PT LL 25 Y e vu i cx SS i 4 HOLES M4 THD gt 98 25 lt 6 HOLES M4 THD ON 24 45 113 AT 60 ON 03 62 92 DEPTH 31 8 2 95 75 DEPTH 31 8 L1 gt SOR 4 33 110 MODEL SHOWN FCL200 DIMENSIONS IN INCHES AND MILLIMETERS EDH0340En1020 10 15 L2 gt lt 4 69 119 gt 31 7 8 B A gt lt 3 94 100 gt lt A gt e E Ei n1x2 CLEARANCE HOLES W 3 23 FOR M6 SCREWS 394 l 4 00 82 100 101 6 n2x2 CLEARANCE HOLES FOR 1 4 20 SCREWS 1 0 es 3 00 lt B lt lt 76 2 gt lt B gt MODEL A n1 B n2 L1 L2 FCL50 2 z 2 4 06 103 9 21 234 FCL100 2 2 5 04 128 11
8. Once the controller address of each stage is set unplug all the power cables and disconnect the USB cable from all the stages except for the FC controller that has its address set to 1 Use the daisy chain cables to connect each controller For stages 2 thru 4 it does not matter whether you use the upper or lower RS422 connector to daisy chain e Only the FC controller with address 1 should be connected to the PC e All other FC controllers must be daisy chained Address 1 Address 2 FCLxxx FCLxxx or FCR100 or FCR100 USB RS422 1 8 FC PS40 FC PS40 Address 4 E FCLxxx or FCR100 Address 2 FCLxxx or FCR100 USB gt RS422 FC PS40 FC PS40 ter e Each stage from the chain must have a different address from 1 to 4 default is 1 NOTE Another mutli axis option is to run multiple GUI s each with an FCL or daisy chained FCL s ND Newport Experiences Solutiom 15 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages 3 5 Multi Stage Configuration Another way to control multiple stages is opening multiple GUI s for every FC stage Each of the FC stages has to be discovered independently USB HUB PS40 FC PS40 nx GUI occurrence launched Multiple Com Ports FC PS40 FC PS40 FC PS40 e Address 1 default for all stages GO Newport Experience EDH0340En1020 10 15 16 FCL Series Intelligent Stepper Motor Linear Stages 4 0 Programming
9. command error 45 Get set point position 46 IP Ge tcurrent DOSTHO u Lu 47 TS Get positioner error and controller 48 VA Set Get velocity 50 VE Get controller revision information a aaaassssssssssssssssssa 51 ZT Get all configuration parameters 52 S0 MIMONI CORP EP PRE EET 53 MEE Iu TET 53 A MEM pir nana u Cc 53 sS fa 6 ROD 01 E 54 S RIE 55 Solutions EDH0340En1020 10 15 iv FCL Series Intelligent Stepper Motor Linear Stages EC Declaration of Conformity EENE TR CRT SUC CSST EE x FCL Series EC Declaration of Conformity following Annex II 1A of Directive 2006 42 EC on machinery The manufacturer MICRO CONTROLE Spectra Physics 9 rue du bois sauvage F 91055 Evry FRANCE Hereby declares that the machinery Description e Function Low Cost Linear Stage e Models FCL50 FCL100 FCL 200 the technical file of which was compiled by Mr Dominique DEVIDAL Quality Director MICRO CONTROLE Spectra Physics Zone Industrielle B P 29 F 45340 Beaune La Rolande France complies with all the relevant provisions of the Directive 2006 42 EC on machinery complies with all the relevant provisions
10. communication connectors and a 24 V DC Input connector RS422 connector 1s connected to either PC with USB RS422 1 8 cable or to RS422 connector of another FC sertes stage by FC CB1 Two RS422 connectors are Interchangeable either of the two connectors can be used for PC connection or the input output for daisy chaining connection RS422 COMMUNICATION CONNECTOR 1 24 V DC POWER SUPPLY CONNECTOR 1 ATION UUININLUIUn 2 RS422 2 6 Pin RS422 communication connectors connect to USB RS422 1 8 or to FC CB1 cable PINOUT 1 N C OND PINOUT N C 3 Tx JST PAP 03V S V 4 EN CONNECTOR 2 24 E 3 GND 6 Rx Experience Solution EDH0340En1020 10 15 10 FCL Series Intelligent Stepper Motor Linear Stages 2 5 Communication Settings Communication parameters are preset in the FCL controller and do not require any configuration Bits per second 115 200 Data bits Parity Stop bits Flow control None End of line terminator e Communication standard RS 422 4 wire full duplex without handshaking e 120 Q termination resistor on receiver channel QW Newport Experiences Solutions 11 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages 3 0 Getting Started 3 1 Mounting and Initial Setup To achieve the guaranteed specifications stages must be fixed on a plane surface with a flatness of 5 um GROUNDING CABLE FC C
11. of the Directive 2014 30 EU relating to electro magnetic compatibility was designed and built in accordance with the following harmonised standards NF EN 61326 1 2013 lt Electrical equipment for measurement control and laboratory use EMC requirements Part 1 General requirements NF EN 55011 2010 A1 2011 Class A was designed and built in accordance with the following other standards NF EN 61000 4 2 NF EN 61000 4 3 NF EN 61000 4 4 NF EN 61000 4 5 NF EN 61000 4 6 ORIGINAL DECLARATION Done in Beaune La Rolande on 26 June 2015 Dominique DEVIDAL Quality Director ND Newport Experience Solutions v EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages Definitions and Symbols The following terms and symbols are used in this documentation and also appear on the product where safety related Issues occur General Warning or Caution The exclamation symbol may appear in warning and caution tables in this document This symbol designates an area where personal injury or damage to the equipment is possible The following are definitions of the Warnings Cautions and Notes that may be used in this manual to call attention to important information regarding personal safety safety and preservation of the equipment or important tips WARNING Warning indicates a potentially dangerous situation which can result in bodily harm or death CAUTION Cautio
12. run and hysteresis compensation are not compatible Any attempt to use both features together will make the stage fail If the sign is used instead of nn this command returns the current programmed value Z 8 m OO m gt IHTI Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed Execution not allowed in NOT REFERENCED state Execution not allowed in DISABLE state Execution not allowed in READY state Execution not allowed in HOMING state Execution not allowed in MOVING state Set Get HOME search velocity Execute HOME search Set HOME search time out Set controller 1 HOME sequence to use current position QS Newport Solutions 26 FCL Series Intelligent Stepper Motor Linear Stages ID Set Get stage identifier Usage Not Ref Config Disable Ready Motion O Syntax xxIDnn or xxID Parameters Description 11 Controller address nn string Stage identifier string Range xx 1103231 nn 1to31 ASCII characters Units xx None nn None Defaults xx Missing Error B Out ofrange Error nn Missing Error Outofrange Error C Description The ID command sets the stage identifier in the form of a character string Any printable character can be used spaces are admissible only if the string 1s enclosed in quotes like this If not spac
13. s memory and returns the controller back to the NOT REFERENCED state In the READY state the motor is energized and ready to move During a move execution PA PR the controller is in the MOVING state and goes automatically back to the READY state when the move is completed When errors are generated in the READY state it changes the controller to the NOT REFERENCED state In the DISABLE state the motor is not energized and move commands cannot be accepted To go from the READY state to the DISABLE state and vice versa use the MM command To go from the READY state or the DISABLE state back to the NOT REFERENCED state for instance to make further parameter changes in the CONFIGURATION state you must reset the controller with the RS command CAUTION Changing stage and motor configuration parameters in the CONFIGURATION state is recommended only for knowledgeable persons who understand the effect of the changes See PW command for details QW Newport Solutions 18 FCL Series Intelligent Stepper Motor Linear Stages 4 2 Command Syntax The FCL is a command driven controller The general format of a command is a two letter ASCII word preceded and followed by parameters specific to the command mj nn Controller address or Command format nothing if the issued command addresses all controllers AA Command name XX Parameter value or 42 to query the current value or nothin
14. the displacement length per full step in 1 1000 of unit If the sign 1s used instead of mm or nn this command returns the current programmed value m ug FRSIO Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed Execution not allowed in NOT REFERENCED state Execution not allowed In DISABLE state Execution not allowed in READY state Execution not allowed in HOMING state Execution not allowed in MOVING state Set controller 1 full step value to 10 milli units 25 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages Usage Syntax Parameters Description Range Units Defaults Description Returns Errors Rel Commands Example EDH0340En1020 10 15 Not Ref HT Set Get HOME search type Config Disable Ready Motion O _ _ _ xxH Tnn or xxHT xx int nn int XX nn XX nn xx Missing Out of range nn Missing Out of range Controller address Home search type identifier 1 to 31 use current position as HOME 2 use MZ switch mechanical zero to detect HOME position 4 use EoR switch negative end of range to detect HOME position None None Error B Error B Error C Error C This command sets the type of HOME search used with the OR command NOTE The homing set on the positive end of
15. 0 Units None nn Seconds Defaults xx Missing Error Out ofrange Error B nn Missing Error C Out ofrange Error C Description Jerk is the derivative of acceleration The jerk time defines the time to reach the needed acceleration A longer jerk time reduces stress to the mechanics and smoothes motion In CONFIGURATION state this command sets the value for the maximum jerk time which can then be saved in the controller s non volatile memory using the PW command It is also the default value that will be used unless a different value is set in DISABLE or READY state In DISABLE or READY state this command allows setting a new working parameter for the maximum Jerk time This value is not saved in the controller s memory and will be lost after reboot Returns Ifthe sign is used instead of nn this command returns the current programmed value for the state in which the controller is either CONFIGURATION or DISABLE READY Errors A Unknown message code or floating point controller address B Controller address not correct C Parameter missing or out of range D Execution impossible axis in movement H Execution not allowed in NOT REFERENCED state L Execution not allowed in HOMING state M Execution not allowed in MOVING state Rel Commands AC Set Get acceleration VA Set Get velocity Example 1JRO OS Set controller 1 jerk time to 0 05 seconds GO Newport EDH0340En1020
16. 18 284 FCL200 3 94 100 4 3 0 76 2 4 7 01 178 15 12 384 2 1 5 Weights Weight lb kg FCL50 7 28 3 3 FCL100 7 94 3 6 FCL200 9 02 4 1 QS Newport Solutions FCL Series Intelligent Stepper Motor Linear Stages 2 1 6 Assemblies Below are a few assembly examples with FC linear and rotation stages The FC sertes mounting interfaces use common hole patterns eliminating the need for adapter plates Call for compatibility with other Newport stages 2 FCL stages in XY configuration and one FCR100 rotation stage 2 FCL stages in XZ configuration with an EQ120 bracket ND Newport Experiences Solutiom 5 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages 2 1 7 540 Power Supply NOTE Each FC series stage requires a FC PS40 power supply Box Dim L x D x H 125 x 50 x 32 mm Specifications AC Input 100 240 VAC 50 60 Hz 1 A DC Output 24 V 1 67 A 40 W max Cable Length 1 75 m between the power supply box and the IPP driver board connector 2 1 8 USB RS422 1 8 USB Adapter Cable Length 1 8 m 2 1 9 Chain Communication Cable Cable Length Im EDH0340En1020 10 15 6 FCL Series Intelligent Stepper Motor Linear Stages 2 1 10 EQ120 Bracket INTERFACE PLATE 4 HOLES 9 28 7 Mum ON SQR 3 97 100 8 35 4 HOLES M4 THD ON 93 62 92 DEPTH 31 8 02 3
17. 6 60 1 97 5 HOLES M5 THD ON 05 39 137 N DEPTH 47 12 125 pp P 2x4 HOLES M6 THD DEPTH 47 12 DIMENSIONS IN INCHES AND MILLIMETERS 7 1 3 94 100 35 _ 3 94 100 4 HOLES M6 THD ON SQR 3 94 100 DEPTH 47 12 o I 3 94 3 POSITIONS 100 4 80 122 10 31 262 15 83 402 Y 4 39 111 5 6 14 156 lt 3 94 100 gt ND Newport Experiences Solutiom 7 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages 2 2 2 2 1 EDH0340En1020 10 15 Characteristics Definitions Specifications of our products are established in reference to ISO 230 standard part II Determination of accuracy and repeatability of positioning numerically controlled axes This standard gives the definition of position uncertainty which depends on the 3 following parameters Absolute Accuracy Difference between ideal position and real position On Axis Accuracy Difference between ideal position and real position after the compensation of linear errors Linear errors include cosine errors inaccuracy of screw or linear scale pitch angular deviation at the measuring point Abbe error and thermal expansion effects AII Newport motion electronics can compensate for linear errors T
18. B1 FC PS40 USB RS422 1 8 DAISY CHAIN FC STAGE USB ADAPTER COMMUNICATION CABLE POWER SUPPLY WARNING The FC series via threaded hole M4 must be grounded to avoid electrical disturbances generated by ground loops 3 2 Connection WARNING Do not connect or disconnect cables to FC series stage while power is applied Follow the steps described below for the cable connections Remove the cover from integrated motor controller housing by loosening the two screws Refer to the Chapter 2 1 and Chapter 2 4 for the description of cables and connectors EDH0340En1020 10 15 12 FCL Series Intelligent Stepper Motor Linear Stages Make proper connections to RS422 connector and 24 VDC power connector using the USB RS422 1 8 USB adapter and the FC PS40 cable respectively The second RS422 connector is used only for daisy chaining Connect the USB RS422 1 8 USB to a PC first Then connect the FC PS40 power supply to an electrical outlet WARNING The Power supply cable must remain fully disconnected from electrical outlet when you plug the USB RS422 1 8 USB adaptor cable to the PC When completed assemble the cover back into integrated motor controller housing To start using the FCL refer to the FC series controller GUI manual SA 13 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages 3 3 Initialization and Homing In the Initialization and Configu
19. FCL Series Intelligent Stepper Motor Linear Stages ND User s Manual NNevvport Experience Solutions Precision Motion Guaranteed FCL Series Intelligent Stepper Motor Linear Stages Warranty CAUTION Please return equipment in the original or equivalent packing Newport will not be responsible for damage incurred from inadequate packaging if the original packaging is not used EDH0340En1020 10 15 Newport Corporation warrants this product to be free from defects in material and workmanship for a period of 1 year from the date of shipment If found to be defective during the warranty period the product will either be repaired or replaced at Newport s discretion To exercise this warranty write or call your local Newport representative or contact Newport headquarters in Irvine California You will be given prompt assistance and return instructions Send the instrument transportation prepaid to the indicated service facility Repairs will be made and the instrument returned transportation prepaid Repaired 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 misuse of any product or part CAUTION Warranty does not apply to damages resulting from e Incorrect usage Driven load greater than maximum specified load Stage speed highe
20. REFERENCED state Execution not allowed in DISABLE state Execution not allowed in READY state Execution not allowed in HOMING state Execution not allowed in MOVING state Set Get HOME search type Execute HOME search Set HOME search time out Set controller 1 HOME search velocity to 50 units s QO Newport Experience Solution 30 FCL Series Intelligent Stepper Motor Linear Stages Usage Not Ref Syntax xxOR Parameters Description int Range xx Units xx Defaults xx Missing Out of range nn Missing Out of range OR Execute HOME search Config Disable Ready Motion Controller address 1 to 31 None Error B Error B Error C Error C Description This command starts the execution of the HOME search according to the algorithm defined by the HT command When in NOT REFERENCED state for instance after system start any positioner must first be homed with the OR command before further motion commands can be executed The OR command is accepted only in NOT REFERENCED state and only when no hardware error is present except end of runs Refer to the TS command to get more information on the possible hardware errors Errors A Rel Commands QW Newport Experiences Solutions Unknown message code or floating point controller address Controller address not correct Parameter missi
21. Rel Commands PR Example QW Newport Experiences Solutions IPA2 2 Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed Target position out of limits Execution not allowed in NOT REFERENCED state Execution not allowed in CONFIGURATION state Execution not allowed in DISABLE state Execution not allowed in HOMING state Execution not allowed in MOVING state Move relative Get motion time for a relative move Get set point position Get current position Move positioner on controller 1 to absolute position 2 2 units 33 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages Usage Not Ref PR Move relative Config Disable Ready Motion D Syntax xxPRnn or xxPR Parameters Description int nn Range xx float nn Units xx nn Defaults xx Missing Out of range nn Missing Out of range Controller address Displacement 1 to 31 gt SL TP and lt SR TP None Preset units Error B Error B Error C Error C Description The PR command initiates a relative move When received the positioner will move with the predefined acceleration and velocity to a new absolute position nn units away from the current absolute position The PR command gets only accepted in READY state AND when the distance of the po
22. The ZT command allows a quick review of all current stage parameter and simplifies the configuration of Newport stages for instance by copying all the returned values into a configuration file which can be later fed back to the stage by simply pasting its contents in the terminal emulator when the stage needs to be quickly reconfigured Errors A Unknown message code or floating point controller address B Controller address not correct Example IZT Get controller 1 configuration data IPW 1AC320 000000 1BA0 000000 1VA80 000000 IPW0 GO Newport EDH0340En1020 10 15 52 D FCL Series Intelligent Stepper Motor Linear Stages 5 0 Maintenance QW Newport Experiences Solutions 5 1 5 2 Maintenance The FCL series stages require no particular maintenance and there are no user serviceable parts or user adjustments to be made However as with other precision mechanical stages care must be taken for handling operation and storage CAUTION FCL stages must be used or stocked in a clean environment to avoid dust humidity solvents or other substances RECOMMENDATION It is recommended to return your stage to Newport s After Sales Service after every 18 months of use for lubrication and inspection If your FCL stage is mounted on a workstation and cannot be easily removed please contact Newport s After Sales Service for further instructions Repair CAUTION Never attempt to disassemble any par
23. ady Motion Controller address Displacement 1 to 31 gt 10 and lt 1012 None Preset units Error B Error B Error C Error C The PT commands helps evaluating move times for an efficient program flow When receiving the PT command the controller computes and returns the time in seconds necessary to execute a relative move of displacement nn with the current working parameters velocity acceleration etc The controller does not execute any displacement IPT2 2 1 0 25 Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed Execution not allowed in NOT REFERENCED state Execution not allowed in CONFIGURATION state Move absolute Move relative Get set point position Get current position Get time to move positioner on controller 1 by 2 2 units Controller returns 0 25 seconds 35 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages PW Enter Leave CONFIGURATION state Usage Not Ref Config Disable Ready Motion B Syntax xxPWnn or xxPW Parameters Description int Controller address nn int Whether to enter 1 or leave 0 the CONFIGURATION state Range xx 1103231 nn 1 Go from NOT REFERENCED state to CONFIGURATION state 0 Go from CONFIGURATION state to NOT REFERENCED state Units xx None nn None Defaults x
24. ays hard UV or in any vacuum environment CAUTION Do not place this stage in a location affected by dust oil fumes steam or high humidity This may cause an electric shock CAUTION Do not leave this stage in places subject to extremely high temperatures or low temperatures This may cause an electric shock Operating temperature 10 to 35 C Storage temperature 10 to 40 C in its original packaging CAUTION Do not move this stage if its motor power is on Make sure that cables are disconnected before moving the stage Failure to do so may damage the cable and cause an electrical shock CAUTION Be careful that the stage is not bumped when it is being carried This may cause it to malfunction CAUTION When handling this stage always unplug the equipment from the power source for safety CAUTION Contact your Newport service facility to request cleaning and specification control every year gt Newport Solutions viii FCL Series Intelligent Stepper Motor Linear Stages FCL Series Intelligent Stepper Motor Linear Stages 1 0 Introduction This manual provides operating instructions for the intelligent stepper motor linear stage that you have purchased e FCL50 e FCL100 e FCL200 The FCL is a precision linear stage with an Integrated stepper motor controller The stage can be easily controlled from a PC using a downloadable graphical user interfa
25. can be daisy chained and controlled by a single GUI via USB USB RS422 1 8 and direct RS 422 daisy chaining cable FC CB1 Package Contents e FCLxxx Intelligent Stepper Motor Linear Stage 50 100 or 200 mm e Stage test report The following parts are to be ordered seperately FC PS40 FC Stage Power Supply Cable Length 1 75 m e USB RS422 1 8 USB Adapter Cable Length 1 8 m e FC CBI Daisy Chain Communication Cable Cable Length 1 m Y7 Experience Solution FCL Series Intelligent Stepper Motor Linear Stages 2 1 2 Controller Specifications General description SIngle Axis Intelligent Stepper Motor Control capability Stepper motors open loop Output power 24 VDC peak 2 5 A peak PWM amplifier Control loop PI control of motor phase current with programmable idle state 2 kHz servo rate Backlash compensation Point to point motion with S gamma profile and Jerk time control Computer interface USB 5 V USB lt 0 5 A Windows Compatible Programming 40 intuitive 2 letter ASCII commands Command set includes software limits user units synchronized motion start stop all Communication rate 115 200 baud serial link over USB Internal safety features End of range checks power limit checks watchdog timer Consumption 24 V FC PS40 lt 1 67 A 2 159 Design Details NOTE This product complies with the RoHS directive Restriction of Hazardous Substances QW
26. ce GUI Communication with the FCL is achieved via an RS 422 serial link A USB to RS422 adaptor can be used requires Windows XP or Windows 7 operating system While the GUI enables basic motion advanced application programs can be developed via an ASCII command interface and a set of two letter mnemonic commands FCL Series linear stages 50 100 200 mm travels GO Newport EDH0340En1020 10 15 1 Experience Solutions FCL Series Intelligent Stepper Motor Linear Stages 2 0 System Overview 2 1 EDH0340En1020 10 15 General Description The FCL linear stage line Is an evolution of the Industry proven ILS stage Building on the robust construction of recirculating ball technology in the guide and screw the ILS was value engineered keeping only the features necessary for everyday precision positioning needs This and the addition of an Integrated stepper motor controller makes the FCL the ultimate choice in user friendly precision stages The FCL line incorporates similar stepper controller technology found in the popular SMC and ESP301 controllers and extended this further by integrating the electronics into the stepper motor housing resulting in the Newport proprietary iPP intelligent stepper motor Similar to the successful CONEX concept for DC motors IPP technology completely eliminates controller or driver set up Just connect power and communication and install the GUI Up to 4 FC series units
27. continuously as they are received The typical execution time for a tell position command nTP is about 10 ms Here command execution time means the between sending a command and receiving an answer It is important to note that a move command that may lasts for several seconds will not suspend the controller from further command execution So for an efficient process flow with many move commands it is recommended to use the PT command get time for a relative move and to query the controller status TS command or the current position TP command before any further motion command is sent QW Newport Experiences Solutions 19 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages 4 4 Command Set This section describes the supported two letter ASCII commands used to configure and operate the FCL The general command format 1s Command format nn Optional or required controller address AA Command name X Optional or required value or to query current value Most commands can be used to set a value in that case the command name is followed by the value represented here as xx or to query the current value in that case the command name is followed by a When querying a value the controller responds with the command it received followed by the queried value Examples 1VA10 sets the velocity of the controller 1 to 10 units second and sends nothi
28. cription The BA command sets the backlash compensation value This is the value that the controller moves the motor in addition to the commanded distance with any move that reverses the direction of motion without changing the current position value TP command The BA command helps compensating for repeatable mechanical defects that appear when reversing the direction of motion for instance mechanical wear The value 0 disables this function This feature can be only used when the hysteresis compensation BH is disabled When a value different from 0 is set the travel range of the stage is decreased by the same amount Returns Ifthe sign is used instead of nn this command returns the current programmed value Errors A Unknown message code or floating point controller address B Controller address not correct C Parameter missing or out of range D Execution not allowed H Execution not allowed in NOT REFERENCED state J Execution not allowed in DISABLE state K Execution not allowed in READY state L Execution not allowed in HOMING state M Execution not allowed in MOVING state Rel Commands BH Set hysteresis compensation Example 1BA0 005 controller 1 backlash compensation to 0 005 units QW Newport Experiences Solutions 23 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages Usage Syntax Parameters Description Range Units
29. e controller 1 to move to absolute position 2 2 units 2SE3 3 Prepare controller 2 to move to absolute position 3 3 units SE Allcontrollers start their programmed move if any EDH0340En1020 10 15 40 ME FCL Series Intelligent Stepper Motor Linear Stages Usage Syntax Parameters Description Range Units Defaults Description Returns Errors Rel Commands Example QW Newport Experiences Solutions SL Set Get negative software limit Not Ref Config Disable Ready Motion O xxSLnn or xxSL xx int Controller address nn float Negative software limit Xx 110321 nn gt 10 and lt 0 Xx None nn Preset units xx Missing Error Out ofrange Error B nn Missing Error C Out ofrange Error C In CONFIGURATION state this command sets the negative software limit which can then be saved in the controller s non volatile memory using the PW command It is also the default value that will be used unless a different value 1s set in DISABLE or READY state In DISABLE or READY state this command allows setting a new working parameter for the negative software limit It must be lower than or equal to the set point position This value is not saved in the controller s memory and will be lost after reboot The software limits are useful to limit the travel range of a positioner There Is no possibility to disable software limits For an almost infi
30. e dangerous WARNING Make sure that this stage is not exposed to moisture and that liquid does not get into the stage Nevertheless if any liquid has entered the stage switch off the motor power by disconnecting the power supply Contact your Newport service facility and request repairs WARNING Do not insert or drop objects into this stage this may cause an electric shock or lock the drive Do not use this stage if any foreign objects have entered the stage Switch off the motor power by disconnecting the power supply Contact your Newport service facility for repairs WARNING Do not place this stage in unstable locations such as on a wobbly table or sloping surface where it may fall or tip over and cause injury If this stage has been dropped or the case has been damaged switch off the motor power by disconnecting the power supply Contact your Newport service facility and request repairs WARNING Do not attempt to modify this stage this may cause an electric shock or downgrade its performance WARNING Do not exceed the usable depth indicated for the mounting holes see section Dimensions Longer screws can damage the mechanics or cause a short circuit QW Newport Experience Solutions vii EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages Cautions EDH0340En1020 10 15 CAUTION Do not place this stage in a hostile environment such as X R
31. ep ca Eb a Goss 22 BA Set Get backlash compensation 29 BH Set Get hysteresis compensation 24 FR Set Get stepper motor configuration 25 HT Set Get HOME search type uu u uu etae FA 26 ID Set Getstage u uu EA UM LE Mo tapes ecd v ct 27 uyu nee ere 28 MM Enter Leave DISABLE state 29 OH Set Get HOME search velocltty 30 OR Execute HOME search 31 OT Set Get HOME search time out 32 PA Move absolute iii 33 PIR 34 PT Get motion time for a relative 35 PW Enter Leave CONFIGURATION state 36 R s NC I uuu uu u cnni 37 RS Reset controller s address 38 SA Set Get controller s RS422 address 39 SE Configure Execute simultaneous started move 40 SL Set Get negative software limit 4 SR Set Get positive software limit 42 vi MEE OOO NN tcm 43 Get command error string 44 TE Get last
32. es and tabs are ignored In CONFIGURATION state this command sets a new value for the stage identifier which can then be saved in the device s non volatile memory with the PW command It is also the default value that will be used unless a different value is set in DISABLE or READY state In DISABLE or READY state this command allows setting a new working parameter for the stage identifier This value is not saved in the controller s memory and will be lost after reboot Returns Ifthe sign is used instead of nn this command returns the current identifier string for the state in which the controller is either CONFIGURATION or DISABLE READY Errors A Unknown message code or floating point controller address B Controller address not correct C Parameter missing or out of range D Execution not allowed H Execution not allowed in NOT REFERENCED state l Execution not allowed in HOMING state M Execution not allowed in MOVING state Example 110 Get stage identifier for controller 1 URSIO0CC Set controller 1 s stage identifier to URS100CC GO Newport Experiences Solutions 27 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages Usage Not Ref Config Disable Ready Motion Syntax xxJRnn or xxJR Parameters Description 110 Controller address nn float Jerk time value Range 1103231 nn gt 0 001 and lt 1
33. for the positive software limit It must be greater or equal to the set point position This value is not saved in the controller s memory and will be lost after reboot The software limits are useful to limit the travel range of a positioner There is no possibility to disable software limits For an almost infinite motion for instance with a rotative stage set the highest possible value which is 999999930400 Returns Ifthe sign is used instead of nn this command returns the current programmed value Errors A Unknown message code or floating point controller address B Controller address not correct C Parameter missing or out of range D Execution not allowed H Execution not allowed in NOT REFERENCED state L Execution not allowed in HOMING state M Execution not allowed in MOVING state Rel Commands SL Set negative software limit Example ISRIO0 Setcontroller 1 positive software positive to 100 units GO Newport EDH0340En1020 10 15 42 D SR Set Get positive software limit FCL Series Intelligent Stepper Motor Linear Stages Usage Syntax Parameters Description Range Units Defaults Description Errors Example QW Newport Experiences Solutions Not Ref xx ST xx int XX XX xx Missing Out of range ST Stop motion Config Disable Ready Motion E Controller address 0 to 31 None Change to 0 will forward
34. g if the command takes no parameter Both upper and lower case characters are accepted Depending on the command it can have an optional or required prefix nn for the controller address and or a suffix xx value a or no suffix at all Blank spaces Blanks are allowed and ignored in any position including inside a numerical value unless enclosed within quotes The following two commands are equivalent but the first example might be confusing 2P A1 43 6 2PA1 436 Decimal separator dot must be used as decimal separator for all numerical values Command terminator Commands are executed as either of the command terminator Cg or Lr carriage return ASCII 13 or line feed ASCII 10 is received The controller will analyze the received string If the command is valid and its parameters are in the specified range it will be executed Otherwise it will memorize an error After the command parameters are identified all remaining characters in the input string until the first command terminator if any will be ignored Commands from the PC to the FCL may still be concatenated in a single string but each command must be separated from the next one by a carriage return or a line feed In case any error occurs the reported error will be recorded and can be checked using the TE command Please refer to the command set in section 4 4 for details 4 3 Command Execution Time The FCL controller interprets commands
35. he relation between absolute accuracy and on axis accuracy is as follows Absolute Accuracy On Axis Accuracy Correction Factor x Travel Repeatability Ability of a system to achieve a commanded position over many attempts Reversal Value Hysteresis Difference between actual position values obtained for a given target position when approached from opposite directions Minimum Incremental Motion MIM or Sensitivity The smallest increment of motion a device is capable of delivering consistently and reliably Resolution The smallest increment that a motion device can theoretically move and or detect Resolution is not achievable whereas MIM is the real output of a motion system The testing of on axis accuracy repeatability and reversal error are made systematically with test equipment in a controlled room 20 1 C The test consists of 4 cycles in each direction with 21 data points over the travel resulting in a total 164 data points Guaranteed Specifications Guaranteed maximum performance values are verified per Newport s A167 metrology test procedure For more information please consult the metrology tutorial section in the Newport catalog or at www newport com QS Newport Solutions FCL Series Intelligent Stepper Motor Linear Stages 2 2 2 Mechanical Specifications FCL50 FCL100 FCL200 Travel Range mm 50 100 200 Minimum Incremental Motion um 0 15 Uni directional Repea
36. loating point controller address Controller address not correct Parameter missing or out of range Execution not allowed in NOT REFERENCED state Execution not allowed in CONFIGURATION state Execution not allowed in HOMING state Execution not allowed in MOVING state PW Enter leave CONFIGURATION state A B C D Execution not allowed H I L M MMO Allcontrollers go to DISABLE state 29 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages Usage Syntax Parameters Description Range Units Defaults Description Returns Errors Rel Commands Example EDH0340En1020 10 15 OH Set Get HOME search velocity Not Ref Config Disable Ready Motion O xxOHnn or xxOH xx 10 Controller address nn float search velocity XX 11031 nn gt 10 and lt 1012 XX None nn Preset units s xx Missing Error B Out ofrange Error B nn Missing Error C Out ofrange Error C This command sets the maximum velocity used by the controller for the HOME search If the sign is used instead of nn this command returns the current programmed value OO 50 Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed Execution not allowed in NOT
37. lowed Execution not allowed in NOT REFERENCED state Execution not allowed in DISABLE state Execution not allowed in READY state Execution not allowed in HOMING state Execution not allowed in MOVING state Set HOME search type Set HOME search velocity Execute HOME search Set controller 1 HOME time out to 2 2 seconds QS Newport Experience Solution 32 FCL Series Intelligent Stepper Motor Linear Stages Usage Not Ref PA Move absolute Config Disable Ready Motion Syntax xxPAnn or xxPA Parameters Description xx nn Range xx int float nn Units xx nn Defaults xx Missing Out of range nn Missing Out of range Controller address New absolute position 1 to 31 gt SL and lt SR None Preset untts Error B Error B Error C Error C Description The PA command initiates an absolute move When received the positioner will move with the predefined acceleration and velocity to the new absolute position specified by nn The PA command is only accepted in READY state AND when the new absolute position is higher or equal to the negative software limit SL AND lower or equal to the positive software limit SR The controller always rounds the new target position to the closest micro step position Returns Ifthe sign is used instead of nn this command returns the target absolute position value Errors gt
38. lower value is set in DISABLE or READY state In DISABLE or READY state this command sets the acceleration used for all subsequent moves Its value can be up to the programmed value in CONFIGURATION state This value is not saved in the controller s memory and will be lost after reboot If the sign 1s used instead of nn this command returns the current value for the state in which the controller is either CONFIGURATION or DISABLE READY A Unknown message code or floating point controller address B Controller address not correct C Parameter missing or out of range D Execution not allowed H Execution not allowed in NOT REFERENCED state L Execution not allowed in HOMING state M Execution not allowed in MOVING state Rel Commands JR Set Get jerk time VA Set Get velocity Example 1 500 controller 1 acceleration to 500 units s Controller returns 14C500 GO Newport EDH0340En1020 10 15 22 ME FCL Series Intelligent Stepper Motor Linear Stages BA Set Get backlash compensation Usage Not Ref Config Disable Ready Motion O _ Syntax xxBAnn or xxBA Parameters Description 11 Controller address nn float Backlash value Range 1103231 nn gt 0and lt 10 Units None nn Preset units Defaults Missing Error Out ofrange Error B nn Missing Error C Out ofrange Error C Des
39. mp Returns Tel 33 0 2 38 40 51 55
40. mples e Error map 0000 No errors e Error map 0002 Positive end of run e Error map 0048 Homing time out RMS current limit gt Newport EDH0340En1020 10 15 48 sn FCL Series Intelligent Stepper Motor Linear Stages QW Newport Experiences Solutions Errors Rel Commands Example Controller states ef 0A NOT REFERENCED from RESET 0B NOT REFERENCED from HOMING 0 NOT REFERENCED from CONFIGURATION 0D NOT REFERENCED from DISABLE 0E NOT REFERENCED from READY OF NOT REFERENCED from MOVING 10 NOT REFERENCED NO PARAMETERS IN MEMORY 14 CONFIGURATION IE HOMING 28 MOVING 32 READY from HOMING 33 READY from MOVING 34 READY from DISABLE DISABLE from READY 3D DISABLE from MOVING NOTE The positioner error gets updated periodically approx every 1 ms The TS command reads the positioner error and clears it at the same time same as what the command TE does with command errors So when launching the TS command it is important to process the TS feedback accordingly A Unknown message code or floating point controller address B Controller address not correct TE Get last command error ITS Get error and state of controller 1 178000004 Controller returns no errors and state is NOT REFERENCED from reset 49 EDH0340En1020 10 15 FCL Series Intelligent Stepper Mot
41. n indicates a potentially hazardous situation which can result in damage to product or equipment NOTE Note indicates additional information that must be considered by the user or operator European Union CE Mark The presence of the CE Mark on Newport Corporation equipment means that it has been designed tested and certified as complying with all applicable European Union CE regulations and recommendations Warnings and Cautions ATTENTION This stage is a Class A device In a residential environment this device can cause electromagnetic interference In this case suitable measures must be taken by the user QO Newport Solutions EDH0340En1020 10 15 vi FCL Series Intelligent Stepper Motor Linear Stages Warnings WARNING The translation of objects of all types carries potential risks for operators Ensure the protection of operators by prohibiting access to the dangerous area and by informing the personnel of the potential risks involved WARNING Do not use this stage when its motor is emitting smoke or is unusually hot to the touch or is emitting any unusual odor or noise or is in any other abnormal state Stop using the stage immediately switch off the motor power by disconnecting the power supply After checking that smoke is no longer being emitted contact your Newport service facility and request repairs Never attempt to repair the stage yourself as this can b
42. ng back IVA sends back the reply 1VA10 which means controller 71 s velocity is 10 units second Not every command can be executed in all states of the FCL and some commands have different meaning in different states It is therefore important to understand the state diagram of the controller see section 4 1 QS Newport Solutions EDH0340En1020 10 15 20 FCL Series Intelligent Stepper Motor Linear Stages JR MM Enter Leave DISABLE state Set Get HOME search velocity Execute HOME search OT Set Get HOME search time out PR Move relative PT PW e Enter Leave CONFIGURATION state RS Reset controller s address to 1 SA Set Get controller s RS 485 address T Get command error string Get last command error Get set point position Get current position TS Get positioner error and controller state VA Set Get velocity VE Get controller revision Information ZT e Get all axis parameters I IOO IO O O O e e 0 Get estimated duration of a relative move Z e O LL ee ee ee ee eee eO ele ele e 00 e o Oee ojo o i nme Not Ref Corresponds to the NOT REFERENCED state for details see state diagram section 4 1 Config Corresponds to the CONFIGURATION state Disable Corresponds to the DISABLE state Ready Co
43. ng or out of range Execution not allowed home sequence already started Execution not allowed in CONFIGURATION state Execution not allowed in DISABLE state Execution not allowed in READY state Execution not allowed in HOMING state Execution not allowed in MOVING state Set HOME search type Set HOME search velocity Set HOME search time out Execute HOME search with controller 1 31 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages Usage Syntax Parameters Description Range Units Defaults Description Returns Errors Rel Commands Example EDH0340En1020 10 15 Not Ref OT Set Get HOME search time out Config Disable Ready Motion O _ _ _ xxOTnn or xxO T xx int nn float XX nn XX nn xx Missing Out of range nn Missing Out of range This command sets the time out value for the HOME search When the HOME search does not finish successfully before this delay elapses the HOME search is aborted and an error is recorded Controller address HOME time out 1 to 31 gt 1 and lt 1000 None Seconds Error B Error B Error C Error C If the sign is used instead of nn this command returns the current programmed value Pt Ww gt 10 2 2 Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not al
44. nite motion for instance with a rotative stage set the lowest possible value which is 999999930400 If the sign 1s used instead of nn this command returns the current programmed value Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed in NOT REFERENCED state Execution not allowed in HOMING state A B C D Execution not allowed H L M Execution not allowed in MOVING state SR Set positive software limit 151 100 Set controller 1 negative software limit to 100 units 41 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages Usage Not Ref Config Disable Ready Motion O Syntax xxSRnn or xxSR Parameters Description int Controller address nn float Positive software limit Range xx 1103231 nn gt 0and lt 10 Units xx None nn Preset units Defaults Missing Error Out ofrange Error B nn Missing Error C Out of range Error Description In CONFIGURATION state this command sets the positive software limit which can than be saved in the controller s non volatile memory using the PW command It is also the default value that will be used unless a different value is set in DISABLE or READY state In DISABLE or READY state this command allows setting a new working parameter
45. o excessive use of the PW command is not covered by the warranty The PW command is used to change the default configuration parameters that are stored in memory and not working parameters that may be changed on the fly GS Newport Experience Solutions EDH0340En1020 10 15 36 FCL Series Intelligent Stepper Motor Linear Stages Usage Syntax Parameters Description Range Units Defaults Description Errors Example QW Newport Experiences Solutions Not Ref o xxRS xx int XX xx Missing Out of range RS Reset controller Config Disable Ready Motion Controller address 1 to 31 None Error B Error B The RS command issues a hardware reset of the controller equivalent to a power cycle To go from DISABLE or READY state to CONFIGURATION state it is also needed to reset the controller with the RS command and then to change the controller s state with the PW command from NOT REFERENCED to CONFIGURATION Unknown message code or floating point controller address Controller address not correct Execution not allowed Reset controller 1 37 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages RS Reset controller s address Usage Not Ref Config Disable Ready Motion O O O O O Syntax xxRS or RS Parameters Description int Controller address Range xx 0to31 Units x
46. or Linear Stages Usage Syntax Parameters Description Range Units Defaults Description Returns Errors VA Set Get velocity Not Ref Config Disable Ready Motion xxVAnn or xxVA xx 10 Controller address nn float Velocity value Xx 11031 nn gt 10 and lt 10 XX None nn Preset units s xx Missing Error B Out ofrange Error B nn Missing Error Outofrange Error C In CONFIGURATION state this command sets the maximum i e cruise velocity value which can then be saved in the controller s non volatile memory using the PW command This should be the maximum velocity that can be applied to the mechanical system It is also the default velocity that will be used for all moves unless a lower value is set in DISABLE or READY state In DISABLE or READY state this command sets the velocity used for all subsequent moves Its value can be up to the programmed value set in the CONFIGURATION state This value is not saved in the controller s memory and will be lost after reboot If the sign is used instead of nn this command returns the current value for the state in which the controller is either CONFIGURATION or DISABLE READY A Unknown message code or floating point controller address B Controller address not correct C Parameter missing or out of range D Execution not allowed H Execution not allowed in NOT REFERENCED
47. r program ie LabVIEW driver before launching the GUI Applet launching unsuccessful When you are not the Administrator of the Obtain the full Admin right in the PC Or Access to the log file denied PC Window 7 disables writing in the simply copy the Motion Control folder Program Files folder from Program Files to My Documents folder QW Newport Solutions EDH0340En1020 10 15 54 FCL Series Intelligent Stepper Motor Linear Stages Service Form Your Local Representative Tel Fax Name Return authorization Please obtain prior to return of item Company Address Date Country Phone Number P O Number Fax Number Item s Being Returned Model Serial Description Reasons of return of goods please list any specific problems QO Newport EDH0340En1020 10 15 55 nih Newport Visit Newport Online at WWW newport com North America amp Asia Newport Corporation 179 Deere Ave Irvine CA 92606 USA Sales Tel 800 222 6440 e mail sales newport com Technical Support Tel 800 222 6440 e mail tech newport com Service RMAs amp Returns Tel 800 222 6440 e mail service newport com Europe MICRO CONTROLE Spectra Physics S A S 9 rue du Bois Sauvage 91055 vry CEDEX France Sales Tel 33 0 1 60 91 68 68 e mail france newport com Technical Support e mail tech europe g newport com Service a
48. r than specified Improper grounding Connectors must be properly secured When the load on the stage represents an electrical risk it must be connected to ground Excessive or improper cantilever loads e Modification of the stage any part thereof This warranty is in lieu of all other warranties expressed or implied including any implied warranty of merchantability or fitness for a particular use Newport Corporation shall not be liable for any indirect special or consequential damages No part of this manual may be reproduced or copied without the prior written approval of Newport Corporation This manual has been provided for information only and product specifications are subject to change without notice Any changes will be reflected in future printings QS Newport ve Solutions FCL Series Intelligent Stepper Motor Linear Stages Table of Contents A ii EC Declaration ol Conformity V DS PIONS and den eee EER vi vil GO ICT UU TS 10 AD 0 OCG ONO ID 1 PEINE dux CE VU Gm 2 2M NEEC I CM Bst gio OR 2 PAR Ec 2 2 12 C uuu ll ERNE RE 3 2013 DE i 3 I MENS m 4 dn TRU Ut 4 2LO ASSOMU REO 5 2 1 7 FC PS40 Power
49. ration area the first button Initialize executes homing and changes the controller state from Not Referenced to Ready Once it Is in the Ready state the Disable or Enable buttons change the controller state to Disabled or Ready 1 FCLIOOPP Configurston Initialization and Configuration Current Position 492617185 QD Gata an ta Motion Configuration Values Velocity Minimum end of run Maximum end of run 20 0000 100 104 100 100 Hename For the different controller states refer to section 1 3 of the FC Controller GUI Manual For further details of the Main tab of the GUI refer to section 3 2 of the FC Controller GUI Manual EDH0340En1020 10 15 14 Experience Solution FCL Series Intelligent Stepper Motor Linear Stages 3 4 Daisy Chaining Up to 4 FC series controllers can be networked through the internal RS422 communications link Before daisy chaining the controller address of each stage must be set separately via the USB and the GUI The FC controller that will be directly connected to the PC must have its controller address set to 1 and all subsequent stages must have a different controller address set between 2 and 4 Refer to the GUI manual or command interface manual for instructions to change the controller address FC PS40 FC STAGE POWER SUPPLY FC CB1 DAISY CHAIN COMMUNICATION CABLE USB RS422 1 8 USB ADAPTER
50. ress B Controller address not correct C Parameter missing or out of range D Execution not allowed Rel Commands Get last command error Example ITB Get explanation to error code a 1TB No error Controller returns means no error GO Newport Solutions EDH0340En1020 10 15 44 FCL Series Intelligent Stepper Motor Linear Stages Usage Syntax Parameters Description Range Units Defaults Description Errors Rel Commands Example QW Newport Experience Solutions TE Get last command error Not Ref Config Disable Ready Motion xxTE xx int Controller address XX 11031 XX None xx Missing Error B Out ofrange Error B The TE command returns the currently recorded error When a command is not executable or fails an error is recorded This error can be read with the TE command After the execution of a TE command the error buffer 1s erased and another TE command will return which means No error When a new command error is generated before the previous command error is read the new command s error will overwrite the currently memorized error For a safe program flow it is recommended to always query the command error after each command execution A Unknown message code or floating point controller address B Controller address not correct D Execution not allowed TB Get command er
51. ror string ITE Get last error memorized on controller 1 Controller returns ITE means no error List of errors and corresponding strings see TB command error Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Command not allowed sequence already started Displacement out of limits Command not allowed in NOT REFERENCED state Command not allowed in CONFIGURATION state Command not allowed in DISABLE state Command not allowed in READY state Command not allowed in HOMING state Command not allowed in MOVING state Current position out of software limit Communication Time Out Error during EEPROM access Error during command execution cuozegetn momuugdcotusxsmiu 45 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages Usage Syntax Parameters Description Range Units Defaults Description Errors Rel Commands EDH0340En1020 10 15 Example Not Ref o xx xx int XX XX xx Missing Out of range TH Get set point position Config Disable Ready Motion Controller address 1 to 31 None Error B Error B The TH command returns the value of the set point or theoretical position This is the position where the positioner should be In MOVING s
52. rresponds to the READY state Motion Corresponds to the HOMING and MOVING states O Changes configuration parameters Those changes will be stored in the controller s memory with the PW1 command and remain available after switching off the controller Changes working parameters only Those changes will get lost when switching off the controller e Accepted command Command 15 forbidden in this state will memorize error Grey line Command passed without preceding controller number applies to all controllers e g MMO disables all controllers QW Newport Experiences Solutions 21 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages Usage Syntax Parameters Description Range Units Defaults Description Returns Errors AC Set Get acceleration Not Ref Config Disable Ready Motion O xxACnn or xxA C xx 10 Controller address nn float Acceleration value Xx 110321 nn gt 10 and lt 10 Xx None nn Preset units s xx Missing Error B Out of range Error nn Missing Error C Out ofrange Error C In CONFIGURATION state this command sets the maximum acceleration value which can then be saved in the controller s non volatile memory using the PW command This is the maximum acceleration that can be applied to the mechanical system It is also the default acceleration that will be used for all moves unless a
53. sition Get positioner error and controller state Get current position of controller 1 Controller returns actual position 0 units 47 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages TS Get positioner error and controller state Usage Not Ref Config Disable Ready Motion Syntax xxTS Parameters Description int Controller address Range xx 1103231 Units xx None nn None Defaults xx Missing Error B Out ofrange Error Description The TS command returns the positioner error and the current controller state Returns The TS command returns six characters 1 TSabcdef The first 4 characters abcd represent the positioner error as hexadecimal number The last two characters ef represent the controller state as hexadecimal number Error code abcd Convert each hexadecimal to a binary 1111 1110 1101 1100 1011 1010 1001 1000 0111 0110 0101 0100 0011 0010 0001 0000 E each bit represents one possible error exception made of bit C1 C A B C D 1 1 it Driver fault Driver overheating Homing time out RMS current lim Positive end of run Negative end of run gt O z E 5 O e e Z Newport reserved MZ status NOTE Bit C1 MZ status is not an error It is reserved for Newport technicians to diagnose the mechanical zero sensor status during customer support and servicing Exa
54. sitioner to the software limit in the same direction is longer than the commanded displacement The controller always rounds the new target position to the closest micro step position Returns Ifthe sign is used instead of nn this command returns the target absolute position value Errors gt Rel Commands PA Example EDH0340En1020 10 15 IPR2 2 Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed Displacement out of limits Execution not allowed in NOT REFERENCED state Execution not allowed in CONFIGURATION state Execution not allowed in DISABLE state Execution not allowed in HOMING state Execution not allowed in MOVING state Move absolute Get motion time for a relative move Get set point position Get current position Move positioner on controller 1 to a new position 2 2 units away from the current position QO Newport Solutions 34 FCL Series Intelligent Stepper Motor Linear Stages Usage Syntax Parameters Description Range Units Defaults Description Errors Rel Commands Example QW Newport Experiences Solutions PT Get motion time for a relative move Not Ref xxPTnn xx int nn float XX nn XX nn XX Missing Out of range nn Missing Out of range Config Disable Re
55. state L Execution not allowed in HOMING state M Execution not allowed in MOVING state Rel Commands AC Set Get acceleration JR Set Get jerk time Example IVASO Set controller velocity to 50 units s gt Newport EDH0340En1020 10 15 50 ME FCL Series Intelligent Stepper Motor Linear Stages Usage Syntax Parameters Description Range Units Defaults Description Errors Example QW Newport Experiences Solutions VE Get controller revision information Not Ref Config Disable Ready Motion xxVE xx int Controller address nn string Action xx 11031 XX None xx Missing Error B Out ofrange Error B This command returns the controller s firmware revision information A Unknown message code or floating point controller address B Controller address not correct IVE Get controller 1 revision information IVE FC family controller 2 0 0 Controller returns revision number S1 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages ZT Get all configuration parameters Usage Not Ref Config Disable Ready Motion Syntax xxZT Parameters Description int Controller address Range xx 1103231 Units xx None Defaults xx Missing Error B Out ofrange Error B Description The ZT command returns the list of all current configuration parameters
56. t moving to their target position The xxSEnn command is only accepted in READY state AND when the new target position is higher or equal to the negative software limit SL AND lower or equal to the positive software limit SR The controller always rounds the new target position to the closest micro step position The SE command should not be confused with a synchronized move With a synchronized move all positioners start moving simultaneously AND complete their moves at the same time The SE command starts a move on all controllers at the same time but each positioner moves with its individually defined velocity and acceleration Consequently the different positioners do NOT complete their moves at the same time If the sign is used instead of nn this command returns the target position value set by the SE command which may not be the target position set by the PA PR commands A Unknown message code or floating point controller address B Controller address not correct C Parameter missing or out of range D Execution not allowed H Execution not allowed in NOT REFERENCED state I Execution not allowed in CONFIGURATION state J Execution not allowed in DISABLE state L Execution not allowed in HOMING state M Execution not allowed in MOVING state Rel Commands PA PR Move absolute relative TH Get set point position TP Get current position Example ISE2 2 Prepar
57. t of the stage unless it is described in this manual Disassembly of components unless instructed by Newport may lead to failure or malfunction of the stage If you observe any malfunction in your stage please contact us immediately to arrange a repair service CAUTION Any attempt to disassemble or repair the stage without authorization will void your warranty 53 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages 5 3 Troubleshooting A list of the most common problems and their corrective actions 1s provided in the table below Use this as a reference but remember that problems may be related to other operator errors and may be resolved by other simple solutions Problem Error Message Corrective Actions Please verify the stage 1s powered Power cord not plugged in Plug the power cord in the appropriate then relaunch the user interface outlet Verify the 3 pin connector is seated properly Power supply cable was connected to outlet The power supply cable must remain before the USB cable was connected to PC fully disconnected from the outlet when the USB cable is connected to the PC Unplug both the USB cable and the power supply cable Then make the USB connection first Bad connection Check the integrity of cables and make sure each connector is fully secured Access to com port is denied Com port of the PC may be already used by Make sure to terminate all other programs anothe
58. tability um 1 5 2 2 Bi directional Repeatability um 4 5 2 25 5 or 2 5 5 or 2 5 On Axis Accuracy um 4 or 2 5 or 2 5 10 5 Maximum Speed mm s 20 Pitch ay urad 50 25 100 50 200 or 100 Yaw az urad 70 35 100 50 160 or 80 MTBF h 20 000 with 1 kg load at 50 duty cycle 1 Shown are peak to peak guaranteed specifications or half the value as sometimes shown The typical specifications are about 2X better than the guaranteed values WARNING To achieve the garanteed specifications stated stages must be fixed to a plane surface with a flatness of 5 um or better 2 2 3 Load Characteristics and Stiffness Cz Normal center load capacity on bearings 250 N Cx Axial load capacity 40N kox Angular stiffness Roll 15 urad Nm kay Angular stiffness Pitch 10 urad Nm kaz Angular stiffness Yaw 10 urad Nm Q Off center load Q x Cz 1 D 60 D Cantilever distance in mm 2 3 System Environmental Specifications Operating temperature 5 C to 40 C Operating humidity 20 to 85 relative humidity non condensing Location Indoor use only QW Newport Experiences Solutions 9 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages 2 4 Connector Identification FC PS40 FC STAGE POWER SUPPLY ka FC CB1 DAISY CHAIN COMMUNICATION CABLE USB RS422 1 8 USB ADAPTER Each FC sertes stage Includes two RS422
59. tate the set point position changes according to the calculation of the motion profiler In READY state the set point position is equal to the target position A B D ITH 1THO Unknown message code or floating point controller address Controller address not correct Execution not allowed Get current position Get set point position of controller 1 Controller returns set point position 0 units QS Newport Solutions 46 FCL Series Intelligent Stepper Motor Linear Stages Usage Syntax Parameters Description Range Units Defaults Description Errors Rel Commands Example QW Newport Experiences Solutions Not Ref o xx IP xx int XX XX xx Missing Out of range TP Get current position Config Disable Ready Motion Controller address 1 to 31 None Error B Error B The TP command returns the value of the current position This Is the position where the positioner actually 1s In MOVING state this value always changes In READY state this value should be equal or very close to the set point and target position Together with the TS command the TP command helps evaluating whether a motion has completed A B D TH TS ITP ITPO Unknown message code or floating point controller address Controller address not correct Execution not allowed Get set point po
60. this command to all controllers Error B The ST command is a safety feature It stops a move in progress by decelerating the positioner immediately with the acceleration defined by the AC command until it stops The xxST command with a preceding controller address stops a move in progress on controller xx The ST command without any preceding controller address stops the moves on ALL controllers Ae quod us ST Unknown message code or floating point controller address Controller address not correct Execution not allowed Execution not allowed in NOT REFERENCED state Execution not allowed in CONFIGURATION state Execution not allowed in DISABLE state Execution not allowed in READY state Stop moves on all controllers 43 EDH0340En1020 10 15 FCL Series Intelligent Stepper Motor Linear Stages TB Get command error string Usage Not Ref Config Disable Ready Motion Syntax xxTBnn Parameters Description int Controller address Range xx 1103231 nn char Error code refer to TE command Units xx None Defaults Missing Error B Out ofrange Error B nn Missing Returns explanation of current error as a literal string Out ofrange Error C Description The TB command returns a literal character string that explains the meaning of the error code nn see TE command for complete list Errors A Unknown message code or floating point controller add
61. x None Defaults xx Missing Change to 0 will forward this command to all controllers Out ofrange Error B Description The RS command resets the controller s address to 1 This address needs to be different for each FCL when connected on a RS 485 communication network Returns Errors A Unknown message code or floating point controller address B Controller address not correct D Execution not allowed Rel Commands 8 Set Get controller s RS 485 address Example RS Reset all controllers addresses to 1 GO Newport EDH0340En1020 10 15 38 ni FCL Series Intelligent Stepper Motor Linear Stages Usage Syntax Parameters Description Range Units Defaults Description Returns Errors Rel Commands Example QW Newport Experiences Solutions SA Set Get controller s RS422 address Not Ref Config Disable Ready Motion O _ _ _ xxSAnn or xxSA xx int nn int XX nn XX nn xx Missing Out of range nn Missing Out of range Current controller address New controller address a k a RS422 address 1 1 to 31 None None Error B Error B Error C Error C The SA command sets the controller s RS422 address also known as the axis number This address needs to be different for each FCL when connected on a RS422 communication network If the sign is used instead of nn this command returns the current programmed value A
62. x Missing Error B Outofrange Error B nn Missing Error Out ofrange Error C Description PWI1 changes the controller s state from NOT REFERENCED to CONFIGURATION In CONFIGURATION state all parameter settings are saved in the controller s memory upon exiting this state and remain available after switching off the controller In addition some settings are only possible in CONFIGURATION state e g set drive voltage set Backlash compensation etc PWO checks all stage parameters and if they are acceptable saves them in the flash memory of the controller After that it changes the controller s state from CONFIGURATION to NOT REFERENCED The execution of a PWO command may take up to 5 seconds During that time the controller will not respond to any other command Returns Ifthe sign is used instead of nn this command returns whether we are or not in the CONFIGURATION state Errors Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range A B C D Execution not allowed J Execution not allowed in DISABLE state K Execution not allowed in READY state L Execution not allowed in HOMING state M Execution not allowed in MOVING state Rel Commands MM Enter Leave DISABLE state Example IPWI Changes controller 1 to CONFIGURATION state NOTE The PW command is limited to 100 writes Unit failure due t

FCL User Manual - Newport Corporation

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