User`s Manual Huber Slit Controller
Contents
1. Syntax Module Id W Index of variable in memory New Value Returns S Module 1d OK Old value New value DONE if successful Module Id ERROR bad index or value read only Example Primary Vertical Slit W 1 4000 SXIAHSC B 0037 OK 4400 4000 DONE changes upper motion limit 7 Error Codes and Descriptions The HSC 1 reports any errors using error codes and optionally with brief text describing error The error codes are described below 7 1 Error 0 Missing Command This error is reported when an HSC 1 module receives a valid address but no command follows The address is followed by at least one space then a carriage return with no non space characters between the module id and the carriage return No error is reported if the module id is immediately followed by a carriage return since the controller uses a space to define the end of the module id 7 2 Error 1 Unrecognized Command This error is reported when the first non space character after the module id is not a valid command character as listed in Table 4 7 3 Error 2 Input Buffer Overflow This error indicates that the command was too long to be stored in the input text buffer The buffer is long enough to hold any valid command so this error indicates an invalid command or perhaps a problem with the serial connection such that the carriage return that terminates the command is not recognized by the controller The input buffer is 32 characters deep and stores th2. Syntax Module Id M Apos Bpos Returns sModule Id OK immediately if movement is allowed SModule Id ERROR if movement not allowed or command error SModule Id BUSY if controller is busy SModule Id Apos Bpos DONE after motion is complete Example Primary Vertical Slit M 1000 1500 SXIAHSC B 0037 OK Motors move SXIAHSC B 0037 1000 1500 DONE For code version 1 3 or later the M command also supports relative and null motion The character specifies that the corresponding motor should not be moved A or character indicates that the move will be relative where the following number gives the number of steps to move The character is used to specify counter clockwise motion the absolute step number increases and the character specifies clockwise motion the absolute step number decreases Any combination of absolute relative and null motion can be combined in the same command A space must separate the argument controlling motion for motor A and the argument specifying the motion for motor B Syntax for Relative motion Module Id M or NstepsA or NstepsB Examples Primary Vertical Slit M 500 SXIAHSC B 0037 OK motor B moves 500 steps CW SXIAHSC B 0037 1000 1000 DONE Primary Vertical Slit M 2000 100 SXIAHSC B 0037 OK motor A moves to 2000 absolute motor B moves 100 steps CCW SXIAHSC B 0037 2000 1100 DONE Primary Vertical Slit M 750 S
3. any HSC device can pull the line low in order to reserve the line The arbitration line must be connected to all HSC devices but isolated from the host This is controlled by the setting of jumper JP1 located in the corner of the PC board adjacent to the input DB9 connector The jumper has two possible positions there are three pins the On position corresponds to connecting the two pins furthest from the edge of the board In the on position the Arbitration line is connected to pin 9 of the input connector In the Off position the two pins closest to the edge of the board are connected pin 9 of the input connector is isolated from the arbitration line For proper operation the jumper positions on the HSC devices should be set as follows e On the first HSC device in the chain closest to the host set JP1 to the Off position e Onall other devices keep JP1 in the On position Manual Huber Slit Controller mdo HSC MAN 1 4 1 Figure 2 Jumper JP1 looking from the input connector side of the HSC There is a small amount of time between when a device tests the arbitration line to see if the RxD line is available and when the line is pulled low this allows situations where multiple devices can pull the arbitration line low To avoid garbled responses from such situations a second level of arbitration is used after an amount of time specific to a particular device the arbitration line is released momentari
4. The motor position in steps corresponding to the zero position of the slits is variable and can be located anywhere within the allowed range of motion see Section 6 3 13 By default the slit origin corresponds to 400 steps which allows 1 mm of inward motion beyond the origin Note that if a slit is moved more than 0 5 mm inward past the origin it begins to leak behind the slit i e there is a gap between the back of the slit and the frame of the slit assembly The following figure illustrates the coordinate system used by the HSC 1 400 by 4400 by STEPS 0 default default NNER SLIT OUTER MOTION MOTION LIMIT ORIGIN LIMIT Figure 3 HSC coordinate system 4 3 Calibration One of the most important aspects to understand about using the HSC to control Huber Slits is the fact that there is no position feedback from the slits to the motor controller As a result it is absolutely essential that the controller keep track of the slit locations at all times so that the slits can be moved without running into each other or running them off their screws After mechanical and electrical installation the HSC 1 controller does not know the position of the slits and no movement is allowed The HSC must be calibrated which simply involves locating the origin both slits set to 0 of the slits for the controller There are two calibration modes available with the HSC 1 manual where the user
5. B 0037 1 A Motor A moves one step CCW Gl SXIAHSC B 0037 OK 401 400 DON 6 3 3 A Alias Allows the assignment of a unique user specified module alias which can be used instead of the serial number to address a module Only one alias per module is allowed the alias can be up to 24 characters in length Note that there can be no imbedded spaces The alias can be cleared by using module alias Syntax Module Id A Module Alias 15 Manual Huber Slit Controller mdo HSC MAN 1 4 1 Returns SModule Id OK Module Alias DONE if successful Module Id BUSY if motors are moving alias not changed Note As in all commands Module Id can be either the module serial number or the previously assigned alias so you can use the old alias while assigning a new alias Example XIAHSC B 0037 A Primary Vertical Slit SXIAHSC B 0037 OK Primary Vertical Slit DONE T 6 3 4 C Close Slits Close the slit aperture by the specified number of steps If the number of steps is even the aperture center remains fixed If the number of steps is odd one slit will move one step more than the other slit The choice of which slit moves more is alternated so that there will be no accumulated drift This is true in general an arbitrary sequence of open and close commands will not produce any accumulated drift of the center position Syntax Module Id C A opening Returns sModule Id OK immediately if movement is allowed
6. characters are ignored The default escape character is which corresponds to 33 ASCII Any printable ASCII character can be used except for characters a z A Z numerals 0 9 and which are used in the body of commands Any character used for the escape character should not be used as part of a module alias Using the default escape character is strongly recommended 10 Manual Huber Slit Controller mdo HSC MAN 1 4 1 e Arbitration priority this value determines how long the device waits after initially grabbing the arbitration line before releasing it briefly to test if another device is also trying to talk and holding the line down If the line is held down the device testing the line releases the line and waits until it is available If more than one device grab the line simultaneously the device with the highest arbitration priority the one that waits the longest before testing the line will win control of the RxD line and talk first Ideally every device on the line will have a different arbitration priority Each unit corresponds to a delay of 40 usec on top of a minimum delay of 40 usec By default this parameter is set based on the serial number a check sum is formed from all characters in the serial number then the lowest four bits are used for the arbitration priority giving values from 0 through 15 Ifall devices on a daisy chain have consecutive serial numbers t
7. needs access to the HSC to press the buttons and immediate where the controller just sets the motors to their zero positions and sets the calibrated flag to true Each mode will be discussed separately See Section 6 3 1 for instructions on how to send the appropriate calibration commands Note that both calibration modes set the motor positions to the values corresponding to the slit origins there is no way to set the motor positions to an arbitrary value which can be dangerous if the motor positions are set to the wrong values As long as limits are enabled the controller will never move the slits closer Manual Huber Slit Controller mdo HSC MAN 1 4 1 together than their calibrated origins so there is no danger of running the slits into each other with the calibration modes that are supported 4 3 1 Manual Calibration Manual calibration is the best way to make the stored motor zero positions correspond exactly to the origin of the slits The procedure is described below note that the calibration sequence is aborted if there is ever a thirty second period in which no buttons are pressed If the calibration sequence is aborted the controller is left in an uncalibrated state even if the controller was calibrated before initiating the calibration sequence e Send the command to initiate the manual calibration see Section 6 3 1 to the HSC all four LED s will flash e Manually by rotating the knobs couplers position each slit at th
8. olla tans ie ta e n ed o Marias faith nile le 16 6 3 5 DS TING URIS 2 Le E A dE AAA DNAS AAA di Ean eE 16 6 3 6 PKG MIO VEMIEM ticas da codi adidas de ado Ms de Leh ne de poa y edo ft do ia 16 6 3 7 M Move absolute for Version 1 2 or less absolute or relative for version 1 3 and later 17 6 3 8 OF Open SUIS a ta A A E Ll A ita 18 6 3 9 Pa Position Nguy 5530 03 soca E A A RE AA eL 18 6 3 10 R Read internal MCMOTY ccceccceceesceseeseveecnseeecnseeseesecseescesecseeseceeeecseeseesecsesseceveecnseeseeaeeaeeas 18 O MI ES AS ARA A E RE RAR 19 bI EsTeseModules til DA a rd a a e e a rd nr cdo IL 19 6 3 13 W Write to internal Memory cccccececcecessceteeseeteenseeecusesscsecseesecseeescaseesesessecsecieveecnssessenenaeats 20 7 Error Codes and DeSCriptions iseanan aae aaa aa eenaa a eaaa aa enaa aoaea 20 7 1 ERROR 0 MISSING COMMAND ssessssssececeesessesecececseseeseceecceceeaaeeeeececsessaasceeececeessaeeeeeeeeeentaaeas 20 7 2 ERROR 1 UNRECOGNIZED COMMAND cocccccncononononcnccnonnanononconononnanononcorononnnnonnnconononnnnononcncononnnnanoss 20 7 3 ERROR 2 INPUT BUFFER OVERFLOW occoccccconononononcnccnonnnnononconononnanononcnnononnnnonnnnonononnnnononcncononnnannss 20 7 4 ERROR 3 NO NEW ALIAS GIVEN scsssssscceceesesseseeececeeseeseceeececneeaaeeeescecsesssaeceeeceeeesssaseeeeeeceennaaeas 20 7 5 ERROR 4 ALTAS TOO LONG sciis cavcesdecceastsaszccecsteeteasscueessgasvasvssa cue AR EE E E ER R 21 7 6 ERROR 5 INVALID FIELD PARA
9. on the controller printed circuit board One serial port can be used to communicate with many HSC 1 devices the upper limit depends on the specific installation Note that the serial port does not provide the power to drive the devices a power supply kit is available separately to provide power for up to four HSC 1 devices This kit model HSC PWR consists of a desktop power supply and a special adapter cable which converts a standard 9 pin RS 232 connector to the special pin out used by the HSC 1 Installations with more than 4 HSC 1 devices require multiple power supplies and adapters The language used to control the HSC 1 controllers is simple yet very flexible The commands are easy to use and remember making manual control using a terminal or terminal window a real option for a simple experimental setup 1 1 Summary of Features One HSC 1 drives one axis of Huber slits Low cost no other control circuitry required Low noise low power 2 5 um step Onboard micro controller and motor drivers Simple RS 232 command language Wall transformer powers up to 4 HSC units Power and RS 232 signals daisy chained between units reducing cabling requirements User controlled firmware motion limits Current location and parameters saved on power failure Pushbuttons allow manual motor control while letting the controller track motion Safe torque levels no danger of damage to slits 1 2 Summary of Installation Procedure Mechanical insta
10. one on the same pair of slits or even installing a new pair of slits already instrumented with HSC 1 controllers The main problem concerns addressing the replacement controller If the controlling program uses the serial numbers to address the modules then the program must be updated with the serial number of the replacement module either by hand or by polling all of the devices using the ALL address and searching for new serial numbers If the program addresses the modules using aliases then the alias of the replacement module must be set to match the alias of the module being replaced There are two basic approaches to setting the alias to match the desired alias e Set the new alias with the new module in its place on the daisy chain of devices To set the alias in this situation it is necessary for the program to know the serial number of the new module This can be done either through user input or by polling all the devices to get their serial numbers using the ALL address and the Inquiry command described below and then comparing the returned serial numbers with the list of serial numbers previously in use The serial number of the replacement module will not be known and can be given the alias corresponding to the serial number that came up missing e The other approach to setting the alias avoids the problem of having to know the serial number In this approach the replacement module is installed temporarily as the only device on th
11. to making the electrical connections described in Section 3 Manual Huber Slit Controller mdo HSC MAN 1 4 1 2 1 2 3 4 5 6 7 Figure 1 HSC 1 standoff mounting hole pattern all dimensions are in millimeters M3 x 0 5 Tapped 4 places gt 3 mm full thread o a Y 13 70 30 20 Pattern centered horizontally on slit List of Parts in Standard unit as shipped HSC 1 assembly containing 2 stepper motors and controlling circuitry Black anodized aluminum mounting post Aluminum jig to locate mounting post on the Huber slit assembly Four M3x25 socket head screws to attach the standoff to the Huber slit assembly Two 6 32x3 8 bolts to attach the HSC assembly to the mounting post Two helical shaft couplers to connect the motor shaft to the control knobs on the Huber slit assembly 2 5 mm hex key 2 2 Mechanical Assembly Procedure 1 First mount the standoff on the Huber slit assembly using the 4 socket head metric screws which require a 2 5 mm Allen key included Locate the orientation dimple on the standoff adjacent to one of the holes used to mount the HSC 1 assembly The standoff should be oriented so that the marked mounting hole is over the position scale of the slits not hanging over the edge of the slit assembly If the coupler is installed backwards the motors will not be centered over the knobs and binding may result Use the Aluminum mounting jig to center the mounting post between the knobs see sep
12. HSC devices three each for power and ground see the Table above Only one supply voltage is needed on each board this voltage is filtered and used to drive the motors as well as to produce the 5 Volts used by the digital logic The filtering keeps the noise from the motor drivers switching power supplies off of the common supply bus The power requirements for a single HSC 1 module are listed below e Supply Voltage Range 24 30 Volts Voltages lower than 24 Volts may be used with less immunity to accidentally triggering the power failure sensing circuit which uses a threshold of 18 Volts e Supply Current 50 mA with no motors moving 175 mA with one motor moving motor current set to high 300 mA with both motors moving motor current set to high The easiest way to connect power to an HSC system is to use the HSC PWR adapter cable and associated power supply one supply and adapter module is needed for every four HSC 1 modules One end of the 6 foot adapter cable female DB9 labeled HSC PWR plugs directly into the first HSC 1 controller in a daisy chain thumbscrews are provided to secure the connector to the HSC 1 The other end of the adapter cable incorporates both a male DB9 connector with jackscrews for making the connection to the host serial port and a power jack To provide power to the HSC 1 just insert the round plug at the end of the cable from the power supply module into the power jack The power adapter can also b
13. METER ccsessssscececeesesseseceeeceesesseaeeeeececsesssaeceeeceeeenssaeeeeeceeeeneaaeas 21 7 7 ERROR 6 VALUE QUT OFRANGE cocida ved case os n teasv nacidas 21 7 8 ERROR 7 PARAMETER IS READ ONLY osn pei n ap e aR E a EE E S E A ii 21 7 9 ERROR 8 INVALID MISSING ARGUMENT cceccccessssceceescececssceeceessecccsessececseseceesseeccsesseceestetecseaas 21 7 10 ERROR 9 NO MOVEMENT REQUIRED sheni ii r EE e ELE AIE S RE EE ais 21 7 11 ERROR 10 UNCALIBRATED NO MOTION ALLOWED cccceesessscecececseseneceeeeecsesesnsseceesceesenteaeeeeecs 21 7 12 ERROR 11 MOTION OUT OFRANGE nionem te E E e E e A E S e RE EEEE 21 7 13 ERROR 12 INVALID OR MISSING DIRECTION CHARACTER cssssssccececsesenseceeeeecsesesssaeeeesesenenssaeeeeees 22 7 14 ERROR 13 INVALID MOTOR SPECIFIED c cccccccccsesessscecececsesssseceeececseseeeeeeeecseseseaeeeesceenenssaeeeeees 22 Manual Huber Slit Controller mdo HSC MAN 1 4 1 1 Introduction The HSC 1 stepper motor controller from X ray Instrumentation Associates XIA is designed to provide a flexible and easy way to control Huber Slits All motor control is performed locally by the small self contained HSC 1 unit that attaches directly to the Huber slit assembly Computer control is very easy using a simple set of ASCII commands sent through a standard RS 232 serial port even a dumb terminal can be used to communicate with the HSC 1 controller The slits can also be controlled directly using buttons
14. NNECTIONS siii alada aiii 5 3 3 ARBITRATION ie bees 5 4 HSC Units Coordinate System and Calibration cooomomocicicnnnnnnnnsconccnccnnnnnnannnennnnnnnnnns 6 4 1 NO 6 4 2 COORDINATE SYSTEM AND LIMITS ccccecsesssececececsesssccecececsessaecececscsesssaaececccsesensaaeceeeesesensaaees 7 4 3 CALIBRATION tri bbe dea cee a otk cae daslee eos ddhevecveus a e a o toad 7 4 3 1 Manual Oa ra O nik asses eed avs ih th tibet tthe 8 4 3 2 Immediate Calibration ccccccccccccccccccccccccccccceucececucecececececececececececececscscececeeeeeeeceececceeeeeeecens 9 4 3 3 CIN CAUIDIGLE chick ck eA ese eas oS eS I RN 9 5 HSC Operation and Setup 2 ccceseeeceeceseesseeeee ener eneeeneseaeeeceeeeasenaceeeeeseeesaaenaseeeeeseeeeeasensees 9 5 1 MANUAL MOTOR MOVEMENT snn idad 11 5 2 REPLACING AN HS C MODULR iii dia iii tit 12 6 HSC Command Language and RESPONSES mmmmcccnonccnnnnnccnnnnccnnnnna rra crecer 12 6 1 COMMAND AND RESPONSE SYNTAX cccccccsessssscecececsessnseaecececsesenseaeeececseseaaececececsensaaeeeeecseseneaaees 12 6 2 STARTUP RESPONSES sneri S55 sre cee vocab aes a iaa 14 6 3 DETAILED LANGUAGE SUMMARY ccssssccccccsesessececececsesesseaecececseseseaeceeececsesaaeceeececsensaaeeeeececeeneaaees 14 6 3 1 O zero Calibrate os cts cakes A ean IE PRO Wee RAVE a ME ave Sean es 14 6 3 2 Tone MEL ES CP A Se AS A AA Se Nas 15 6 3 3 MEASURE y ls A RAL Sates le id ad radios aora e e 15 6 3 4 CP CLOSC ISLES aos ati Ant a iy
15. SModule Id ERROR if movement not allowed or command error sModule Id BUSY if motors are already moving close command is aborted SModule Id Apos Bpos DONE after motion is complete Example Primary Vertical Slit C 100 SXIAHSC B 0037 OK motors move SXIAHSC B 0037 750 1000 DON E 6 3 5 I Inquiry Returns a summary of the current status of a module including motor positions limits serial number and alias Syntax Module ld I Returns Module Id OKHSC v1 0 c XIA 1998 All Rights Reserved ERIAL Module Id LIAS Module Alias otor A nnnnn steps otor B mmmmm steps Limits Enabled YES or NO Calibrated YES or NO Motor A Limits 0 to nnnnn Motor B Limits 0 to nnnnn DONE SS PM ov 6 3 6 K Kill Movement This command immediately stops all motor movement In order to stop all modules at once use the ALL module address described above Syntax Module Id K 16 Manual Huber Slit Controller mdo HSC MAN 1 4 1 Returns Normal completion response from whatever movement command was interrupted 6 3 7 M Move absolute for Version 1 2 or less absolute or relative for version 1 3 and later For code version 1 2 or earlier this command instructs the controller to move the slits to absolute positions specified in the command line positions must be specified for both motor A and motor B Recall that all positions must be specified in terms of steps
16. User s Manual Huber Slit Controller Model HSC 1 X ray Instrumentation Associates 8450 Central Ave Newark CA 94560 USA Tel 510 494 9020 Fax 510 494 9040 http www xia com Information furnished by X ray Instrumentation Associates XIA is believed to be accurate and reliable However no responsibility is assumed by XIA for its use nor for any infringements of patents or other rights of third parties which may result from its use No license is granted by implication or otherwise under any patent or patent rights of XIA XIA reserves the right to change specifications at any time without notice Copyright 1998 by X ray Instrumentation Associates Manual HSC MAN 001 4 1 January 27 2004 Manual Huber Slit Controller mdo HSC MAN 1 4 1 Ws MAROC CUO ai cab cds 2 1 1 SUMMARY OF FEATURES 0220030 oeeie ERA E EEEE A edse Sevadvsedeeevessdisccisecescssaesvesiesecesescve 2 1 2 SUMMARY OF INSTALLATION PROCEDURE ccsssessscecececeessseceeececeessaeceeccecsessaeceeececsessnneaeeeeeesenes 2 2 Mechanical Installation dais 2 2 1 LIST OF PARTS IN STANDARD UNIT AS SHIPPED o0ocoooccncnccncononononcncononnanonononconononnnnononconononnonononconononos 3 2 2 MECHANICAL ASSEMBLY PROCEDURE ccssssesssceeececsesssececececeenensececeecesenensaaeeeeeesenentsaeeeeeeeesensaaeas 3 3 Electrical Connections iia E ei deceit edn A TA dean data oie 4 3 1 SIGNAL CONNECTIONS Sven Gevesusugeecdt ca ES E AEE E ERE E EE EnA 4 3 2 POWER CO
17. Value Outer Motion 4400 10 mm from Limit LESY Pasal default origin 2 Origin Position RW 0 65535 400 Motor A Position 3 steps R 0 65535 NA Motor B Position 4 steps R 0 65535 NA 100 roughly 5 Motor Step Delay RW 0 255 2 m lsien 6 Gear Backlash RW 0 255 10 Control Word 7 see Table 3 RW 0 255 142 0b10001110 Non character gt 19 gt 8 Escape Character RW printable ASCII 1 ASCII 33 9 Arbitration Priority RW 0 255 Pad on Serial number 10 Motor A Phase R Internal Use Only 11 Motor B Phase R Internal Use Only Calibration 12 Complete R Internal Use Only EEPROM 13 nature R Internal Use Only 14 EEPROM Version R Internal Use Only Control Word This word contains several boolean switches as well as a 2 bit field that controls the power level of the motors The control word is described in Table 3 below Note that the control word must be changed as a whole by writing a decimal number into memory the bits are not individually addressable By default the control word is set to 142 which corresponds to a high power level limits enabled print introductory banner true and print error text true By default the buttons are not locked the commands are not echoed and the serial number is used for identification in the HSC responses Escape Character This is the character used to start any command from the host until the HSC sees this character all
18. XIAHSC B 0037 OK motor A moves to 750 absolute motor B does not move SXIAHSC B 0037 750 1100 DONE 17 Manual Huber Slit Controller mdo HSC MAN 1 4 1 6 3 8 O Open Slits Open the slit aperture by the specified number of steps If the number of steps is even the aperture center remains fixed If the number of steps is odd one slit will move one step more than the other the choice of which slit moves more is alternated so that there will be no accumulated drift Note that an Open command followed immediately by a Close command with the same argument will always return the slits to their position prior to the Open command Syntax Module Id O A opening Returns sModule Id OK immediately if movement is allowed SModule Id ERROR if movement not allowed or command error sModule Id BUSY if controller is busy SModule Id Apos Bpos DONE after motion is complete Example Primary Vertical Slit O 100 SXIAHSC B 0037 OK Motors move SXIAHSC B 0037 850 1100 DONE 6 3 9 P Position Inquiry This command returns the current position of the two motors It also provides a convenient way of polling the device to see if the motors are moving Syntax Module Id P Returns Module Id Apos Bpos DONE if motors not moving Module Id BUSY 1f motors are moving Example Primary Vertical Slit P SXIAHSC B 0037 850 1100 DONE Primary Vertical Slit M 2000 2000 SXIAHSC B 0037 OK Motors are movin
19. acter see Table 4 below for a list of available commands and Section 6 3 for a detailed description of each command A space must separate the Command from the Module Id The number of arguments depends on the command the maximum number of arguments is two No space is needed between the command and the first argument a space must be used to separate numerical arguments Single character non numerical arguments do not need to be separated by a space See Table 4 and Section 6 3 for descriptions of the arguments for each command Table 4 HSC Command Summary Command Description Argument 1 Argument 2 Calibration type 0 zero Calibrate MorTor None 1 one Single step Motor A or B Direction or A Assign text alias Piae upa None characters C Close slits Change in opening None steps I Inquire returns module Non None status K Kill movement None None M version 1 0 1 2 Absolute Move New Motor A position New Motor B position steps steps M version 1 3 or greater Absolute or Relative New motor position or New motor position or Move number of steps to move number of steps to move O Open slits Chanae 1 Opening None steps P Position inquiry None None R Read oral Index of variable None memory S Slide slits Direction or Change aes position steps T Test module None None W Mom Index of variable New value memory The responses
20. arate instructions Place the helical couplers over the knobs and tighten the set screws with a 050 hex key not included yet Make sure that the coupler is sitting flat on the knob and try to tighten the set screws evenly so that the coupler is centered over the knob The coupler should fit fairly snugly over the knob if there is a lot of slop or if the coupler does not fit over the knob you probably have the wrong coupler there are two different knob sizes Contact XIA to exchange the coupler for the correct one Now place the HSC controller onto the mounting post sliding the motor shafts into the couplers and the dowels in the bottom of the mounting plate into their locating holes in the mounting post Everything should line up if the alignment is not good check the position of the mounting post as well as the position of the couplers on the knobs The assembly will fit in either direction connectors in or out Note that Motor A is on the left as you look at the front of the case the side with connectors Manual Huber Slit Controller mdo HSC MAN 1 4 1 4 Thread the 2 6 32x3 8 bolts up through the mounting post into the motor mounting plate to secure the HSC controller to the post Tighten the bolts with a 14 box end wrench not included yet Tighten the couplers onto the motor shafts with a 3 32 hex key also not included yet 6 Rotate the couplers and make sure there is no binding and that the mounting post does no
21. de S or the single step 1 command when no direction is specified The movement direction must be specified using either a or character see Section 6 for more details 7 14 Error 13 Invalid Motor Specified This error is reported by the single step 1 command when the character specifying which motor to move is neither an A or a B 22
22. e desired zero position Typically this will be with the position of both slits set to zero both on the indicating window and on the knob and the slits touching Under certain circumstances however a different zero position may be desired It may be easier to do this before sending the calibrate command to avoid having the calibration sequence time out if this process takes more than 30 seconds Note that the zero position defines the closest approach of the slits since the controller assumes that they are touching when calibrated e Once the slits are both at zero press any of the four buttons located at the ends of the PC board two on each side labeled A CW A CCW B CW and B CCW This step locates the origin for the motor controller the following steps are used to make sure the motors are in phase with the controller The step sequence runs through four phases when the knob is manually set to the zero point there is no guarantee that the motor phase will match the current phase stored in the controller Without the following steps the slit position could end up off by several steps e Once the button is pressed the controller moves each slit out 0 5 mm one turn and then moves motor A back in one turn nominally back to zero While in motion the LED s corresponding to the movement direction will be lit when the motion is complete the motor A LED s will be lit and the motor B LED s will be flashing Note
23. e origin nominally 400 steps the calibrated flag will be set to true and the completion response will be sent to the host Manual Huber Slit Controller mdo HSC MAN 1 4 1 4 3 2 Immediate Calibration Immediate calibration is useful in circumstances where the buttons are not accessible or if calibration with the beam on is desired Immediate calibration requires no manual user input immediately upon receiving the immediate calibration command the motor positions are set to the value corresponding to the slit origin and the calibrated flag is set to true To calibrate with the beam on it may be necessary to move the motors before sending the command to perform the immediate calibration For example it may be useful to use the beam itself to indicate whether the slits are open and to define the origin as the position where no beam passes through If the HSC is not calibrated the normal move commands are disabled even if the HSC is calibrated the slits cannot get closer together than the origin set in the previous calibration For this reason the HSC supports a single step command which allows the user to move either slit one step in either direction even if the controller is not calibrated Since this command does not check on the motion limits care should be taken not to harm the slits 4 3 3 Uncalibrate Since the HSC 1 controller saves its calibration status when power is removed it is necessary to provide a command to put the m
24. e serial bus then the special ALL address described below can be used to set the alias If the alias is used as the response Module Id then the control word described above should be set appropriately The alias can even be set by hand using this approach by using standard terminal software Hyperterm for example on any PC to communicate to the replacement HSC 1 via the standard COM port 6 HSC Command Language and Responses This section describes the commands used to control the HSC as well as the responses returned by the HSC to each command The command syntax is easy to use so that manual control through a terminal is a definite alternative to computer control In the following sections command text is in boldface Arial font A command to the HSC 1 looks like this Note that command text is not case sensitive Response text from the HSC 1 controller is in Courier New font SA response from the HSC 1 looks like this 6 1 Command and Response Syntax The HSC uses a very simple command language using single character easy to remember mnemonic commands The basic command syntax is as follows Module ld Command Arg1 Arg2 lt carriage return gt 12 Manual Huber Slit Controller mdo HSC MAN 1 4 1 The Module Id can be either the module serial number or the module alias To address all modules in the daisy chain use the special ALL Module Id Note that the Module Id is not case sensitive The Command is a single char
25. e to an incomplete write to the EEPROM on the previous power down cycle the HSC will report SModule Id Invalid EEPROM Loading defaults All memory variables will be set to their default values any custom settings will have to be restored Finally if Print Intro Banner is set to true in the Control word the following response will be produced Module Id HSC v1 0 c XIA 1998 All Rights Reserved Note that the version number may differ from 1 0 6 3 Detailed Language Summary This section describes each command in detail and lists the possible responses 6 3 1 0 zero Calibrate This command initiates a simple calibration sequence which is used to tell the HSC 1 controller the position of the slits This calibration is necessary prior to any motor movement since there is no feedback of the slit position to the controller the only way to ensure safe movement of the slits is to have the controller keep track of the position in internal memory For this reason the controller does not allow any motor movement except for single steps see command 1 until the calibration sequence is successfully completed There are three calibration options manual M argument immediate I argument and uncalibrate argument The calibration procedures are described in detail in Section 4 3 Manual Calibration Syntax Module Id 0 M Returns Module Id OK or BUSY immediately Module Id Apos Bpos DONE after successful comp
26. e used to split a large daisy chain into small enough segments to be powered by a single supply In this case a power adapter cable should be plugged into the input connector of the first device in each segment and the associated power supply plugged into the power jack at the other end of the cable A standard 9 conductor cable should be run between the output connector of the last device in the upstream segment to the input side of the power adapter The power adapter breaks the power connection between segments allowing the use of different supplies while keeping the data and arbitration line connections continuous across the whole daisy chain Whether or not the HSC PWR supplies are used care must be taken not to connect too many devices to a power daisy chain It is important not to surpass the current carrying capacity of the cables connecting the devices or the printed circuit board trace carrying the power between the input and output connectors Under no circumstances should a power daisy chain include more than eight HSC devices if a single supply is used to power more than eight devices split the power daisy chain into several groups of less than eight devices and make a separate power connection to each group of devices 3 3 Arbitration As specified above pin 9 carries an arbitration signal used to prevent garbled responses due to simultaneous transmission by multiple HSC devices This line functions as a wire or between all devices
27. e whole command line starting at the command character Note that this error is reported as soon as the buffer length is exceeded not after the terminating carriage return 7 4 Error 3 No new Alias given This indicates that a valid alias command was received but no new alias was given there were no non space characters between the A command and the terminating carriage return 20 Manual Huber Slit Controller mdo HSC MAN 1 4 1 7 5 Error 4 Alias too long This error is reported when the new alias given in the A command exceeds the maximum alias length of 24 characters The alias is left unchanged 7 6 Error 5 Invalid Field Parameter This error is reported in response to either a read R or write W command and indicates the field argument that is the memory map index is invalid This means that either the specified number is not a valid index any integer from 1 to 14 or that the argument could not be interpreted as an integer it contains a non numeric character 7 7 Error 6 Value Out of Range This error is reported in response the a write W command and indicates that the new value for the specified parameter is too large to be stored in the memory space allocated for that variable See Table 2 for the allowed ranges for each variable 7 8 Error 7 Parameter is read only This error is returned in response to an attempt to modify a read only variable See Table 2 to determine which
28. ed internally in the HSC 5 1 Manual Motor Movement The motors in the HSC can be moved manually using the buttons on the ends of the controller PC board Once the HSC is calibrated the knobs should never be used to move the slits since that destroys the calibration and could lead to damage to the slits The buttons are only enabled when the HSC is calibrated and the Buttons Locked bit in the Control word is false Any motion limits are in effect if enabled If a button is pressed and released right away the motor will move one step in the corresponding direction Holding down the button for half a second will initiate repeat mode where the motor moves continuously 11 Manual Huber Slit Controller mdo HSC MAN 1 4 1 until the button is released If a CCW button is pressed backlash will be taken out half a second after the button is released If the CCW button is pressed again sooner than a half second after release the backlash removal is delayed so it is easy to position the motor without being confused by the backlash motion To remove the backlash the HSC just moves the motor the chosen number of steps CCW slit moves outward then immediately moves the motor the same number of steps CW slits move inward As stated above the slit position is reliable as long as the position is always approached from the same direction 5 2 Replacing an HSC 1 Module Replacing a faulty HSC 1 module is not quite as easy as just installing a new
29. from the HSC take the following form SModul Id Response text lt Carriage Return gt All responses will begin with the character followed immediately by the Module Id By default the Module Id is the module serial number If an alias has been set see command A the alias can be chosen as the response Module Id by setting the appropriate bit in the Control word The response text is described below along with the detailed description of each command note that there may be carriage returns in the response The response is ended by a character followed by a carriage return 13 Manual Huber Slit Controller mdo HSC MAN 1 4 1 After receiving a command the HSC 1 will immediately return a response indicating the status of the command The three possible responses are OK BUSY and ERROR OK indicates that the command was received and is being processed BUSY indicates that a motor movement is in process and the controller cannot process the command the command must be resent after the motors complete their motion Finally ERROR followed by an error code and optionally by a brief description of the error indicates that there is a problem and the command cannot be processed 6 2 Startup Responses When power is first applied to the HSC the module can produce several startup messages If the module is not calibrated the following message will be sent SModule Id Uncalibrated If the EEPROM data is not valid du
30. g Primary Vertical Slit P SXIAHSC B 0037 BUSY SXIAHSC B 0037 2000 2000 DONE motors are no longer moving Primary Vertical Slit P SXIAHSC B 0037 2000 2000 DONE 6 3 10 R Read internal memory This command allows the user to directly read many internal memory variables used by the controller see the memory map Table 2 for a list of available data 18 Manual Huber Slit Controller mdo HSC MAN 1 4 1 Syntax Module Id R Index of variable in memory Returns SModule Id OK Variable value DONE if successful SModule Id ERROR bad index Example Primary Vertical Slit R 1 El SXIAHSC B 0037 OK 4400 DONE returns upper motion limit 6 3 11 S Slide Slits This command moves both slits in the same direction by the specified amount the aperture size is unchanged The direction must be specified using either a or a as the first character of the command argument Choosing the direction increases the absolute position of slit A and decreases the absolute B position the direction does just the opposite Syntax Module ld S Aposition Returns sModule Id OK immediately if movement is allowed sModule Id ERROR if movement not allowed or command error sModule Id BUSY if controller is busy SModule Id Apos Bpos DONE after motion is complete Example Primary Vertical Slit P SXIAHSC B 0037 OK 650 1100 DONI Primary Vertical Slit S 100 SXIAHSC B 0037 OK
31. hen the arbitration priorities should be unique for fewer than 16 devices The priorities can be changed manually if more than one device has the same priority or to optimize the response time if desired Table 3 HSC 1 Control Word Bit s Variable Name Range Default Description 10 3 ee 2 current 0 1 Power Level 3 pe 2 high power i medium i 2 high 2 Limits Enabled 0 FALSE TRUE Determines if motion limits are checked 1 TRUE prior to moving motors Determines whether the introductory 3 Print Intro 0 FALSE TRUE banner is printed on startup Can be Banner 1 TRUE turned off to avoid multiple copies from multiple devices Command Determines whether the commands Echo from the host are echoed back Should 0 FALSE f 4 1 TRUE FALSE not be enabled in more than one device Note when echoing the command the arbitration line is not checked 5 Lock Butt 0 FALSE nace Determines whether the buttons on the ee 1 TRUE Pee HSC are enabled to move the motors enabled Use Alias 0 FALSE Determines whether the module alias or 6 FALSE the module serial number is used for as Id 1 TRUE E i aie module identification in any responses Determines whether a text description 7 Print Error 0 FALSE TRUE of an error is printed after the error Text 1 TRUE code Turning off the error text may be favored when under computer control All other memory variables are read only and us
32. if this is the initial calibration after installation pay attention to the movement of the motor The motor should move smoothly with no skipping Irregularity in the motor motion indicates either binding in the motor knob coupling due to improper alignment or that the knob is hard to turn and is in need of lubrication Check the alignment if the alignment is good a slower motor speed see Section 6 3 13 and Table 2 for details on changing the motor speed should be selected to get more torque to turn the sticky knobs Service on the slits themselves may be necessary to ensure smooth movement especially for older slits e Use the motor A buttons to reposition slit A to zero just a few steps should be necessary pressing and releasing a button will move the motor one step if the button is held down for more than half a second the motor will step repeatedly After slit A has been properly positioned press one of the motor B buttons next to the flashing LED s Motor A will move out one turn and motor B will move in one turn bringing slit B close to the origin Now the motor B LED s will be lit and the motor A LED s will flash e Use the motor B buttons to position slit B to zero then press one of the motor A buttons Motor A will move in one turn to the origin all four LED s will turn on briefly and the calibration sequence will end At this point the motor positions in the HSC controller will be set to the value corresponding to th
33. letion Note the returned positions Apos and Bpos will equal the Origin Position described above El 14 Manual Huber Slit Controller mdo HSC MAN 1 4 1 If the calibration sequence times out more than 30 seconds elapse after a button is pressed without completing the calibration sequence the following response is produced SModule Id Timeout CAL ABORTED Example Primary Vertical Slit 0 M SXIAHSC B 0037 OK Calibration sequence is completed SXIAHSC B 0037 400 400 DONE Immediate Calibration Syntax Module ld 0 Returns sModule Id Apos Bpos DONE where Apos Bpos slit origin position Uncalibrate Syntax Module Id 0 Returns Module Id OK Uncalibrated 6 3 2 1 one Single Step This command moves either motor one step in either direction This movement command is special the motion limits are not checked and the command works even if the unit is not calibrated Care should be taken when using this command in general it should only be used as part of a calibration sequence The safer movement commands described below should be used for normal motor movement Syntax IModule Id 1 motor direction Motor can be either A or B direction must be specified as position step number increases slit moves outward or slit moves inward step number decreases Returns Module Id OK Xpos Ypos DONE if successful sModule Id BUSY if motors are already moving Example XIAHSC
34. llation of the HSC 1 see Section 2 Make signal and power electrical connections and set jumper see Section 3 Check communication between host and each HSC 1 Assign aliases if desired Ensure that the arbitration priority is different for each module see section 5 for a description of arbitration priority and section 6 for the method used to change its value Go through the calibration procedure for each HSC 1 unit see Section 4 3 e After calibration the controllers are ready to use 2 Mechanical Installation The HSC 1 provides a simple and inexpensive way to control Huber slit assemblies Installation is fast and easy If your Huber slits do not possess the necessary mounting holes a diagram of the required hole pattern is shown in Figure 1 Also note that two knob styles are supported recent Huber slits have knobs measuring 0 425 inches in diameter measured at the knurl while some older slits have knobs with a diameter of 0 390 inches Measure the diameter of the couplers on the stepper motor shafts to determine whether they match the corresponding knobs the coupler that fits the new larger knobs has an outside diameter of 0 600 inches while the smaller coupler measures 0 563 inches in diameter If you have the wrong type of couplers please contact XIA to arrange for replacements Please note that if you purchased your HSC 1 controllers already mounted on Huber slits you can skip the mechanical installation and proceed directly
35. ly If the line is pulled high by the pull up resistor then the line is available and the device pulls the line down again and starts transmitting If the line stays low another device is holding the line down in this case the device releases the line and waits for the line to become available as indicated by the arbitration line going high again The pull up resistor is fairly large 27 kQ one per board in order to conserve power and allow a large number of devices on the chain For systems involving a small number of HSC devices and long cables the rise time of the arbitration signal can be quite long tens of microseconds The maximum rise time allowed is 30 usec which roughly corresponds to a 50 foot 15 meter length of ribbon cable per device If the rise time of the arbitration line is longer than that then no device will be able to grab the RxD line since it will always seem like another device is holding the arbitration line low In that unlikely case it will be necessary to install an additional pull up resistor between the arbitration line and Vcc 5 Volts please contact XIA for assistance 4 HSC Units Coordinate System and Calibration This section describes how the position of the Huber slits is represented in the HSC 1 controller 4 1 Units The HSC 1 measures all positions in terms of stepper motor steps this applies to both the internally stored positions and the positions specified by the user There are 200 steps
36. mmands from the host while use of the RxD line is shared between all devices Pin 9 carries an arbitration signal used to prevent garbled responses which might arise from multiple devices attempting to transmit simultaneously The HSC 1 is set to run at 9600 baud with 8 data bits 1 stop bit and no parity If the HSC PWR adapter module is installed between the host and the first HSC 1 device Pins 7 RTS Request To Send and 8 CTS Clear To Send are connected together on the host side to provide a hardware flow control loop back In addition Pins 1 DCD Data Carrier Detect 4 Data Terminal Ready and 6 DSR Data Set Ready are tied together on the host side to form a modem control loop back This helps to ensure that the serial connection will work for all flow control settings of the serial port in use When the adapter module is installed between daisy chained HSC devices Pins 7 and 8 tie together Ground while Pins 1 4 and 6 tie together the three Power connections The Ground connection to Pin 5 is used to connect the signal ground between the two devices To connect devices where there is no need for a power adapter just use a 9 conductor straight through cable with female DB9 ends note that all 9 conductors must be present Special cable is not necessary easy to use flat ribbon cable is recommended Manual Huber Slit Controller mdo HSC MAN 1 4 1 3 2 Power Connections Six conductors are used to carry power to the
37. motors move SXIAHSC B 0037 750 1000 DONE PI E Note that Apos Bpos related to the slit gap remains constant 6 3 12 T Test Module This command puts the HSC module into Test mode In this mode the LED s are all turned on and the motors respond to the buttons as long as the unit is calibrated In addition to moving the motors when the buttons are pressed the controller writes the identity of the button that was pressed to the RS 232 transmit line to show that the controller detected the button being pressed as well as to test the RS 232 communications A 20 second period with no buttons pressed ends Test mode Syntax Module Id T Returns sModule Id OK if successful S Module Id ERROR if unsuccessful sModule Id TESTMODE DONE after Test mode is complete Example Primary Vertical Slit T SXIAHSC B 0037 OK press each button once SXIAHSC B 0037 A CW SXIAHSC B 0037 A CCW SXIAHSC B 0037 B CW SXIAHSC B 0037 B CCW 19 Manual Huber Slit Controller mdo HSC MAN 1 4 1 don t press a button for 20 seconds SXIAHSC B 0037 TESTMODE DONE 6 3 13 W Write to internal memory This command allows the user to directly modify many internal variables used by the controller see the memory map Table 2 for a list of variables Note that some variables are read only check the visibility column to see what variables can be modified and which are read only
38. odule into an uncalibrated state This is useful in preventing problems if one of the knobs is turned manually which voids the calibration It also provides a means of locking out any motion commands Finally if an HSC 1 unit is dismounted from a set of Huber slits it should be put into an uncalibrated state so that when it is reinstalled on another set of slits a new calibration sequence will be necessary before moving the slits 5 HSC Operation and Setup Many HSC operating parameters can be modified to fit a particular installation The parameters are stored in internal memory in the HSC microcontroller as well as in an external EEPROM so the setup is maintained even if power to the HSC is turned off Parameters are available to control the motor operation the motion limits and origin setting and the serial communication with the HSC devices A full memory map for the HSC is in Table 2 below a detailed description of each parameter follows See Section 6 3 13 for details on how to use the W write command to modify the parameters or the R read command to read their values e Outer Motion Limit With limits enabled this sets the maximum opening for each slit By default this limit is set to 4400 steps which corresponds to 11 mm of slit travel e Origin Position this is the value in steps that corresponds to the origin of the slits By default the origin position is set to 400 steps which allows 1 mm of inward slit travel beyond the o
39. per revolution for the stepper motors used in the HSC 1 One full rotation of a knob on the Huber Slit assembly moves the corresponding shutter 0 5 mm so 1 mm of slit travel corresponds to 400 steps To make the conversion clear and easy to find l mm 400 steps Manual Huber Slit Controller mdo HSC MAN 1 4 1 4 2 Coordinate System and Limits In the HSC 1 all positions are represented as a positive number of steps Two bytes are used to store each position so the possible range is 0 through 65535 steps This corresponds to a maximum range of motion of greater than 160 mm which is much larger than the full range allowed by the Huber slits clearly there must be some way to limit the motion to a smaller range The lower range of motion is always at 0 steps this corresponds to the most inward allowable position of the slits The upper range of motion is a variable parameter stored in HSC 1 memory by default the upper limit is set to 4400 steps corresponding to 11 mm of total travel see Section 6 3 13 for instructions on how to change this limit With limits enabled the HSC 1 will not move the slits beyond these limits there is one exception to this rule the single step command detailed in the following section concerning calibration If limits are disabled the HSC 1 will try to move the slits to any position specified by the user care should be taken not to run the slits into each other or run them off the end of their screws
40. rigin e Motor Position A and B these integer variables hold the internally stored motor positions in steps These memory locations are read only the only way the user can modify these positions is by performing a calibration e Motor Step Delay this parameter controls the time taken for each step of the stepper motors Each unit corresponds to a change in step time of about 40 usec the minimum step time is 1 2 ms which corresponds to 833 steps sec or a slit speed of about 2 mm sec By default the motor step delay is set to 100 for a step delay of 5 2 ms Longer delay times are useful in providing the extra torque necessary to drive sticky knobs if the knobs are well lubricated and easy to turn faster motor speeds are reliable The maximum step delay setting is 255 which corresponds to a delay of 11 4 ms or just 88 steps sec about 1 4 mm sec Manual Huber Slit Controller mdo HSC MAN 1 4 1 Gear Backlash This parameter sets the number of steps of backlash used by the HSC To accurately position the slits the HSC always finishes any move by moving the slits inward motors move clockwise step numbers decrease The backlash parameter controls how far beyond the final position the motors are moved before reversing direction and moving to the desired position By default this value is set to 10 1 20 turn Table 2 HSC 1 Memory Map Index Variable Name Visibility Range Default
41. t interfere with the set screws If the set screws rub against the mounting post be sure the set screws are tight and that the mounting post is well centered between the knobs ot 3 Electrical Connections The electrical connections to the HSC 1 are not standard RS 232 since power must be provided along with the serial data The pin out of the HSC 1 connectors is summarized below This detailed information is important only for a custom installation or for debugging purposes if the HSC PWR power adapter described below is used connecting the HSC 1 controller to a standard serial port is as easy as plugging in a cable Power RxD Serial data to Host TxD Serial data from Host Power Ground Power Ground Ground RxD Arbitration p 2 3 4 5 6 7 8 9 Table 1 HSC 1 pin assignments 3 1 Signal Connections The HSC 1 controller supports a standard 3 wire DTE Data Terminal Equipment DCE Data Communications Equipment connection with no support for hardware flow control or modem control Pin 2 RxD carries serial data from the HSC 1 devices to the host while Pin 3 TxD carries serial data from the host to the daisy chained devices A signal ground connection Pin 5 on a standard 9 pin serial port connector completes the 3 wire connection All connections are straight through no twist as found in a null modem DTE DTE connection is needed between Pins 2 and 3 All devices simultaneously monitor the TxD line for co
42. variables can be modified by the user 7 9 Error 8 Invalid Missing argument This error indicates that an argument is invalid or that a required argument is missing for example if only one motor position is specified in the Move M command 7 10 Error 9 No Movement Required This error is returned by any of the movement commands M 0 C or S when no movement is required that is the specified position is the same as the current position Note for code versions 1 1 and greater see the introductory banner produced when the power is first turned on or the first line of the Inquiry response this condition is not reported as an error 7 11 Error 10 Uncalibrated no motion allowed This error is returned by any of the movement commands if the HSC 1 is not calibrated that is the controller does not know the position of the slits No motion is allowed when the HSC 1 is not calibrated to avoid slit collisions or running the slits off their screws see the single step 1 command for the exception to this rule 7 12 Error 11 Motion out of range If motion limits are enabled this error is returned by any movement command when the desired new position either results in a slit collision or moves one or both slits beyond their outer range limit 21 Manual Huber Slit Controller mdo HSC MAN 1 4 1 7 13 Error 12 Invalid or missing direction character This error is reported in response to either the sli
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