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1. Limits Enabled w deceleration Description 2 Limits Enabled without deceleration 3 Hard Stop Detection Encoder with no limits switches Retums A read operation is not available with this command nLCGx Standard syntax Error s ICGx Missing axis number 30 nLCG Mising program number parameter 28 n int Axis number x int 0 ignore default l active n 1to 99 x 0 Limits Disabled 1 1 Limits Enabled w deceleration 2 2 Limits Enabled without deceleration 3 3 Hard Stop Detection Encoder with no limits switches Related Commands LPL Parameter Description Parameter Range Example 1LCG1 Axis 1 set limit switches active 5 41 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Positive Negative Limit Location Dunng Motion Real time Reference Manual Lx ee ee Command i n Determines orientation of Positive limit and negative limit Descnption A read operation retumsthe following limit direction valuesforthe specified a xis O0 Nomal onentation 1 Reverse orientation Retums nLDRx Standard syntax nLDR Read velocity value OLDRx Missing axis number all axesset limit direction Error 7 LDR Read operation with missing axis number 27 nLDR Missing limit parameter 28 n int X Axis number x int limit direction value Read limit direction value Parameter
2. PRECISION MOTION SOLUTIONS www micronixusa com 2 6 MMC 200 Modular Motion Controller Reference Manual 2 3 Using the MMC 100 Motion Controller Platform In the Quick Start Guide Overview you connected yourMMC 200 to your computer In the Quick Start MMC 100 Motion Controller Platform you installed and ran the MMC 100 MCP software This section will describe the capabilities of the MMC 100 MCP program and give you a brief understanding of how to use it m Micos MMC 100 Motion Controller Platform Version 0 515 1 File Settings Help mii C os ACC Acceleration AMX Max Acceleration ANR Set Axis Number CER Clear Errars DAT Dump Trace Data DBD Closed Loop Deadband DEC Deceleration EAD Set A D Encoder ENC Set Encoder Resolution END End Program Recording EPL Encoder Polarity ERA Erase Program ERR Read and Clear Errors EST Emergency Step EXC Execute Program FBK Set Open or Closed Loop HLP Help pr umm Open Port M TESTERTONENIII COM10 Closed Bytes Out 424 1 Port Control The picture below depicts the program when the Port has been opened COMIO gt Core COM10 Open Bytes Out 424 a Select the COM port associated with your MMC 200 as discussed in section 2 1 step 5 b Click the Open Port button to connect to the mmc 200 Leenen i This button should change giving you the option to close the port mICrOnlmt Rev 2 00 V vine
3. California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual c The Port field should change to indicate the Port isOpen Port Closed COM10 Open and the terminal should populate with some information about the system and then tum blank You are now ready to start moving a stage with your MMC 200 For more information about this program see the MMC 100 MCP program guide 2 More information more information about the MMC 100 MCP can be found in the MMC 100 MCP program guide 3 Technical Information 3 1 MMC 200 Specifications Parameter Description Axes 1 stackable up to 99 axes Motor Type Stepper motors Interface USB 2 0 compliant Commands ASCII Commands Trajectory Mode Trapezoidal velocity profile Servo Clock 10 kHz Trajectory Update l kHz Power Supply Regulated 24V DC 1A per module axis Enclosure Dimensions 145 x 85 x 25 Software Interface MMC 200 MCP LabVIEW VI s A single power supply may be used perstack Each module axis requires 1A therefore add up Individual module amperagesto determine the power supply amperage requirement 3 2 Senal Port Setup If the MMC 200 is not automatically recognized by your computer you will have to first install the FTDI interface drivers before communicating with the controller The drivers are suppled on the supplemental CD under the folder MMC 200 Drivers or can be downloaded from http www ftdich
4. MICFONIX PRECISION MOTION SOLUTIONS LM ee ee ee ee ee This Command is used to initiate an instantaneous move to an absolute position fora specified axis If the postion is outside of the soft limits the command will be ignored A read operation isnot available with this command NMVAx Standard syntax OMVAx All axes execute instantaneous move Error s nMVA Missing absolute position parameter 28 nlint Axis number x float Absolute position n Oto 99 X x 0 000001 to 999 999999 mm degrees MVR WFS 4MVA14 5 Axis 4 Move to absolute position 14 5 mm degrees OMVA5 5 All axes Move to absolute position 5 5 mm degrees MICRONIX USA LLC Irvine California www micronixusa com Rev 2 00 5 55 MMC 200 Modular Motion Controller Move Relative During Motion Reference Manual Command Description Retums Parameter Description Parameter Range Related Commands Example MICFONIX PRECISION MOTION SOLUTIONS C ee ee ee ee ee This command is used to initiate an instantaneous move to a relative position fora specified axis If the position is outside of the soft limits the command will be ignored A read operation is not available with this command nMVRx Standard syntax OMVRx All axesexecute command Emors nMVR Missing relative position parameter 28 nlint Axis number x float Relative position n Oto 99 X 0 000001 to 99
5. Read operation with missing axis number 27 nPGS Missing program set to run on start up parameter 28 nlint Axis number x float Program setto run on start up Read encoder mode value Parameter Description n Oto 99 X 0 No program 1 to 16 Specific program set to run on start up Parameter Range Related Commands LST PG M 6PGS5 Axis6 set program 5 to run on start up 0PGS23 All axes set program 23 to run on start up 3PGS Axis3 Read program to run on start up 3PGSO Axis3 Set no program to run on start up 5 59 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual Set Feedback Constants Global E ae a ee ee ee E Command This command is used to set the encoder feedback constants for Description a specified controller A read operation retumsthe encoderfeedback constant values Retums y forthe specified axis nPIDX1 2 X3 Standard syntax nPID Read encoderfeedback constant values Emors PIDx1 x2 x3 Missing axis number 30 PID Read operation with missing axis number 27 nPID Missing encoderfeedback constant parameters 28 n int Axis number xl float Kp proportional constant x2 float Ki integral constant stepper only x3 float Ka derivative constant sepperonly Read encoderfeedback constants and values Parameter Description
6. X 0 Active Low 1 Active High Parameter n ae low default Range active IOW eTau l active high Parameter Description Related Commands LCG Example 6LPL1 Axis 6 limit switches set to active high 5 46 micronix nor 20 MICRONI USA LLG PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual Max Motor Curent Do SS X l1 1 6 l es ee ee oo This command is used to read the maximum output current to the motor asdetemined by hardware The MCSsetting cannot exceed this value Command Description A read operation retumsthe max motor curent value in Ampsfor Sem the specified axis nMCMx Standard syntax nMCM Read max motor curent value Error 7 MCM Read operation with missing axis number 27 nMCM Missing current parameter 28 Parameter n int Axis number Description Read max motor curent value Related Commands Exa mple Axis5 Read max motor current value 5 47 micronix nor 20 MICRONI USA LLC PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual Motor Curent Setting L Gm poe 3x p oe p x RE sx T Res Command M This command setsthe desired curent output level Descnption A read operation retumsthe Motor curent value in Ampsforthe Retums n specified a xis nMC Sx Standard syntax nMCS Read Motor Current value OMCSx All axes set Moto
7. axis number displayed nANRx Standard syntax nANR Read axisnumber value Error ANR Read operation with missing axis number 27 nANR Missing new axis number parameter 28 ANRx Missing axis number 30 n int Axis number x int New axis number 0 for Auto Addressing Read axis number value Parameter Description Parameter n Oto 99 Range X Oto 99 Related Commands None 5ANR1 1ANR5 Simultaneous axis swapping Axis 5 Set to axis 1 Axis 1 Set to axis5 Example Axis 4 Set to Auto Addressing However it will remain axis 4 until the MMC 200 is reset 5 18 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Clear Errors 2 d 7 NENNEN E es es a Command This command is used to clearall emor messages without reading Description them Reference Manual Retums A read operation cannot be used with this command nCER Sandard syntax synta x OCER All axesclearermormessages Parameter Description n int Axis number Parameter n Oto 99 Range Related Commands ERR 1CER Axis1 clearemormessages Example OCER All axes clearerrormessages 5 19 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual Configuration Mode a Gn ya aS C ee This setting determines whether t
8. nJAC Missing acceleration parameter 28 n int Axis number x float Acceleration Read acceleration value Parameter Description Parameter n Oto 99 Range X 001 to 500 000 mm s degrees s Related Commands ACC DEC AMX 4AJACO 1 Axis 4 Set jog acceleration amp deceleration to 0 1 mm s degrees s Example 5 39 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual During Motion Real time Program Global Lu d This command is used to jog a specific axis or move continuously Command in a direction with no target position The jog velocity isa Description percentage of the maximum velocity and may be changed on the fly by sending anotherJ OG command during motion Retums A read operation is not available with this command nJ OGx Standard syntax Error 3 JOGx Missing axis number 30 n JOG Missing velocity parameter 28 Parameter n int Axis number Description x float Velocity Parameter n 1to 99 Range X 0 001 to 100 000 96 of maximum velocity Related Commands JAC Example 4JOG10 Axis 4 J og at 1096 maximum velocity 5 40 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual ICG Limit Configuration a cS Lo ee ee ee ee yr ee 0 Limits Disabled Command 1
9. 999 999999 to TLP mm degrees Related Commands TP 2TLN0 005 Axis 2 Set negative soft limit position to 0 005 mm degrees Axis 6 Read negative soft limit position value 5 70 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual TLP Positive Soft limit Position During Motion Real time Global C C pow 1 x a ee a a This command is used to set the desired postive soft limit position Command using absolute position forthe specified axis The positive soft limit Description position value must be greaterthan the negative soft limit position value TLN forthe command to be accepted A read operation retumsthe positive soft limit position value forthe Retums E specified a xis nTILPx Standard syntax nILP Read postive soft limit position value OTLPx All axesset limit position value nTIN Setcurent position to negative limit Emors TLP Read operation with missing axis number 27 nf int Axis number x float Positive soft limit position Read positive soft limit position Parameter Description Parameter n Oto 99 Range X TLN to 999 999999 mm degrees Related Commands TLN ATLPIO 005 Axis2 Set positive soft limit position to 10 005 mm degrees Axis9 Read positive soft limit position value 5 71 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS w
10. Controller Start Synchronous Move Eoo qoc do o Eo o p Y Reference Manual Command This command is used to start a global synchronous move Description previously set up by usng the MSA or MSR commands Retums A read operation cannot be used with this command Synta x RUN Standard syntax Parameter Description Parameter Range Related Commands MSA MSR 3MSR5 4MSR5 Axis3 Move 5 mm degrees Example Axis 4 Move 5 mm degrees RUN Allaxes Execute synchronous move mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com 5 64 MMC 200 Modular Motion Controller Reference Manual E a ee aA Command This command is used to save all settings forthe specified axis This Description allowsan axisto be configured on powerup Retums A read operation cannot be used with this command nSAV Standard syntax Syntax OSAV All axessave settings Parameter Description n int Axis number Parameter n Oto 99 Range Related Commands None Example 16SAV Axis 16 save settings 5 65 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Status Byte Dunng Motion Real time Program Global re ee ee ee ee ee eee eee Command This command is used to check the status register fora specified Description a xis Reference Manual A read operation will retum an integer fro
11. Description Parameter n Oto 99 Range X Oorl Related Commands Axis 1 setto reverse orientation Example Axis 5 Read limit switch onentation MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com 5 42 MMC 200 Modular Motion Controller Reference Manual Limit Status Set set t NENNEN INN EE U 3 Command Retumsthe status of both limit switches in the form LSP LSN This is Description useful for limit switch configuration Retums A read operation retums curent limit statusforthe specified axis nLIM Standard syntax Error 7 LIM Read operation with missing axis number 123 Parameter n int Axis number Description Read limit switches Parameter Range Related Commands Example Axis6 read current limit status 5 43 micronix nor 20 MICRONI USA LLG PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual LSP Lead Screw Pitch Dunng Motion Real time Lx ee ee Command ie This command sets the lead screw pitch Description A read operation retums the lead screw pitch value in mmforthe Retums e i specified axis nLSPx Standard syntax nLSP Read lead screw pitch value OLSPx All axesset lead screw pitch to x Error 7 LSP Read operation with missing axis number 27 nLSP Missing pitch parameter 28 n int Axis number x float Le
12. Modular Motion Controller MSR Synchronous Move Relative During Motion Real time Program LU e m This command is used to set up a relative move using the relative position of the axesinvolved This command is most useful when coordinating relative postions between 2 or more axesand Command requires a RUN command on a separate line to execute the Description synchronous move It is recommended to use multiple MSR commandson the same command line asthey are executed closer together than on separate lines If the position is outside of the soft limits the command will be ignored Retums A read operation isnot available with this command nMSRx Standard syntax OMSRx All axessetup synchronous move Error 3 nMSR Missing relative position parameter 28 Parameter n int Axis number Description x float Relative position Parameter n Oto 99 Range X 0 000001 to 999 999999 mm degrees Related Commands RUN MSA 4MSR 1 5MSR 5 Axis 4 Move 0 1 mm degrees Axis 5 Move 0 5 mm degrees RUN Execute synchronous move OMSRO 01 All axes Move 0 01 mm degrees RUN All axes execute synchronous move MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Move Absolute Dunng Motion Reference Manual Command Description Retums Parameter Description Parameter Range Related Commands Example
13. Modular Motion Controller Reference Manual 6 4 RS485 Intemodular Connector Cable Pin out The RS 485 Intermodular Connector Cable is used to daisy chain two MMC modules together allowing for altemative module configurations The cable is directional and its orientation should be noted when configuring axis numbers forthe direction of the cable will determine axis order This connector can also be used to communicate with the controllerin place of the USB connection by connecting your RS 485 Busto pins 2 3 and 4 asthey appearbelow RS 485 Intermodular Connector Cable Pin out 5V GND RS A RS B ID Out ID In Oo Cn amp Oh Ml i Oo Cn amp Oh 6 89 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com
14. Reference Manual This command is used to stop motion fora specified a xis Retums A read operation cannot be used with this command SESS nSIP Standard syntax y l OSIP All axes execute stop Parameter n int Axis number Desc nption Parameter n Oto 99 Range Related Commands EST DEC Example Axis4 execute stop 5 67 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Save Startup Postion Dunng Motion Command Description Retums Synta x Parameter Description Parameter Range Related Commands Example MICFONIX PRECISION MOTION SOLUTIONS Reference Manual This command is used to set the startup position Default is O This setting doesnot require the SAV command to save it into memory It also doesnot change with a DEF command To reset the Startup position to the default send nSVPO A read operation retumsthe Startup position setting forthe specified a xis nSVP Sandard syntax OSVP Missing axis number command accepted asstandard syntax n int Axis number x float Startup Position mm Read Startup Position n Oto 99 X TLN 999 999999mm to TLP 999 999999mm None 4SVP Set current position to Startup position Z2SVE2 33 Set startup postion to 2 3mm MICRONIX USA LLC Irvine California www micronixusa com Rev 2 00 5 68 MMC 200 Modular Motion
15. and use the ERA command to erase any previously recorded programs Each program hasa sze limit of 4Kb Retums A read operation in not available forthis command nPGMx Standard syntax nPGM Read a binary representation of written program numbers If programs 1 and 2 are written it will retum 3 If programs 1 and 4 are written it will retum 9 If only program 1 is written it will retum 1 If only program 3 is written it will retum 4 Error s PGMx Missing axis number 30 nPGM Missing program number parameter 28 Parameter n int Axis number Description x int Program numberto be recorded Parameter n 1to99 Range X 1to 16 Related Commands END EXC LST ERA 1PGM3 Axis 1 Begin recording program Save program as program 3 Example 5 58 mICrOnlmt Rev 2 00 P vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Run Program At Start Up Dunng Motion Real time Program Global ee ee S i nmm Command This command is used to set a program to run immediately on start Description up Only one program peraxis can run on start up Reference Manual A read operation retumsa value forthe specified axis in the format below 0 No program set to run 1 16 Program set to run on start up Retums nPG Sx Standard syntax OPG Sx Missing axis number all axes set program to run on start up nPGS Read program s set to run on start up Error 7 PGS
16. are pm fullstep 10 A read operation retumsthe resolution value in steps per micron for Retums p the specified axis nREZX Standard syntax nREZ Read stepsper micron resolution value Error s REZ Read operation with missing axis number 27 REZ Missing axis number 30 nREZ Missing teps per micron resolution parameter 28 nlint Axis number Parameter x float Stepsper micron resolution stepy milidegrees default is Description 20 000 Read stepsper micron resolution value steps millid egrees Parameter n 1to 99 Range X Oto 0 2 32 pm fullstep 10 Related Commands None 9REZ25 Axis9 Set resolution to 25 steps micron steps millidegrees Axis3 Read steps micron steps degrees resolution value 5 62 mICrOnlmt Rev 2 00 P vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller RST Perform Soft Reset o S a ee S S e a y Command Description Reference Manual This command is used to perform a soft reset of the specified axis Retums A read operation cannot be used with this command Syntax nRST Standard syntax y l ORST All axesexecute soft reset Parameter nlint Axis number Description Parameter n 1to 99 Range Related Commands None Example Axis 8 execute soft reset mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com 5 63 MMC 200 Modular Motion
17. is Example received before executing next command micronix nor 20 MICRONI USA LLG PRECISION MOTION SOLUTIONS www micronixusa com 5 80 MMC 200 Modular Motion Controller Reference Manual dodo Ed Y do EL Command This command is used in a program to wait fora specified penod of Description time before executing the nex command Retums A read operation cannot be used with this command nWTMx Standard syntax Synta x WSIx Missing axis number command accepted asstandard syntax Parameter n int Axis number Description x int Time Parameter n 1to 99 Range X Oto 999999 milliseconds Related Commands None 2WTM42 Axis 2 Wait for 42 milliseconds before executing next command Example 5 81 micronix nor 20 MICRONI USA LLG PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller During Motion Reference Manual Command Description Retums Parameter Description Parameter Range Related Commands Example MICFONIX PRECISION MOTION SOLUTIONS O7 NENNEN ee ee eee This command is used to set the absolute zero position forthe soecified axis A read operation cannot be used with this command nZRO Standard syntax Error ZRO Missing axis number 123 nlint Axis number n 1to99 None Axis1 set current position asabsolute zero MICRONIX USA LLC Irvine California WWW micronixusa com Rev 2 00 5
18. isready EncoderInput Male D Sub 9 Pin Connector Motor Axis Output Female D Sub 9 Pin Connector Power Supply 24VDC Regulated RS485 Intermodular Connector USB Connector I O Connector Qo SO Ol es o9 micronix EC S PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual 1 2 Features Integrated controller dnver for tepper motors Compact modulardesgn allows for bench top orstandard 2U height rack mounting Configurable asa standalone unit or stackable up to 99 axes Open loop closed loop operation Open loop resolution of 4096 Micro steps per full tep Closed loop resolution dependent on the encoder typically 50 nm A quad Bencoder feedback USB interface one interface forup to 99 axes WindowsGUI and LabVIEW VI 13 Package Contents If product isdamaged orthere are missing components contact MICRONIX USA immediately Do not discard product packaging in case of retum shipment Package Contents e MMC 200 Controller e User Manual e Supplemental CD e PowerCable 2 Quick Start Guide 2 1 Quick Start Guide Overview The following Quick Start Guide is intended to provide a basic set up of the MMC 200 in the least amount of time The following paragraphs will provide a walkthrough of the steps needed to set up the controller and verify that the system is working corectly l Install Drivers a To ensure comect communication between the module and PC install the pr
19. micronixusa com MMC 200 Modular Motion Controller Reference Manual ENC Set Encoder Resolution Globa ee ee ee eee eee ee ee eee This command is used to set the desired encoder resolution for the Command specified axis When a digital encoder isconnected encoder Description resolution is determined by the encoder itself Analog encoder resolution can be set by the controller A read operation retumsthe encoder resolution value forthe Retums specified a xis nENCx Standard syntax nENC Read encoderresolution value OENCx All axesexecute encoder resolution value Error ENC Read operation with missing axis number 27 nENC Missing encoderresolution parameter 28 n int Axis number x float Encoderresolution Read encoderresolution value Parameter Description Parameter n Oto 99 Range X 0 001 to 999 999 um count milli degrees count Related Commands EAD 2ENC1O0 Axis2 Set encoder resolution to 10 microns count 10 milli degrees count Example 5 26 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller END End Program Recording a a a ee NN This command is used to exit out of program recording mode Command which is initiated by the PGM command The END command mus Description be placed separately on the last line of the program sequence The resulting program is saved upon exit forlater
20. on the motor curent setting A read operation retumsthe maximum possible microstepsforthe specified a xis NUM Xx Standard syntax nUMX Read MaxMicrosteps value Error 7 UMX Read operation with missing axis number 27 Parameter n int Axis number Description Read velocity value Parameter Range Related Commands Example Axis 5 Read Maximum microsteps 5 73 micronix nor 20 MICRONI USA LLG PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Microsteps During Motion Real time Reference Manual Lx qp xl Command This command setsthe cument Microstepping value Max Description determined by UMX 4096 at full cument A read operation retumsthe microstepping value forthe specified axis nUSIx Standard syntax nUST Read microstepping rate OUSIX Missing axis number all axes st to x microstepping Emor UST Read operation with missing axis number 27 nUST Missing microstep parameter 28 n int Axis number x float Microsteps Read microstep value Parameter Description Parameter n Oto 99 Range X 1to UMX 4096 Related Commands UMX LUST2000 Axis 1 Set 2000 microsteps degrees s Example DUST Axis 5 Read microstep value MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com 5 74 MMC 200 Modular Motion Controller Reference Manual Velocity This co
21. pin Some Functionscan only be Use assigned to one pin at a time See the documentation for each function for more details 53 The parameters entered for Gear Ratio Lead Screw 54 Invalid Resolution Pitch and Full Steps Per Revolution result in a resolution that cannot be handled by the controller Both Limit Switches are active so motion is disallowed in both directions Most likely the LPL Limit Polanty Limits Are Not Configured 55 PIOBSIN command setting should be switched 30 Command Not Available The command entered isnot supported in this version in this Version of the firmware 81 Analog Encoder Not The cument version of fimware installed doesnot Available In this Version support Analog Encoders 5 87 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual 6 Appendix 6 1 Encoderlnput Pin out Pin Color Description l Brown A Cost 2 Red B Sin 3 Orange Index 4 Yellow Ground 5 Green 5V 6 Blue A Cos 7 Purple B Sin 8 Grey Index 9 Black Not In Use 6 2 Motor Pin out Pin Description l Phase A 2 Phase A 3 Phase B 4 Phase B 5 Ground 6 LSN 7 LSP 8 5V 9 Ground 6 3 8 Pin Din IO connector Ping 5V Pin7 IO1 output only Pin6 102 Pin5 103 Pin3 104 Pin4 GND 6 88 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200
22. 1 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com Command ACC AMX ANR CER CFG DAT DBD DEC DEF EAD ENC END EPL ERA ERR EST EXC FBK FMR FSR GRR HCG HOM JAC JOG LCG UM LSP LPL MCM MCS MLN MLP MOT MPL MSA MSR MVA MMC 200 Modular Motion Controller Command Index Description Acceleration Maximum Allowable Acceleration Set Axis Number Clear Errors Configuration Mode Dump Trace Data Closed Loop Deadband Deceleration Restore Factory Defaults Set Analog or Digital Encoder Select Encoder Resolution End Program Recording Encoder Polarity Erase Program Read and Clear Enors Emergency Stop Execute Program Set Open or Closed Loop Mode Upload Firmware Full Steps Per Rev Gear Ratio Home Configuration Home Jog Acceleration and Deceleration Jog Mode Limit Configuration Posttive Negative Limit Location Limit Status Lead Screw Pitch Program List Limit Switch Polanty Max Motor Current Motor Curent Setting Move to Negative Limit Move to Positive Limit Toggle Motor On Off Motor Polanty Synchronous Move Absolute Synchronous Move Relative Move Absolute MICFONIX PRECISION MOTION SOLUTIONS Page 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 Rev 2 00 Command MVR PGL PG M PGS PID POS REZ RST RUN
23. 82 MMC 200 Modular Motion Controller Take Axis Offline o a a ee S e a y Reference Manual Command This Command is used to take the specified axes offline An offline Description axis will not respond until the poweriscycled Retums A read operation cannot be used with this command nZZZ Sandard syntax syntax ZZ Missing axis number all axes set to offline Parameter Description n int Axis number Parameter n 1to 99 Range Related Commands None Example mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com 5 83 MMC 200 Modular Motion Controller Reference Manual 5 10 Emor Messages Error u eee Name Descnption 10 Receive Buffer OVemih The Receive Buffer has reached orexceeded maximum Capacity The command that triggered this eror was trying to move H Motor Disabled the servo while it wasdisabled The command that triggered this emor wastrying to access 12 No Encoder Detected encoderdata when no encoderwasattached The controller moved acrossthe full range of motion and Le pie exige roune did not find an index 14 Home Requires Encoder The HOM command requiresan encoder signal 15 peer PMs vers JUS The MLN and MLP commandsrequire an encoder signal Encoder The command that triggered this error only supports read 20 Command is Read Only operations The command must be followed by a question markto be accepted Ex XXX One Read Operation Per
24. 9 999999 mm degrees MVR WFS 6MVR10 Axis 6 Move 10 mm degrees OMVR 89 Allaxes Move 0 89 mm degrees MICRONIX USA LLC Irvine California www micronixusa com Rev 2 00 5 56 MMC 200 Modular Motion Controller Reference Manual Loop Program This command is used to change the program loop setting If the program loop flag isset any program that is executed will run in a continuous loop It can be combined with the PGS command to run a program continuously on startup A looping program can be stopped atany time by sending a SIP command to the controller Command Description Retums ee operation retumsthe program loop setting forthe specified nPGLx Standard syntax Error s PGLx Missing axis number 30 nPGL Missing program number parameter 28 Parameter n int Axis number Description x int loop flag parameter n 1to 99 x 0 Don tloop l Loop Parameter Range Related Commands PGS SIP Example 1PGL1 Axis 1 Run program 1 continuously 5 57 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual Begin Program Recording Z gt ooo o T a es S Thiscommand is used to enter program recording mode fora specified axis he program being recorded must use a unique Command program number orelse the program will be ignored Usthe LST Description command to check program number availability
25. A read operation retumsthe maximum allowable acceleration value in mm 2 forthe specified axis nAM Xx Standard syntax nAMX Read maximum allowable acceleration value OAM Xx All axes set maximum allowable acceleration value Error 7 AMX Read operation with missing axis number 27 nAMX Missing maximum acceleration parameter 28 n int Axis number x float Maximum acceleration Read maximum allowable acceleration value n Oto 99 X 000 001 to 500 000 mm s degrees s DEC VEL JAC VMX ACC 2AMX1 500 Axis2 Set max acceleration to 1 500 mm s degreess Axis6 Read maxacceleration value MICRONIX USA LLC Irvine California www micronixusa com Rev 2 00 5 17 MMC 200 Modular Motion Controller Reference Manual This command is used to ovemde Auto Addressing by manually assigning an axis numberto a controller Auto Addressing isthe default method of assigning axis numbers on powerup and may be reassigned to an axis by substituting a 0 forthe parameter Command value Simultaneous axis swapping is possible by using multiple ANR Description commandson the same command line x Ihis command can be called globally by specifying a 0 forthe axis number however it will only work if the new axis number parameteris set to O forauto addressing A read operation retumsthe following axis number values forthe specified a xis 0 Auto Addressing assigned default 1 99 Manually assigned
26. Control Panel 3 Device Manager li In Window XP Open Device Manager 1 Start in the bottom left comer by default 2 Control Panel 3 System 4 select the Hardware tab 5 Clickthe device manager button ii In Windows 7 Open the Device Manager b After powerng up the controller Step 4 note the USB Serial Port assigned See the figure below showing a snapshot of the Device Manager window i a Network adapters H 0 Portable Devices F Ports COM amp LPT Connected MMC 200 ce Processors is assigned to COMA H Sound video and game controllers 6 Continue to Quick Start MMC 100 Motion Controller Platform a The following section will help you get running with the MMC 100 Motion Controller Platform program 2 5 micronpc nor 20 MICRONI USA LLG PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual 2 2 Quick Start MMC 100 Motion Controller Platform The following Quick Start Guide is intended to provide a basic set up of the MMC 100 MCP program The MMC 200 can be run with the MMC 100 MCP though some commands will not show up in the settings tab you wil be able to access the full functionality of the MMC 200 with the MMC 100 MCP The following paragraphs will provide a walkthrough of the steps needed to install the program and venfy that the system is working correctly l Pre Installation a 2 Install a 3 Run a anog micronix This guide assume
27. Controller Sync odo do Ed Y do LEY This command is used in a program together with the wait for sync WSY command in orderto synchronize motion between multiple axes Reference Manual Command Description Retums A read operation cannot be used with this command nSYN Standard syntax Syntax OSYN Missing axis number command accepted asstandard synta x Parameter Description nlint Axis number Parameter n Oto 99 Range Related Commands None Example 4SYN Send sync to axis4 5 69 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual Negative Soft Limit Position L1 7 Ly fF This command is used to set the desired negative soft limit position Command using absolute position forthe specified axis The negative soft limit Description position value must be lessthan the positive soft limit position value ILP forthe command to be accepted Retums A read operation retumsthe negative soft limit position value n TILNx Standard syntax nILN Read negative soft limit position value OTLNx All axesset limit position value nILN Setcurent position to negative limit Error s TLN Read operation with missing axis number 27 n int Axis number x float Negative soft limit position Read negative soft limit position Parameter Description Parameter n Oto 99 Range X
28. LUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual 5 8 Summary of Commands Command Description viia ROSIUIS Iro tobe Page ACC Acceleration v v v v vi 16 AMX Maximum Allowable Acceleration vi v v v 17 ANR Set Axis Number vi v v VS 18 CER Clear Errors v v v 19 CFG Configuration Mode v v vi 20 DAT Dump Trace Data v v 21 DBD Closed Loop Deadband vi v v v 22 DEC Deceleration v v Y v v 23 DEF Restore Factory Defaults v 24 EAD Set Analog or Digital Encoder v v v v 25 ENC Select Encoder Resolution v v v v 26 END End Program Recording v v 27 EPL Enc oder Polarity v v v v 28 ERA Erase Program v 29 ERR Read and Clear Errors v v 30 EST Emergency Stop v v 31 EXC Execute Program vi v 32 FBK Set Open or Closed Loop Mode v v v 33 FMR Upload Firmware v 34 FSR Full Steps Per Rev vi v vi 35 GRR GearRatio v v v 36 HCG Home Configuration v v v 37 HOM Home v v v v v 38 JAC Jog Acceleration and Deceleration d vi y vi 39 JOG Jog Mode v vi 40 LCG Limit C onfiguration v v v v 41 LDR Positive Negative Limit Location v v v 42 LIM Limit Status v v 43 LSP Lead Screw Pitch v v v 44 LST Program List v v 45 LPL Limit Switch Polarity v v v 46 MCM MaxMotor Current v v 47 MCS Motor Current Setting v v v 48 MLN Move to Negative Limit v v v 49 MLP Move to Positive Limit v vi v 50 MOT Toggle Motor On Off vi v v v 51 MPL Motor Polarity v v v v 52 MSA Sync hronous Move Absolute v vi 53 mICrOnlmc Rev 2 00 V vine California
29. MMC 200 Series Modular Motion Control System Reference Manual Revision 2 00 Effective 6 01 2012 MICFONIX PRECISION MOTION SOLUTIONS MMC 200 Modular Motion Controller Reference Manual Table of Contents L NTOGOUCBOD sereno bp a E OECD EDD UR Dc EE ED b 1 3 1 1 Product Description 1 3 1 2 Features 1 4 1 3 Package Contents 1 4 2 SU e drip CI e gee ee ne ne er oe ne 2 4 2 1 Quick Start Guide Overview 2 4 2 2 Quick Start MMC 200 Motion Controller Platform 2 6 2 3 Using the MMC 200 Motion Controller Platform 2 7 3 Jechiwcalintomnalloliaoooteonmgonasaninntonndronnoawn KOndornd LOO CODICE ERROR Run CEDERE n RR BH 3 8 3 1 MMC 200 Specifications 3 8 3 2 Serial Port Setup 3 8 3 3 RJ 11 RS485 Bus 3 9 a dQODeFPdlOliuuensasxunsieih seine aE AA aaa aA ENa iaaa Ea aeae EAA 4 9 4 1 Axis Addressing 4 9 4 2 Feedback Control 4 10 4 3 HOM MLN and MLP 4 10 S COS aa A aa 5 11 5 1 Command Line Syntax 5 11 5 2 Command Line Format 5 11 5 3 Global Commands 5 12 5 4 Multiple Parameters 5 12 5 5 Synchronous Move 5 12 5 6 Program Mode 5 12 5 7 Terminating Characters 5 13 5 8 Summary of Commands 5 14 5 9 Command Descriptions 5 16 5 10 Error Messages 5 84 O APPEND a E E ERURYD RIEN ECKE IM EY I I EEVRRURNENE VINE 6 88 6 1 Encoder Input Pin out 6 88 6 2 Motor Input Pin out 6 88 6 3 8 Pin Din IO connector 6 88 6 4 RS 485 Intermodular Connector Cable Pin out 6 89 l
30. Multiple read operationson the same comma nd line Only 21 Li one read operation is allowed perline even if addressed to AS separate axes The maximum number of allowed commandsper 22 TOMAY r NASAN command line hasbeen exceeded No more than 8 me commandsare allowed on a single command line 23 Line Character Limit The maximum number of characters per command line has Exceeded been exceeded Each line hasan 80 character limit The controller could not find an axis numberorthe 24 Missing Axis Number beginning of an insruction Checkthe beginning of the command for erroneous characters The controller could not find a 3 letter instruction in the input 25 Malfomed Command Check to ensure that each instruction in the line has exactly mICrl Onlp PRECISION MOTION SOLUTIONS 3 letters referring to a command 5 84 MICRONIX USA LLC Irvine California www micronixusa com Rev 2 00 MMC 200 Modular Motion Controller Reference Manual The 3 letter instruction entered isnota valid command 26 Invalid Command Ensure that the 3 letter instruction isa recognizable command 27 Global Read Operation Aread request fora command wasentered without an axis Request number A read request cannot be used in a global context 1 The parameter entered doesnot comespond to the type of number that the instruction requires For example the command may expect an integer value therefore sending a floating point value will tigger this error 2 T
31. O Axisl To normal Polarity MICRONIX USA LLC Irvine California www micronixusa com Rev 2 00 5 52 MMC 200 Modular Motion Controller Reference Manual Synchronous Move Absolute Realtime Global a a ea ee es au NN This Command is used to set up a synchronous move using the absolute postion of the axes involved This command is most useful when coordinating motion to an absolute postion between 2 or Command more axesand requiresa RUN command ona separate line to Description execute the synchronous move It is recommended to run multiple MSA commandson the same command line asthey are executed closertogetherthan on separate lines If the position is outside of the soft limits the command will be ignored Retums A read operation isnot available with this command nMSAx Standard syntax OMSAx All axessetup synchronous move Error nMSA Missing absolute position parameter 28 Parameter n int Axis number Description x float Absolute position Parameter n Oto 99 Range X x0 000001 to 999 999999 mm degrees Related Commands RUN MSR 1MSA10 2MSA10 Axis 1 Move to absolute position 10 mm degrees Axis2 Move to absolute position 10 mm degrees All axes Execute synchronous move All axes Move to absolute position 5 mm degrees All axes Execute synchronous move 5 53 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200
32. P vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Restore Factory Defaults L0 4 v pL qq X qp 3 Command Description Reference Manual This command restoresthe factory default parameters Retums A read operation isnot available with this command nDEF Standard syntax Error 3 DEF Missing axis number 30 Parameter Description n int Axis number Parameter Range Related Commands Example Axis 2 Set default parameters 5 24 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual Global Command This command is used to specify whether the encoder sgnal fora Description specified axis is analog or digital A read operation retums the following encoder mode values for the specified axis O Digital 1 Analog Retums nEADX Standard syntax nEAD Read encoder mode value OEADx All axes set encoder value Error 7 XEAD Missing encoder mode parameter 28 EAD Read operation with missing axis number 27 n int Axis number x int Encoder mode Read encoder mode value Parameter Description Parameter n Oto 99 Range X Ofordigital 1 foranalog Related Commands ENC Example Axis 9 Set encoder parameter to digital 5 25 mICrOnlmt Rev 2 00 P vine California PRECISION MOTION SOLUTIONS www
33. PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Continued Command MSR MVA MVR PGL PGM PGS PID POS REZ RST RUN SAV STA SIP SVP SYN TLN TLP TRA UM X UST VEL VER VMX VRT WST WSY ZRO Description Sync hronous Move Relative Move Absolute Move Relative Loop Program Begin Program Recording Run Program At Start Up Set Feedback Constants Read Current Postion Set Resolution Perform Soft Reset Sta rt Sync hronous move Save Axis Settings Sta tus Byte Stop Motion v Sa ve Startup Position Sync Negative Soft Limit Position Positive Soft Limit Position Perform Trace MaxMicro Steps Micro Steps Velocity V Fimware Version Max Allowable Velocity Encoder Velocity Wait For Stop Wait For Syc Wait For Time Period Zero Position Take Axis Offline x see ANR command page 18 for more info MICFONIX Rev 200 PRECISION MOTION SOLUTIONS Dunng Motion S Es SEE ES MS EM SEM ES E ES SESS S NE S Real time vf vi S SER NES lt S D ES OBS MS Program v v SEE ES SE EC Reference Manual Global v v v SW ENS EN EBEN Sie lt S Page 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 el 82 83 MICRONIX USA LLC Irvine California www micronixusa com 5 15 MMC 200 Modular Motion Controller Reference Manual 5 9 C
34. SAV STA SIP SVP SYN TLN TLP TRA UM X UST VEL VER VMX VRT WST WSY ZRO Reference Manual Description Move Relative Loop Program Begin Program Recording Run Program At Start Up Set Feedback Constants Position Set Resolution Perform Soft Reset Start Synchronous move Save Axis Settings Status Byte Stop Motion Save Startup Position Sync Negative Soft Limit Position Positive Soft Limit Position Perform Trace Max Micro Steps Micro steps Velocity Firmware Version Max Allowable Velocity Encoder Velocity Wa it For Stop Wait For Sync Wait For Time Period Zero Position Take Axis Offline MICRONIX USA LLC Irvine California WWW micronixusa com Page 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 7 78 79 80 81 82 83 MMC 200 Modular Motion Controller Reference Manual 1 Introduction 1 1 Product Description The MMC 200 isa high performance integrated stepper motor controller dnver designed to be used asa standalone single axis unit or stacked asa compact multi axis module The MMC 200 is capable of dnving a stepper motor with a resolution as fine as 4096 microsteps per fullstep in open loop The closed loop resolution is dependent on the resolution of the encoder typically 50 nm Panel Back 1 LED Emorndicator 1 a Red An emorhasoccurmred 2 LED Addressing Indicator 2 a Orange Stage isUnaddressed b Green Stage hasan addressand
35. ad Screw Pitch Read Lead Screw Pitch Parameter Description Parameter n Oto 99 Range X 1nm 000001 to 999 999999mm Related Commands LLSP 25 Axis 1 Set pitch to 0 25mm Example 5LSP Axis 5 Read Lead Screw Pitch micronix nor 20 MICRONI USA LLG PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller LST Program List i i During Motion Command Description Retums Synta x Parameter Description Parameter Range Related Commands Example MICFONIX PRECISION MOTION SOLUTIONS Reference Manual This command is used to display a program table that lists stored program sizes and indicates unused program numbers A read operation retumsthe program table forthe specified axis nLST Standard syntax Error 7 LST Read operation with missing axis number 123 nlint Axis number Read program table n 1to99 None 6LST Axis6 read program table MICRONIX USA LLC Irvine California www micronixusa com Rev 2 00 5 45 MMC 200 Modular Motion Controller Reference Manual LPL Limit Switch Pola nty Command This command sets whether the limit switch inputs are active Description high 1 orlow 0 Retums A read operation retumsthe program table forthe specified axis nLPLx Standard syntax Synta x Error s LPLx Missing axis number 30 nLPL Missing limit polarity parameter 28 nlint Axis number
36. ad firmware version Parameter n 1to 99 Range Related Commands None Example Axis 11 Read firmware version 5 76 micronix nor 20 MICRONI USA LLG PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Maximum Allowable Velocity Dunng Motion Real time Program Global oo ae odor do o do do S This command is used to read the maximum allowable velocity for a specific axis This value is calculated based on the stepsper micron parameter in the REZcommand Reference Manual Command Description A read operation retumsthe maximum allowable velocity value in DEUS mm sforthe specified axis nVMX Read maximum allowable velocity value Error VMX Read operation with missing axis number 27 nVMX Missing read operation parameter 123 Parameter n int Axis number Description Read maximum allowable velocity value Parameter n 1to 99 Range Related Commands REZ VEL Example Axis 4 Read maximum allowable velocity value 5 77 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Command Description Retums Parameter Description Parameter Range Related Commands Example MICFONIX PRECISION MOTION SOLUTIONS Reference Manual This command retumsthe actual velocity calculated from the encoder A read operation retumsthe encoder velocity in m
37. ansthat you can send the same command to all available axes To do this replace the axis number of a global command with a 0 Forexample OACC 50 will set the acceleration of all available axes to 50 mmy degrees 2 5 4 Multiple Parameters When dealing with a command that has multiple parameters it is possible to change a single parameter by omitting numbers for the parameters that will remain unchanged Forexample 4PID 3 will only change the third parameterto a new value 3 5 5 Synchronous Move It is possible to move multiple motion devices at the same time or extremely close to by setting up and executing a synchronous move To set up a synchronous move use the MSA and MSR commandson the same command line up to 8 alowed oron separate linesfollowed by a line terminator To execute the move use the RUN command on the proceeding command line followed by a line terminator For example 1MSA4 2MSA4 3MSA4 Axis1 Move 4mm Axis2 Move 4mm Axis 3 Move 4mm ORUN Run Synchronous Move Or 1MSA4 Axis 1 Move 4mm 2MSA4 Axis 2 Move 4mm 3MSA4 Axis 3 Move 4mm ORUN Run Synchronous Move 5 6 Intemal Programming A program may be used to save time when repeatedly using a sequence of commands Each controller or axis must be programmed individually however multiple controllers may execute the same program at the same time A list of available program numbers may be viewed with the PGM command Existing program num
38. ber 27 nDAT Missing read operation parameter 28 Parameter n int Axis number Description Read trace data values Parameter n 1to 99 Range Related Commands TRA Example Axis 11 Read trace data values 5 21 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual Closed Loop Deadband ee ee eee eee eee EMEN Command Description Retums Parameter Description Parameter Range Related Commands micronix USA PRECISION MOTION SOLUTIONS This command is used to set the acceptable deadband and deadband timeout values Deadband refersto the numberof encoder counts 4 from the target that is considered acceptable If the parameter x1 is set to 0 the controller will continuously oscillate around the target Deadband timeout refersto the amount of time that the controller will try to move into the deadband area If the parameter x2 is set to O the controller will seek continuously A read operation retumsthe deadband and deadband timeout valuesforthe specified axis nDBDx1 2 Standard syntax nDBD Read deadband and deadband timeout values ODBDx1 x2 Allaxesset deadband and deadband timeout values Error 7 DBD Read operation with missing axis number 27 nDBD Missing deadband and deadband timeout parameter values 28 n int Axis number x1 int Deadband x2
39. bers cannot be ovemdden unless previously erased using the ERA command To record a program sequence enter the PGM command on a unique line followed by a line terminator End a program sequence by entering the END command on a unique line followed by a line terminator When you want to execute this program use the EXC command See the Summary of Commands page for a list of program compatible commandsand more information about the PGM END and EXC commands mICrOnlmc Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com 5 12 MMC 200 Modular Motion Controller Reference Manual 5 7 Terminating Characters When communicating with the controller it is necessary to note the terminating characters involved in transmitting and receiving data To send data to the controller enter the desired commands in the command line folowed by the new line and camage retum terminating characters n r or just the camage retum terminating character Vr When receiving each line of data will be followed by the new line terminating character V n and the final line will end in the new line and carriage retum terminating characters V nV r The ASCII value for new line A n is OXOA and for camage retum Vr is OXOD The following is an example of data transmission 1VELO 005 Anir Axis 1 Set velocity to 005 mm s degreey New line Carriage Retum 5 13 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SO
40. cks all communication overthe serial port dunng motion The controller will buffer all commands sent during this period and execute them once the command hasfound the index Caution if you write too many commands while this command isexecuting you run the risk of overloading the receive buffer Command Description A read parameter retums the following calibration values for the specified axis QO Notcalibrated to home position 1 Calibrated to home postion Retums nHOM Standard syntax nHOM Retums 1 if homed since last startup otherwise retums 0 OHOM Allaxesexecute home position Error HOM Read operation with missing axis number 27 Parameter Description n int Axis number Parameter Range Related Commands Example Axis1 Move to home position MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com 5 38 MMC 200 Modular Motion Controller Reference Manual Global This Command is used to set the desired value forthe jog acceleration and deceleration fora specified axis The controller will not allow for AC valuesthat are greaterthan AM X Command Description l A read operation retumsthe jog acceleration and deceleration Retums value in mm s forthe specified a xis nJ ACx Standard syntax 0J ACx All axesexecute acceleration value nJAC Read acceleration value Error 7 JAC Read operation with missing axis number 27
41. cription Parameter n Oto 99 Range X Ofornormal operation 1 for reverse operation Related Commands DBD 13EPLO Axis 13 Set encoder polarity to normal operation Axis 6 Set encoder polarity to reverse operation 5 28 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Erase Program Command Description Retums Parameter Description Parameter Range Related Commands Example MICFONIX PRECISION MOTION SOLUTIONS Reference Manual Or o ee ee This command is used to erase a specified program from an axis Before recording a program use the LSTcommand to see what program numbers are available forthat axis There are 16 program numbers available allowing up to 16 programsto be stored An existing program cannot be overwritten and must be erased first Therefore use this command to erase the specified program and make space fora new one A read operation is not available with this command nERAx Standard syntax Error ERAx Missing axis number 30 NERA Missing program number parameter 28 n int Axis number x int Program numberto be erased n 1to 99 X lto 16 LST Axis 5 Erase program 4 MICRONIX USA LLC Irvine California www micronixusa com Rev 2 00 5 29 MMC 200 Modular Motion Controller Reference Manual Read and Clear Errors During Motion Real ti
42. float Deadband timeout Read deadband and deadband timeout values n Oto 99 Xl Encoderdependent 0 for continuous Encoder Counts X2 Encoderdependent 0 for infinite Seconds default 0 ENC EPL LDBDIO l Axis 1 Set deadband to 10 encoder counts amp deadband timeout to 1 second ADBD5 0 Axis4 Set deadband to 5 encodercounts amp deadband timeout to infinite MICRONIX USA LLC Irvine California WWW micronixusa com Rev 2 00 5 22 MMC 200 Modular Motion Controller Reference Manual DEC Deceleration This command is used to set the desired deceleration forthe Command specified axis distinct from the acceleration ACC The Description deceleration value must be lessthan the maximum acceleration value AM X forthe command to be accepted l A read operation retums the deceleration value in mm s for the Retums a i specified axis nDECx Standard syntax nDEC Read deceleration value ODECn All axes st deceleration value Error DEC Read operation with missing axis number 27 nDEC Missing deceleration parameter 28 n int Axis number x float Deceleration Read deceleration value Parameter Description Parameter n Oto 99 Range X 000 001 to AM X 500 000 mm s degrees s Related Commands ACC AMX VEL 2DECL 25 Axis2 Set deceleration to 1 25 mm s degrees s Example 7DEC Axis 7 Read deceleration value 5 23 mICrOnlmt Rev 2 00
43. he allowable precison fora parameter hasbeen exceeded Forexample velocity can be specified witha precision of 0 001 mm sec Ifa more precise velocity value of 0 0001 mm sec is entered this error will be triggered Referto the command pagesfor the type of parameter that each command expects 28 Invalid Parameter Type 29 Invalid Character in There isan alpha character in a parameterthat should be a Parameter numeric character The command entered must be addressed to a specific axis 30 Command Cannot Be number Not all commandscan be used in a global Used In Global Context context Checkthe specific command page orthe table of commandsfor more info The parameter is out of bounds The current state of the 31 Parameter Out Of Bounds controller will not allow this parameter to be used Check the command page for more information The jog velocity can only be changed during motion by using a new JOG command If the VEL command is used to 32 IncomectJog Velocity change the velocity this error will be triggered The VEL Request command can only be used to change velocity during motion initiated by the move commands M VR MVA MSR M SA Sending a JOG command during motion initiated by a move command will tigger this eror To initiate Jog Mode 53 NotInJog Mode the controller should be at stand still To change velocity during a move use the VEL command This emor istriggered when a new trace command is received aftera trace isa
44. he system resolution is calculated from the LSP GRR FSR settings CFG 0 or if it isentered directly by the user CFG Command Description 0 Resolution isautomatically calculated S 1 Resolution is set manually by the user nC FGx Standard syntax nCFG Read configuration setting OC FGx Setall axesto configuration x Eror 4 CFG Read operation with missing axisnumber 27 nCFG Missing Configuration parameter 28 n int Axis number x int Configuration Mode Read Configuration Mode Parameter Description Parameter n Oto 99 Range X Oorl Related Commands LSP GRR FSR 1CFG1 Axis 1 resolution automatic configuration Example E 5CFGO Axis 5 resolution manual configuration 5 20 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual Dump Trace Data DAT p T F CF e n a Thiscommand is used to read trace data from a specified axis Command initially recorded by the trace command TRA The retneved trace Description data set is dumped from the controller consequently allowing the data to be retrieved only once A read operation retumsthe trace data valuesforthe specified axis in the following format Theoretical Position bnm Actual Position 5nm DAC Value Not Used Retums nDAT Read trace data values Error 3 DAT Read operation with missing axis num
45. ip com Drivers VC P htm Below are the virtual RS 232 configuration settings necessary for conect communication setup Software Parameter Setting Data Bits 8 Stop Bits 1 Panty No Handshake No Baud rate 38400 3 8 micronix nor 20 MICRONI USA LLG PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual 3 3 RJ 11 RS485 Bus The RS485 Intermodular RJ 11 connector connects directly to the same Serial busasthe FIDI interface above The RS485 line needsa terminating resistor of 22kO or higher This connector can be used to communicate with the MMC 100 in the place of the USB connection For more on the RS 485 Intermodular RJ 11 connector see the Appendix 6 4 4 Operation 4 1 AxisAddressing Auto Addressing is the default method of assigning axis numbers on start up Controllers are automatically assigned axis numbers on every power up starting with axis 1 and increasing consecutively until reaching axis 99 Manual axis numbers may be assigned to a unique controller using the ANR Command This ovemdes Auto Addressing asthe controller tores the axis number until reassigned or reset back to Auto Addressing In the case of having a mix of manually assigned and auto addressed controllers the Auto Addressed axis numbers increase consecutively after each manually assigned axis in the stack For example in a stack of 5 controllers with the third controller manually assigned to axis 10 the a
46. ity finally resting on the edge of the index he HOM command will always home to the negative side of the limit Index Hardlimit Index Movement Movement d Predetermined Predetermined displacment displacment 4 10 mICrOnlm Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual 5 Commands 5 1 Command Line Syntax NAAAX1 X2 X3 nn Parameters Up to three numeric parameters each separated by a comma May be replaced with a question mark to request a read operation Command Three alpha characters Upper and lower case accepted Axis Number Integer from through 99 Applies to all connected axes if 0 There are three components to every command prompt The first is the Axis Number which designates which controller or axis will receive the command If the Axis Number is O then the command will be sent globally to all connected controllers It is possible to connect up to 99 controllers therefore the Axis Number will be an integer value from O through 99 The second component is the Command which is always comprised of three letters Each command is outlined along with its comesponding parameters in the Command Description section 5 9 of this manual The third and final component is the Parameter This portion is command dependent meaning that the parameter value will change depending on the specific req
47. lar Motion Controller Dunng Motion Move to Positive Limit Reference Manual Command Description Retums Parameter Description Parameter Range Related Commands Example MICFONIX PRECISION MOTION SOLUTIONS a a ee ee ee ee ee This command initiates a move to the postive limit position An emor will occur if there isno encoder sgnal at the time of execution This command blocks all communication over the serial port during motion The controller will buffer all commands sent during this period and execute them once the command has found the limit A read operation isnot available with this command nMLP Standard syntax OMLP All axesexecute move to positive limit position Error 3 MLP Missing axis number 30 n int Axis number MLN LCG 1MLP Axis 1 Move to postive limit position OMLP All Axes Move to positive limit position MICRONIX USA LLC Irvine California www micronixusa com Rev 2 00 5 50 MMC 200 Modular Motion Controller Reference Manual Toggle Motor Off On This command is used to tum the motor curent flow Off or On fora specified axis Primarily used for stages utilizing stepper motors where the motor would be unable to rotate freely while powered Command Description A read operation retumsthe following motor current off on values forthe specified axis O Motorcurent is off 1 Motorcurent ison Retums nMOTx Sta
48. loop mode nFBK1 until it reachesthe deceleration point At this point it constantly readsfrom encoderand correctsits position to amve at the correct position This unlike the first two modescan guarantee position within the specified deadband DBN Command However this mode cannot guarantee a known trajectory The fourth mode nFBK3 isa more traditional closed loop The controller will constantly try to achieve an ideal trapezoidal velocity characteristic Like the previous mode it too can guarantee postion final within the specified deadband 4 3 HOM MLN and MLP The HOM command all requiresthe attached stage to have an encoder The MLN and MLP commands require either an attached encoder or limit switches HCG LCG LDR and LPL are all commandsthat affect the operation of either HOM or MLN and MLP The HOM command will move negative direction by default This can be changed using the HCG command If the stage isabove the index it will move until it reachesthe indexthen move a predetermined distance out of the index in the negative direction The stage will then travel in the positive direction at a Slower speed stopping at the edge of the index If the stage is below the index it will move until it reachesa hard limit orthe maximum travel It then reverses direction and proceeds until it reachesthe index It will then travel a predetermined distance out of the index in the negative direction and finally tra vel toward the indexata slower veloc
49. lready in progress Trace settings 34 Trace Already In Progress maybe modified only if the trace hasn t started recording data Otherwise wait until the trace hasfinished before modifying the trace settings An error occured while recording trace data Try the 35 Trace Did Not Complete ECEN AE 5 85 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller 36 37 38 39 40 41 42 43 44 45 46 47 48 50 Command Cannot Be Executed During Motion Move Outside Soft Limits Read Not Available For This Command Program Number Out of Range Program Size Limit Exceeded Program failed to Record End Command Must Be on its Own Line Failed to Read Program Command Only Valid Within Program Program Already Exists Program Doesn t Exist Read Operations Not Allowed Insde Program Command Not Allowed While Program in Progress Limit Activated mICrlOnlix PRECISION MOTION SOLUTIONS Reference Manual Only certain commandscan be executed when motion is in progress Check the command pagesfor information on individual commands If a requested move will take the controller outsde of the preset tra vel limits then the command will not be executed This error istriggered by a read request from a command that does not support a read operation The number entered forthe program number was either less tha
50. m 0 to 255 describing the status of the axis The byte must be decoded in binary to determine the value of each bit Bt y 6 54 3 2 1 o0 CC 5 ERR Note Bits 2 1 and O are unused Bit 7 l One ormore errors have occurred Use ERR OrCER to clear 0 No Errorshave occurred Bit 6 l Currently in Acceleration phase of motion 0 Not in Acceleration phase of motion Bit 5 l Currently in Constant Velocity phase of motion Retums 0 Not in Constant Velocity phase of motion Bit 4 l Currently in Deceleration phase of motion 0 Not in Deceleration phase of motion Bit3 1 Stage hasstopped In Closed Loop Stage isin the deadband 0 Stage is moving In Closed Loop Stage isout of deadband Bit 2 1 A Program is cumrently running 0 No program isrunning Bit 1 l Postive Switch is Activated 0 Positive Switch is not Activated Bit 0 1 Negative Switch is Activated 0 Negative Switch is not Activated nSTA Standard syntax Error s tas STA Read operation with missing axis number 27 nSTA Missing read operation parameter 28 Parameter n int Axis number Description Read statusregister Parameter EET Range Related Commands None Example 6STA Axis6 Read status register 5 66 mICrOnlnme Rev 2 00 P vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Stop Motion Lv dL E eee eee ee Command Description
51. m s nVRT Standard syntax Error VRT Read operation with missing axis number 27 n int Axis number Axis 5 Read encoder velocity MICRONIX USA LLC Irvine California www micronixusa com Rev 2 00 5 78 MMC 200 Modular Motion Controller Wait For Stop odo do Ed Y do EL Reference Manual Command This command is used in a program to wait until motion is Description completed to begin executing the next command Retums A read operation cannot be used with this command nWST Standard syntax Synta x WST Missing axis number command accepted asstandard syntax Parameter Description n int Axis number Parameter n 1to 99 Range Related Commands None 7WST Axis 7 Wait for motion to stop before Example p executing next command MmMICroOnNIX Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com 5 79 MMC 200 Modular Motion Controller Wait For Sync odo doo Ed Y do LEY Reference Manual Command This command is used in a program together with the sync SYN Description command in orderto synchronize motion between multiple axes Retums A read operation cannot be used with this command nWSY Standard syntax Synta x WSY Missing axis number command accepted asstandard syntax Parameter n int Axis number Desc nption Parameter n 1to 99 Range Related Commands None 1WSY Axis1 Wait until sync command
52. me Global OS a S T a S S T S Command This command is used to read and clearany pending enor Description messages A read operation retums a list of eror messagesforthe specified axis in the following format AAA signifiesthe specific command name that the emor comespondsto Eror Number Description AAA Retums nERR Standard syntax Synta x Eror 4 ERR Read operation with missing axis number 123 Parameter n int Axis number Description Read emor messages Parameter n 1to 99 Range Related Commands Example Axis3 Read emor messages 5 30 micronix nor 20 MICRONI USA LLG PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual EST Emergency Stop ee qp or d Do Po ee o This command is used to stop a specific axisorall connected axes simultaneously in case of an emergency The controller executes the largest possible deceleration Command Description Retums A read operation isnot available with this command nEST Sandard syntax syntax OEST Allaxesexecute emergency stop Parameter Description n int Axis number Parameter Range Related Commands Axis 8 Emergency stop Example All axes Emergency stop micronix nor 20 MICRONI USA LLG PRECISION MOTION SOLUTIONS www micronixusa com 5 31 MMC 200 Modular Motion Controller Dunng Motion Reference Manual Command Descriptio
53. mmand is used to set the desired velocity forthe specified axis The velocity may be changed on the fly by sending another VEL command during motion The velocity value should be lower than the maximum allowable velocity VM X forthe command to be accepted Command Description A read operation retumsthe velocity value in mm sforthe Retums vs specified axis nVELx Standard syntax nVEL Read velocity value OVELx Missing axis number all axes set velocity Error 7 VEL Read operation with missing axis number 27 nVEL Missing velocity parameter 28 n int Axis number x float Velocity value Read velocity value Parameter Description Parameter n Oto 99 Range X 000 001 to VM X 999 999 mm s degrees s Related Commands VMX REZ IVE 25 Axis 1 Set velocity to 0 25mm s degrees s Example x 5VEL Axis5 Read velocity value 5 75 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual Firmware Version E ee ee ee eee ee ee Command This command is used to check the firmware version forthe Description specified axis Retums A read operation retumsthe firmware version forthe specified axis nVER Standard syntax Error s VER Read operation with missing axis number 27 nVER Missing read operation parameter 28 Parameter n int Axis number Description Re
54. n Retums Parameter Description Parameter Range Related Commands Example MICFONIX PRECISION MOTION SOLUTIONS a ee eee ee This command is used to execute a specified program for one or multiple axes If executing a program globally all connected axes should have individual programs stored underthe specified program number priorto execution A read operation is not available with this command nEXCXx Standard syntax OEXCx Allaxesexecute program Error nEXC Missing program number parameter 123 n int Axis number x float Program numberto be executed n Oto 99 x 1to 64 PGM 4EXC5 Axis 4 Execute program 5 OEXC2 All axes Execute program 2 MICRONIX USA LLC Irvine California WWW micronixusa com Rev 2 00 5 32 MMC 200 Modular Motion Controller Reference Manual Global Command This command is used to select the feedback mode of the Description controller See section 4 2 for more details A read operation retumsthe following loop mode valuesforthe specified a xis O Open Loop default 1 Not Yet Implimented 2 Clean Open Loop Movement Closed Loop deceleration 3 Closed Loop nFBKx Standard syntax nFBK Read encoder mode value Error 3 FBKx Missing axis number 30 FBK Read operation with missing axis number 27 nFBK Missing closed open loop parameter 28 n int Axis number x float Open closed loop mode Read encoder m
55. n 1to 99 Parameter Xl 0 000 to 1 000 Range X2 0 000 to 1 000 X3 0 000 to 1 000 Related Commands FBK ENC POS 5PID O7 04 05 Axis5 Set encoderfeedback constantsto 0 02 0 04 and 0 05 respectively 2PID403 Axis 2 Set encoder feedback constant Kp to 0 03 other constants remain unchanged APID 7 07 Axis 4 Set encoder feedback constant Ka to 0 07 other constants remain unchanged 5 60 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual Read Current Position S a ee ee ee ee eee eee eee Command This command is used to read the postion information from the Description specified axis controller A read operation retums the postion values in mm forthe specified axis in the following format Theoretical position in mm Encoder position in mm Iheoretical position in degrees Encoder position in degrees Retums nPOS Standard syntax Syntax Error s POS Read operation with missing axis number 27 Parameter n int Axis number Description Read position values Parameter n 1to 99 Range Related Commands MVR Example Axis4 Read position values 5 61 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual Command This command sets the system resolution Description The units
56. n 1 orgreater than 16 The program hasexceeded the character limit of 4 Kb Error in recording program Erase program and try operation again The End command used to end a program must be ona separate line from all other instructions An error occured while trying to read a program Try the Operation again The command that triggered this error is only suitable for use within a program A program already existsforthe indicated program parameter The program must be erased with the ERA command before being written again The indicated program does not exist This eror can occur when you try to execute a program numberthat has not had a program assigned to it Read Operations are not permitted in programs The command that triggered this eror was given while a program wasexecuting Motion in the direction of the activated limit switch is disallowed if limit switches are enabled 5 86 MICRONIX USA LLC Irvine California www micronixusa com Rev 2 00 MMC 200 Modular Motion Controller Reference Manual The requested move will take the controller outside of p Earl its valid travel range therefore the move isdisallowed A Home ora Move To Limit Procedure isin progress Motion commandsare disallowed dunng thistime A 52 Home In Progress STP or ESTCommand can be used to terminate the Home and then a motion command can be sent The I O Function in question is already assigned to IO Function Already In anotherl O
57. ndard syntax nMOT Read motorcurment off on value OMOTx All axes set motor value Error MOT Read operation with missing axis number 27 XMOT Missing motoroff on parameter 28 n int Axis number x float Motorcurent off on Read motor cument off on value Parameter Description n Oto 99 X Oformotor curment off 1 for motor current on Parameter Range Related Commands None Example 1MOTO Axisl Set motor current to off 5 51 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Toggle Motor Polanty Dunng Motion Command Description Retums Parameter Description Parameter Range Related Commands Example MICFONIX PRECISION MOTION SOLUTIONS Reference Manual This command set the motor polarity forthe specified axis If the theoretical positive direction is away from the motor changing this setting will make the theoretical positive direction towardsto motor A read operation retumsthe curent motor polarity setting forthe specified a xis nMPLx Standard syntax nMPL Read Motor polarity value OMPLx All axesset motor polarity value Error MPL Read operation with missing axis number 27 nMPL Missing motor polarity parameter 28 n int Axis number x float Motor Polarity setting Read motorcurent off on value n Oto 99 X ONomnal l Reverse MVR 1MP L
58. ode value Parameter Description n 1to 99 X Oforopen loop mode 2 foropen loop with closed loop deceleration 3 closed loop Parameter Range Related Commands ENC EAD EPL DBD Example 2FBK3 Axis 2 Set closed loop mode 5 33 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Upload Firmware ood do Eo lo Command This command is used by the bootloaderto upload new firmware Description to the specified a xis Reference Manual Retums ai A read operation cannot be used with this command nFMR Standard syntax Syntax Error 4 FMR Missing axisnumber 30 Parameter Description n int Axisnumber Parameter n 1to 99 Range Related Commands VER Example Axis1 upload new firmware 5 34 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Full Steps Per Revolution Dunng Motion Real time Reference Manual Lx ee ee Command This command is used to set the number of full steps per single Description revolution of the motor shaft It is determined by the motor A read operation retumsthe Full Steps Per Revolution forthe Retums A specified a xis nFSRx Standard syntax nFSR Read Full SepsPer Revolution OFSRx All axes set Full Steps Per Revolution to x Error 7 FSR Read operation with missing axi
59. ommand Descnptions Acceleration Dunng Motion Real time Program Global a a v0 1 This command is used to set the desired acceleration forthe Command specified axis distinct from the deceleration DEC The Description acceleration value must be lessthan the maximum acceleration AM X forthe command to be accepted A read operation retumsthe acceleration value in mm sforthe Retums specified axis nACCx Standard syntax nACC Read acceleration value OACCXx All axesset acceleration value Error 7 ACC Read operation with missing axis number 27 nACC Missing acceleration parameter 28 n int Axis number x float Acceleration Read acceleration value Parameter Description Parameter n Oto 99 Range X 000 001 to AM X 500 000 mm s degrees s Related Commands DEC VEL JAC AMX SACCO ZDO Axis 3 Set acceleration to 0 25mm s degrees s Example AACC Axis 4 Read acceleration value 5 16 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Maximum Allowable Acceleration During Motion Global Lege ae Command Description Retums Parameter Description Parameter Range Related Commands Example mICrlOnlx PRECISION MOTION SOLUTIONS Reference Manual This command is used to set the maximum allowable acceleration forthe specified a xis
60. oper drivers onto the communicating computer prior to connecting the MMC 200 b Ihe drivers may be found on the supplemental installation CD or can be downloaded from http www ftdichip c om Drivers VC P htm 2 Connect Motion Devices a A single MMC 200 controller is capable of driving one stepper motor in either open orclosed loop b Connect the male D sub 9 pin stepper motor cable to the Motor Axis Input asshown in the Product Description c If applicable connect the female D sub 9 pin closed loop feedback cable to the Encoder Input This value istheoretical actual value with vary depending on the attached stepper motor mICrOnlmc Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller 3 Connect Module Stack to PC a Use the supplied Mini USB to USB cable to connect the MMC 200 controller to the communicating PC Only one USB cable isrequired per module stack Reference Manual 4 Power Up Controller a Connect the controller to a 24V regulated power supply with the cormect amperage rating b Each MMC 200 requires 1A If powering a sack add up the amperage requirements of the individual controllers to determine the necessary power supply forthe stack 5 Check COM Port a It is necessary to note the COM Port assigned to the MMC 200 when connecting to a PC i In Windows Visa Open the Device Manager 1 Windows Logo in the bottom left comer by default 2
61. r Cument Error 7 MCS Read operation with missing axis number 27 nMCS Missing current parameter 28 n int Axis number x float motorcurment in Amps Read cument value Parameter Description Parameter n Oto 99 Range X Oto MCM 2A Related Commands MCM IMCS 25 Axis 1 Set motor current to 0 25A Example i 5MCS Axis 5 Read motor current value 5 48 micronix nor 20 MICRONI USA LLG PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Command Description Retums Parameter Description Parameter Range Related Commands Example MICFONIX PRECISION MOTION SOLUTIONS Reference Manual Move to Negative Limit Lv qo Jg x Jo This command initiates a move to the negative limit position An emor will occur if there isno encoder sgnal at the time of execution This command blocks all communication overthe serial port during motion The controller will buffer all commands sent during this period and execute them once the command has found the limit A read operation isnot available with this command nMLN Standard syntax OMLN All axesexecute move to negative limit position Error MLN Missing axis number 30 n int Axis number Axis 8 Move to negative limit position All Axes Move to negative limit position MICRONIX USA LLC Irvine California www micronixusa com Rev 2 00 5 49 MMC 200 Modu
62. s you have already run through the previous Quick Start guide and that the controller is on and connected to a Com port on your computer Please verify that this is true You will need the NET Framework 4 0 If you are unsure if you have the NET Framework 4 0 follow these steps i Open the start menu windowsicon if using Vista li Open the Control Panel il Open Add or Remove Programs Programs and Features if using Vista iv Scroll through the list and find Microsoft NET Framework If it is 4 0 skip to step 2 Otherwise continue with step c To install the NET Framework 4 0 you will need a connection to the intemet i Navigate to this site http www microsoft com downloads details aspx FamilyID 9cfb2d5 1 5ff4 4491 b Oe 5 b 386f32c 0992 amp displa yla ng en i Download and run the web installer lil Atthe concluson of this install you will be asked to restart your computer Do this now To install the MMC 100 motion controller platform double click the setup exe flle on the supplied CD and follow the on screen instructions The installer placed a start menu short cut to the MMC 100 MCP program Make sure that your MMC 200 is connected to your computer powered on and connected to a valid COM portasdiscussed in section 2 1 Open the start menu or windows icon for vista Open the all programs tab Open the MICRONIX USA folder Run the MMC 100 MCP program MICRONIX USA LLC USA RES ADU Irvine California
63. snumber 27 nFSR Missing full step per rev parameter 28 n int Axis number x int Velocity value Read velocity value Parameter Description Parameter n Oto 99 Range X 0 10000 Related Commands 1FSR2000 Axis 1 Set 2000 Full Steps Per Rev Example a 5F SR Axis 5 Read Full steps Revolution 5 35 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual Gear Ratio aS Gn e a Lv ee ee ee Command This command is used to set the gearratio If no geanng is used it Description should be set to 1 1 which isthe default A read operation retumsthe velocity value in mm sforthe Retums te specified axis nGRRxy Standard syntax nGRR Read Gearratio value OGRRXy allaxesset gearratio to xy Error GRR Read operation with missing axis number 27 nGRR Missing Gear Ratio parameter 28 nlint Axis number Parameter x float Leadscrew Revs Description y float Motor Shaft Revs Read Gear Ratio value n Oto 99 X 1 50000 y 1 50000 Parameter Range Related Commands 1GRR100 1 Axis 1 100 1 Example 5GRR Axis 5 Read Gear Ratio value 5 36 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Home Configuration Dunng Motion Real time Program Global Eo odo op or f bd ee eee ee
64. uirements of the Command Where applicable a question mark may be substituted to initiate a read operation which will retum information regarding the particular command There may be up to three separate parameters for a particular command each parameter value is separated by a comma All white space blank spaces are ignored in the command format The following are examples of equivalent commands 4TRM13 45 4 TRM 13 45 5 2 Command Line Format Commands are first executed in the order that they are input then line by line This means that two commands on the same line are executed sgnificantly closer to each other than if they were on two separate lines Each command is separated by a semicolon and every command line ends in a terminator EX carriage retum The following is an example of a command line entry 1MVR16 3MVR12 Axis1 Move 16 mm 16 degrees Axis 3 Move 12 mm 12 degrees 5 11 MICFONIK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual Using multiple commands on the same command line allows for synchronization of different commands to different axes Up to 8 commandsare allowed percommand line Only one read operation is allowed per line The controller will not send information unless requested to do so by a read operation 5 3 Global Commands Some commands have the option of being called globally This me
65. use Reference Manual Retums A read operation is not available with this command nEND Standard syntax Syntax Error 44 END Missing axis number 30 Parameter Description n int Axis number Parameter n 1to 99 Range Related Commands REC EXC PGM 1PGM Axis 1 Begin program recording 1VEL1 lACC 5 Axis 1 Set velocity value to 1 mm s Axis 1 Set acceleration value to 0 5 mm s degrees e 1END Axis 1 End program recording 5 27 mICrOnlmt Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual Encoder Polarity Globa LL qoc v qp v qq X v 4 This command is used to switch the encoder signal polarity for the specified axis If the controller doesn t seem to be recording encoder postion correctly the polarity of the encodersgnals could be reversed Use this command to switch from the default setting normal operation n 0 Command Description A read operation retumsthe following encoder polarity valuesfor the specified axis 0 Nomal operation 1 Reverse operation nEPLx Standard syntax nEPL Read encoderpolarity value OEPLx Allaxesexecute encoder polarity value Error 3 EPL Read operation with missing axis number 27 nEPL Missing encoder polarity parameter 28 n int Axis number xifloat Encoder polarity Read encoder polarity value Parameter Des
66. v Command This command is used to select the direction of motion when the Description Home HOM command is initialized Reference Manual A read operation retumsthe current direction setting Retums O0 Home startsin the direction of the negative limit 1 Home startsin the direction of the positive limit nHCGx Standard syntax OHCGx All axesset direction nHCG Read direction setting Error 7 HCG Read operation with missing axis number 27 nHCG Missing direction setting 28 Parameter n int Axis number Description x int Set direction of motion n Oto 99 X Oforsetting motion in the direction of the negative limit 1 for setting motion in the direction of the positive limit Parameter Range Related Commands HOM Axis3 Set initial direction of Home command towardsthe negative limit All Axes Set initial direction of Home command towardsthe positive limit 5 37 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual Xd ee ee ee ee Lov qx x d This command is used to find the home zero position fora specified axis An emor will occur if there is no encoder signal at the time of execution Home is configured using the HCG command This command will jog the stage till it reachesthe limit configured by the HCG command It will then acquire the zero postion by looking forthe index This command blo
67. ww micronixusa com MMC 200 Modular Motion Controller Perform Trace During Motion Real time Program Global ct 4 bL l f 1 j Command Description Reference Manual This command is used to execute a trace of the specified a xis A read operation retumsthe position samplestaken forthe Retums s specified axis nTRAx1 x2 x3 Standard syntax n IRA Read position values OTLPx1 x2 x3 Allaxesexecute trace Error s TRA Read operation with missing axis number 27 NITRA Missing parameters 28 nlint Axis number xl int Number of samples ta ken default is 1000 x2 int 10kHz Sampling frequency default is 1 x3 float Trace starting position default is immediate Read position Parameter Description n Oto 99 Parameter xl 1to 9000 Range X2 1to 1000 Servo clocks per cycle X3 000 000000 to 999 999999 mm degrees Related Commands DAT DIRA5 10 1 Axis5 execute trace with 5 samplesata sampling frequency of 1kHz starting at a position of 1 mm degrees STRA2000 Axis3 execute trace with 2000 samplesat a sampling frequency of 10kHz starting at the Current position 5 72 MICFONITK Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual UMX Max Microsteps During Motion Real time Lx qp xl Command Query only Retumsthe max number of microsteps achievable Description based
68. xis numbers will read 1 2 18 11 12 If two controllers are accidentally assigned the same axis number use a global command to reset all controllers back to Auto Addressing The figures shown below illustrate axisnumbers fora 5 module stack with Auto Addressing assigned Axis 1 is noted and shown in grey Axis 1 n Horizontal stack rear view Vertical stack rear view With powerinputs along bottom Axis With power inputs along left hand lison the farleft side Axis 1 ison the very top 4 9 mICrOnlme Rev 2 00 V vine California PRECISION MOTION SOLUTIONS www micronixusa com MMC 200 Modular Motion Controller Reference Manual 4 2 Feedback Control The MMC 200 has four different movement modesof operation When executing a move command the controller will drive a stage differently when set to different modes The FBK command is used to switch between these modes The first mode nFBKO isa traditional Open Loop It followsa standard trapezoidal velocity characteristic It basesthe transition between acceleration constant velocity and deceleration on the resolution settings nREZx or the distance it travels in one pulse This is entirely theoretical and doesnot guarantee a set trajectory orend point The third mode nFBK2 isa version of closed loop meaning it takes position data from an attached encoderand usesit to ensure that it topsat the desred position In this mode the controller runs in the second open

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