XCD Demo Kit Controller Manual
Contents
1.2. Code Parameters aa Open Loop MER Command o 100 o 100 Range 100 The NanoCommander opens Editor window The Editor highlights currently executed line CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED cece ie name XCD Demo kit user D N XCDC458DMO 00 REV A Page 9 of 29 XCD Demo Kit Li LL User Manual NANOMOTION A Johnson Electric Company If necessary extend Editor window by dragging the bottom right grip HE C Projects Nanomotion CCD LCCD_NanoCommander Combined Br File Edit Tools delay 100 end Variable step backward for VO 1 to 8 move RPOS 0 5 VO0 delay 100 end Positioning to random points for 1 0 to 200 random number generator 11 bits V10 V10 993 4 1 vV10 Y10 0x07 FF 10 is random number in range from O to 2048 delay 100 3 3 2 Change Motion Program If current motion program runs stop it by pressing Stop button in the Editor window or in the main window C Projects Nanomotion LCCDLCCD_NanoCommander Combined BAR File Edit Tools delay 100 end Variable step backward for VO 1 to 8 move RPOS 0 5 VO0 delay 100 f f Positioning to random points for V1i 0 to 200 f random number generator 11 bits vV10 Y410 993 1 vV10 V410 0x07FF f f V10 is random number in range from O to 2048 delay 100 end end CA ST Ln40 Cold The button text changes to Download amp Execute indicating the program is idle
3. On the main NanoCommander window big button in the Motion Program pane reads either Download amp Execute if motion program is idle or Stop if the program runs CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED espinal name XCD Demo kit user D N XCDC458DMO 00 REV A Page 7 of 29 aa JT nanonorion A Johnson Electric Company EN XCD NanoCommander v 0 0 1 7 TIT nanonorion A Johnson Electric Company Communication Port COM10 w Controller versior 0 0 1 7 a al Controller SN 0 Address Application 1 0 Axis EDGE High resolution Motion Program SA Doers ende tings Sasha Desktop XCD Browse TP ED gt Setup Tune Servo Loop Command Interface Code Parameters Read Var gt Value Open Loop E d y omman o ad 100 Range If motion program runs Line indicator displays number of the currently executed line Press Edit button CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED at name XCD Demo kit user D N XCDC458DMO 00 REV A Page 8 of 29 a JT nanonorion A Johnson Electric Company EN XCD NanoCommander v 0 0 1 7 TIT Imamomoriow A Johnson Electric Company Communication Port com10 v Controller version 0 0 1 7 Controller SN O Address Applicatior 1 0 Axis EDGE High resolution Motion Program C Documents and SettingsSashaDesktop XCD Aa J too 7 Setup Command Interface
4. end For loop The commands within a loop are repeated specified number of times The loop header defines loop variable one of user variables VO V19 initial value of the loop variable final value of the loop variable and step Loop variable is incremented by step on each repetition while expression commands end While loop The commands within a loop are repeated while expression yields non zero value 5 Host Communication 5 1 Communication channels Communication with the host computer is provided through the following physical channels UART RS232 115000 baud 2C up to 400 kHz SPI up to 10 MHz CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED XCD Demo Kit User Manual NANOMOTION A Johnson Electric Company 5 2 Communication address Each controller stores its communication address which is a number within range from O to 254 Factory default is zero The customer can change controller s address with command Set address 16 Then newly defined address can be stored in the controller flash memory with command Save 13 to be retrieved at each power up Each host command includes destination address If destination address is in range from 1 to 254 the controller accepts and responds the command only if its address matches the command destination address Zero destination address defines broadcasting i e any connected controller accepts and responds the co
5. 12 of 29 a JUST nanonorion A Johnson Electric Company A Johnson Electric Company Communication Port COM10 v Controller version 0 0 1 7 Controller SN 0 Address Application 1 0 Axis EDGE High resolution Motion Program C Documents and 5 ettings S asha Desktop xCD QU Tuesematoo D e Command Interface Code Parameters po Read Var Pal Value po Open Loop 5 Command TE AOT z i o 100 0 100 Range J The Servo Loop window opens Watch feedback position mm in the Current Position window agl Position Loop Servo Loop Parameters Configuration Ky 1 Kl 300 LI 50 Biquad enabled Biquad type Low Pass Bandwidth Hz 700 0 Damping ratio Monitor Variables Motion Parameters RPOS TPOS 5 Booo Back Force with Delay 1100 CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED ao name XCD Demo kit user D N XCDC458DMO 00 REV A Page 13 of 29 XCD D Kit LL ee ads A NANOMOTION _ A Johnson Electric Company Attention avoid changing servo loop parameters as improper values may deteriorate motor performance and even make servo loop unstable Proper values of servo parameters are already stored in the controller flash memory and should not be changed If however some parameter has been unintentionally changed the simplest way of returning the controller to default state is restarting the controller with power cycling 4
6. Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED XCD D Kit LL ee ads A NANOMOTION A Johnson Electric Company Command Code Parameters Format Comments size in bytes Set 12 freq Real 4 Set frequency frequency freq1 opt Parameters freq and freq1 define motor PWM frequency in Hz If omitted freq1 is taken the same as freq If freq1 freq the motor frequency depends on PWM duty cycle At zero PWM the frequency is freq at 100 PWM the frequency is freq1 in between the frequency changes linearly See explanation in lt gt Save 13 addr Int8 1 Save parameter values into flash memory parameters 90 Ox5A Int8 1 At the next start up the controller reads the parameters from the flash and starts with the stored parameters instead of default values The parameters are required to prevent unintentional use of the command addr specifies communication address of the controller The second parameter is constant 90 Ox5A Set address 16 addr Int8 1 Change communication address 90 Ox5A Int8 1 First two parameters are required to prevent newaddr Int8 1 unintentional use of the command addr specifies current communication address of the controller The second parameter is constant 90 Ox5A newaddr specifies new communication address of the controller Read 19 Read version version The command requests information about controller firmware See format of co
7. XCD Motion Script XMS 4 1 First example of XMS program The following example program COMBINED XMS executes a set of motions Each motion is positioning to a point in range O 20 mm The program demonstrates usage of the following language elements gt User variables VO V1 V10 gt System variables VEL RPOS gt Literal constants in integer real and hexadecimal formats gt Expressions containing variables constants arithmetic and logical operations gt Commands move home delay gt Execution control commands while for end The following table provides step by step explanation of the motion program COMBINED XMS V10 999 Seed of random number generator assigned to variable v10 wiide 1 WHILE loop executes forever as condition expression is always non zero home 30 Homing scheme 30 to the left hard stop EaR VI 0 ES FOR loop executes 6 times loop variable V1 changes from O to 5 Comment See VOTO RRE S Inner FOR loop executes 6 times loop variable VO changes from 0 to 5 VEL 10 V0 35 Set required motion velocity Velocity starts from 10 mm sec then grows to 45 80 115 150 and finally to 185 mm sec ae S Move to absolute position 5 mm moye ls Move to absolute position 15 mm eng End of inner FOR loop move 0 Move to absolute position O mm CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED ese name XCD Demo k
8. enabled 5 6 Reply body 5 6 1 General format Reply body is a sequence of bytes in the following order CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED XCDD Kit User Manual JT nanonorion A Johnson Electric Company Byte Byte Content offset size 0 1 Command code copied from replied command 1 1 Result 1 Command accepted 2 Command rejected 2 Up to 48 Extension Total 2 50 For most commands the controller sends back only two bytes with no extension 5 6 2 Reply body for specific commands 5 6 2 1 Read version 19 Byte Byte Content offset size 0 1 Command code copied from replied command 1 1 Result 1 Command accepted 2 Command rejected 2 4 Version 6 4 Serial number 10 2 Application code Total 12 5 6 2 2 Report 26 Byte Byte Content offset size 0 1 Command code copied from replied command 1 1 Result 1 Command accepted 2 Command rejected 2 4 Variable 1 in Real format 6 4 Variable 2 in Real format if requested 38 4 Variable 10 in Real format if requested CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED XCDD Kit User Manual JT mawomorion A Johnson Electric Company Total 6 42 CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED
9. 0 V10 993 1 V10 V10 amp 0x07FF Generate random number equally distributed in the range from 0 to 2048 Symbol designates logical AND literal OxO7FF is hexadecimal constant equal to decimal 2047 CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED XCD Demo Kit User Manual JT nanonorion A Johnson Electric Company Comment number 2048 move 187V1072048 Move to random absolute position in the range from O to 18 mm delay 100 Delay 100 milliseconds enad End of FOR loop end End of WHILE loop 4 2 Numbers 4 2 1 Floating point values All numbers in XMS program are floating point values complying with IEEE 754 definition of single precision arithmetic Range of values is from approximately 3 4 10 to 3 4 10 4 2 2 Literal constants In XMS program literal constant can appear in different formats Format of a literal constant doesn t affect its internal presentation the controller converts each constant to floating point number before using it in calculations The following table summarizes available formats Format Examples Integer 1 20 1078 Real 0 1 20 35 0 000009 Scientific 1e 5 2 3e10 Hexadecimal 0x07FF 0x1E23 4 2 3 Units The controller supports predefined measuring units for physical values For example position or distance in XMS program is always specified in millimeters The follo
10. 4 zero min and max define the characteristic max Real 4 See lt gt for more details CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED XCD D Kit LL ee ads A NANOMOTION A Johnson Electric Company Command Code Parameters Format Comments size in bytes Configure 39 addr Int8 1 Configure safety signals safety 90 Ox5A Int8 1 First two parameters are required to prevent config Int 1 unintentional use of the command addr specifies communication address of the controller The second parameter is constant 90 Ox5A config is a bit mask that defines signal polarity Bit O Negative Limit Bit 1 Positive Limit Bit 2 Emergency Stop Zero value of a bit defines active high polarity fault occurs if the signal has high level value one defines active low polarity By default all safety signals are configured active low Disable 40 addr Int8 1 Configure safety signals safety 90 0x5A Int8 1 First two parameters are required to prevent disable Int8 1 unintentional use of the command addr specifies communication address of the controller The second parameter is constant 90 Ox5A disable is a bit mask Bit O Negative Limit Bit 1 Positive Limit Bit 2 Emergency Stop Bit 3 Motor Not Connected Zero value of a bit enables safety signal value one disables safety signal By default all safety signals are
11. AUTHORIZED USE PERMITTED cohen name XCD Demo kit user D N XCDC458DMO 00 REV A Page 4 of 29 XCD Demo Kit 17 Lh User Manual NANOMOTION A Johnson Electric Company If auto start doesn t work e g disabled by computer s security settings start manually SETUP EXE on the installation disk gt If the following dialog appears press Install Application Install Security Warning Publisher cannot be verified Are you sure you want to install this application Name XCD NanoCommander From C Projects Nanomotion LCCD LCCD_NanoCommander LCCD_Nano Publisher Unknown Publisher While applications can be useful they can potentially harm your computer If you do not trust the source do not install this software More Information gt Installation creates group Nanomotion in the Start Programs menu and also creates directory XCD NanoCommander on the desktop that contains NanoCommander shortcut and examples of motion programs Sy In the end of the installation XCD NanoCommander starts automatically If message appears reporting communication problem press Ok Normally this or similar message appears only during the first connection gt If connection with the controller is not established the NanoCommander screen looks as follows CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED ea name XCD Demo kit user D N XCDCA58DMO 00 REV A Page 5 of 29 XCD Demo Kit Li LL Use
12. CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED esse name XCD Demo kit user D N XCDC458DMO 00 REV A Page 10 of 29 XCD Demo Kit f j j User Manual NANOMOTION A Johnson Electric Company Activate menu File Open in the Editor window Dialog box appears Look in XCD NanoCommander 3 a 4 RandomPoints txt My Recent E ScriptPos txt Documents R xCD NanoCommander Desktop My Documents PE My Computer a File name Combined txt J My Network Files of type Motion program have extension TXT Select desired motion program and press Open Start the new program by pressing Download amp Execute button Three motion programs are supplied in the Presentation package gt SCRIPTPOS TXT the program starts from long motion in both directions then executes series of equal short steps in both directions and finishes with series of variable steps in both directions The operations are repeated in an infinite loop gt RANDOMPOINTS TXT the program activates random number generator to obtain random coordinate of the next point The program operates in an infinite loop gt COMBINED TXT default program stored in the controller flash memory The program combines operations of two above programs in one infinite loop For more details see Details of Motion Program 3 3 3 Change Motion Velocity Attention The last versions of COMBINED TXT and SCRIPTPOS TXT assi
13. Company 1 1 Constant OxA5 165 2 1 Destination address 3 1 Length of command reply body in bytes 5 4 212C Command prefix consists of 2 bytes Byte Size in Content offset bytes 0 1 Destination address write address 1 1 Length of command body in bytes Reply prefix consists of 2 bytes Byte Size in Content offset bytes 0 1 Destination address plus one read address This byte is sent by the host 1 1 Length of reply body in bytes This byte is sent by the controller 5 5 Command body 5 5 1 General format Command body is a sequence of bytes in the following order Byte Byte Content offset size 0 1 Command code 1 Up to 49 Parameters If a command requires no parameters the whole body includes only one byte command code In most commands the command code is followed by parameters Each parameter occupies one or several bytes No delimiting bytes are added between the command code and parameters or between the parameters Each parameter is a numerical value Each command requires specific format for each of its parameters All formats are binary least significant byte appears first The following formats are used Format Number Range of bytes Int8 1 128 to 127 CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED XCD D Kit ee ads LL WANOMOTION A Johnson Electric
14. Company Int16 2 32768 to 32767 Real 4 3 4 10 to 3 4 10 approximately complying with IEEE 754 ID 2 0 to 65535 Some commands require a parameter that specifies a controller variable The variable is referenced by its numerical ID See Variables table for variable D s 5 5 2 Command table Command Code Parameters Format Comments size in bytes Move 1 position Real 4 Move to absolute position position defines new target position in mm Assign 3 variable ID 2 Assignment value Real 4 The value is assigned to the variable Home 4 scheme Int8 1 Homing origin opt Real 4 scheme selects one of the standard homing velocity1 opt Real 4 sequences velocity2 opt Real 4 Origin defines position in the home point If omitted zero is taken velocity1 defines first stage velocity If omitted VEL value is taken velocity2 defines second stage velocity If omitted one fourth of velocity1 is taken Velocity 6 velocity Real 4 Execute velocity loop control loop Parameter velocity defines required velocity in mm sec Open loop 7 command Real 4 Execute open loop control Parameter command defines command value in percents from 100 to 100 Set 11 position Real 4 Set position position Parameter position defines new position in the current point The command effectively defines new axis origin CONTENTS PROPERTY OF
15. XCDD Kit User Manual JT nanonorion A Johnson Electric Company XCD Controller User Manual 1 REVISION HISTORY osito daria idad 2 2 INTRODUCTION talar ld lee 2 3 QUICKSTART eesicccedinsccsscdeccceetdeasaivedsccteedceasdesedsccteeteassdisevsaseseicasadascectecetdeacdventes tesveesacdesveesauenes 2 3 1 PackaBe Components iois aida 2 3 1 1 Motor drive AssemblV uscar aida 3 3 1 2 COMMUNICATION O 4 31 3 Power Adapter pb 4 3 1 4 Software Installation DISK osa 4 3 2 ESIE E E N meee ck E A E NT 4 3 2 1 Hardware Instalatii esisiini iiaeaa a rre 4 3 2 2 SoftWare Installation a a a aaa E 4 3 3 Further actions with Presentation Package ccccconococoonnononononononnnncnnnnnnononnnnonnnnnnnnonnnnnnnnnnnnnns 7 3 3 1 Monitor Program Execution ccccccssesssssesesseseseeeseeeeseeessseeseseesseeeseeseseseseeseeeeeeeeees 7 3 3 2 Change Motion Program ccccccccccccsssssssscseceeecesseseceeeeeescesseseaeseeeeseeeseseaeeeeesesessees 10 3 3 3 Change Motion VElOCItY ui tise isos ce ieee See eee aa 11 3 3 4 Monitor Feedback Position ee eee eesceeeenceceeeeeesaeeeeaeeceeeeceaeeeeaaeeeeeeeseaeeeeaaeeneaeeeaes 12 A XCD MOTION SCRIPT XMS wsssssisssecessssscensscsceeessvessenssscsacessssasenossecessssssisessssesasssessassesssssoonssnses 14 4 1 First example Of XMS Progra Mes ssrin lesseveeds neee niara a EEEE Ee EE epdeteseancevescebtesseaeeees s 14 42 Number Susi tato 16 4 2 1 Floating point valles umi ba 16 4 22 L
16. ference acceleration Instant feedback motion variables 9 FPOS Feedback position 10 FVEL Feedback velocity 11 FACC Feedback acceleration 12 PE Position error Servo loop and drive configuration 13 KP Position loop gain 14 KV Velocity loop gain 16 LI Velocity loop integrator limit CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED ao name XCD Demo kit user D N XCDC458DMO 00 REV A Page 17 of 29 XCDD Kit User Manual JT nanonorion A Johnson Electric Company 17 BQA1 Bi Quad filter parameters 18 BQA2 19 BQBO 20 BQB1 21 BQB2 22 ENR Encoder resolution millimeters per one encoder count 23 MFREQ Motor frequency PWM frequency 24 SPRD Servo loop sampling period milliseconds 25 DMODE Drive mode reads the following values 1 EDGE drive low resolution 2 EDGE drive high resolution 11 HR drive low resolution 12 HR drive high resolution 26 MFREQ1 Alternative motor frequency If MFREQ1 value is different from MFREQ value the motor frequency depends on PWM duty cycle At zero PWM the frequency is MFREQ at 100 PWM the frequency is MFREQ1 in between the frequency changes linearly See explanation in lt gt 27 PWMZERO PWM characteristic 28 PWMMIN See explanation in lt gt 29 PWMMAX 40 DZMIN Dead zone min Nanomotion al
17. gn motor velocity in the program so that default velocity VEL is not used In order to use the following procedure delete line VEL 10 V0 35 in the motion program All supplied motion program use default motion velocity specified by VEL variable In the main window select VEL in the Var combo box Press Read button to see current VEL value in the Value text box in mm sec Type new value in the Value text box mm sec and press Write button to activate new value Attention don t specify more than 200 mm sec as the motor is not able to move faster CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED esca name XCD Demo kit user D N XCDC458DMO 00 REV A Page 11 of 29 a JT nanonorion A Johnson Electric Company EN XCD NanoCommander v 0 0 1 7 TIT nanonorion A Johnson Electric Company Communication Port com10 v v info Controller version 0 0 1 7 Controller SN 0 Address Application 1 0 Axis EDGE High resolution Motion Program C Documents and Settings S asha Desktop XCD Setup Tune Servo Loop Command Interface Open Loop Cmmi Lo a0 0160 Range iio 3 3 4 Monitor Feedback Position Continuous monitoring of feedback position is provided in the Servo Loop window Press Tune Servo Loop button CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED espinal name XCD Demo kit user D N XCDC458DMO 00 REV A Page
18. gorithm 41 DZMAX Dead zone max Nanomotion algorithm 42 ZFF Zero feed forward Nanomotion algorithm 43 FRP Friction in positive direction 44 FRN Friction in negative direction 45 DOUT Instant drive output of maximal output Safety 39 DOL Drive output limit of maximal output 47 SLP Software limit positive 48 SLN Software limit negative 49 PEL Position error limit 50 TEL Temperature Limit CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED XCD D Kit ee ads LLL WANOMOTION A Johnson Electric Company 51 MTL Motion Time limit Analog inputs outputs 30 AINO Analog input 0 31 AIN1 Analog input 1 34 AOUTO Analog output 0 35 AOUT1 Analog output 1 User variables 1000 VO V19 User variables 1019 Flags accept values 0 or 1 only 2000 SC_IDO Inverse drive output 2001 SC_IEN Inverse feedback direction 2002 SC_EBQ Enable bi quad filter 2007 IN_O Digital input O 2008 IN_1 Digital input 1 2011 OUT_O Digital output O 2012 OUT_1 Digital output 1 4 4 Expressions Expression is a formula calculating a numerical value In its simplest form expression consists of a single variable or literal constant General expression may include the following elements e Variables like VEL V10 IN_O e Literal constants like 10 0 0001 OxOFFF e Parenthesis and e Arithmetical operations e Compare
19. it user D N XCDCA58DMO 00 REV A Page 14 of 29 XCD Demo Kit User Manual NANOMOTION A Johnson Electric Company a cremental move Comment torwara for VO 0 to 3 Inner FOR loop executes 4 times loop variable V1 changes from O to 5 move RPOS 4 Move to relative position increment 4 mm delay 100 Delay 100 milliseconds end End of inner FOR loop Incremental move backward Comment for VO 0 to 3 Inner FOR loop executes 4 times loop variable V1 changes from O to 5 move RPOS 4 Move to relative position increment 4 mm delay 100 Delay 100 milliseconds end End of inner FOR loop forward Comment for VO 1 to 8 Inner FOR loop executes 8 times loop variable V1 changes from 1 to 8 move RPOS 0 5D VO Move to relative position increments 0 5 1 1 5 etc delay 100 Delay 100 milliseconds end End of inner FOR loop Variable step hankward backward Comment for VO 1 to 8 Inner FOR loop executes 8 times loop variable V1 changes from 1 to 8 move RPOS 0 5D VO Move to relative position increments 0 5 1 1 5 etc delay 100 Delay 100 milliseconds end End of inner FOR loop end End of outer FOR loop Position1 E random points Comment for V1 0 to 200 FOR loop executes 201 times loop variable V1 changes from O to 200 random generator 11 b Comment V1
20. iteral CONSTA EE A 16 AZ UNIS mid eats 16 43 Vanlableunio iii da 17 4 4 EXPTESSIONS AA ee 19 AS Command caiste iria 19 5 HOST COMMUNICATION svisssscccsssssscessevsssesssssvecsssesseessevseecsssdsessssseseessssesdessdoeseessssvessessoesesses sess 21 5 1 Communication channels 0 0 eecceeseceeseeceenceceeeeeceaeeeeaaeeeeaaeceeeeeesaeeeeaaeeeeaeeseaeeeeaaeeeeaaeeeeeeeees 21 5 2 Communication Address viii ir iii 22 5 3 Communication protocol ssr ceeded leeches ld 22 NS 22 5 41 UART R5232 inienn nea A a tc 22 CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED espinal name XCD Demo kit user D N XCDC458DMO 00 REV A Page 1 of 29 A Johnson Electric Company O 2G NN 23 55 A co R AE EEE EEEa aa 23 5 5 1 General format ion dia 23 5 5 2 Command tale cita 24 5 6 Reply DOY ici dd ii 27 56 1 General Maia as 27 5 6 2 Reply body for specific COMMANAS ccoconccoccnnncnononononnnnnnnonnnnnonnnnonnnnnnnnnannnnnnnnnncnananonos 28 4 Revision History Revision Date Details 00 A 8 Aug 10 Prerelease 2 Introduction XCD Controller is a small but powerful integrated motion controller and drive for Nanomotion piezo electric motors The controller provides positioning control of one axis with configurable motion profile and servo parameters The controller supports user programming using XMS motion script With XMS the customer is able to define complex sequence of motion
21. mmand 5 3 Communication protocol The controller is a communication client and performs passive role Other side customer processor or PC is a communication host and performs active role Communication executes in a ping pong manner Each communication session includes two events gt Host initiates communication by sending a command gt Controller sends reply in many cases the reply is simply a prompt reporting if the command was accepted or rejected The host commands and the controller replies are similar in all supported communication channels Each host command consists of the following parts Command prefix Command prefix depends on the communication channel Command prefix is the same for all commands Command body Command body doesn t depend on the communication channel Command body is specific for each command Controller reply has similar parts Reply prefix Reply prefix depends on the communication channel Reply prefix is the same for all commands Reply body Reply body doesn t depend on the communication channel Reply body is specific for each command 5 4 Prefixes 5 4 1 UART RS232 Command prefix and reply prefix are identical and consist of 4 bytes Byte Size in Content offset bytes 0 1 Constant OxE4 228 CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED XCDD Kit User Manual JV uanonorion A Johnson Electric
22. ntroller reply below CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED XCD Demo Kit sep Mandal LL LL NANOMOTION A Johnson Electric Company o Command Code Parameters Format Comments size in bytes Monitor 20 channel Int8 1 Monitor variable variable ID 2 Being commanded the controller in each scale Real 4 cycle converts the variable using the scale and passes it to analog output channel defines analog output to use O AOUTO 1 AOUT1 variable specifies variable to monitor scale defines a conversion factor Monitor 21 channel Int8 1 Monitor variable address address Int16 2 Being commanded the controller in each scale Real 4 cycle converts the specified RAM address using the scale and passes it to analog output channel defines analog output to use 0 AOUTO 1 AOUT1 address specifies variable to monitor scale defines a conversion factor Set mode 22 mode Int8 1 Set drive mode mode specifies one of the following values 1 EDGE drive low resolution 2 EDGE drive high resolution 11 HR drive low resolution 12 HR drive high resolution Report 26 var1 ID 2 Report variable values var2 opt ID 2 The command requests current variable values From 1 to 10 variables can be var10 opt ID 2 requested in one command See format of controller reply below Set PWM 38 zero Real 4 Set PWM characteristic min Real
23. on is terminated and the controller provides deceleration using KDEC parameter home home_scheme position Homing velocity1 velocity2 home_scheme selects one of the standard homing sequences position optional is an expression that sets position value in the home point If omitted zero is used velocity1 and velocity2 optional are expressions that define velocities at different homing stages If omitted VEL value is used openloop command Open loop The controller switches to open loop operation command is an expression that defines drive output CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED XCD Demo Kit User Manual JV J uanonorion A Johnson Electric Company Command syntax Comments value velocityloop velocity Velocity loop The controller switches to velocity loop operation velocity is an expression that defines target velocity setposition position Set position position is an expression that defines new position in the current point The command effectively defines new axis origin delay time Delay time is an expression that defines delay time in milliseconds if expression then commands1 else commands2 end Conditional statement If the expression yields non zero value commands1 are executed else commands2 are executed The lt else command2 gt close can be omitted for variable initial to final step step commands
24. operations equal lt gt non equal lt less lt less or equal gt greater gt greater or equal e Logical operations amp and or exclusive or 4 5 Commands Command is a main building block of a motion program The following table includes syntax definition statements using the following formats CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED XCDD Kit User Manual JT nanonorion A Johnson Electric Company bold Bold text specifies literal terms which appear in the script exactly as specified italic Italic text specifies syntax units explained in the right column Any syntax unit belongs to one of the following groups variable one of the variable names expression arithmetical logical expression commands any sequence of the controller commands For example in definition move absolute_position absolute_position is an expression that generates variety of possible lines for example move 750 move TPOS 225 move V19 300 600 Definition variable expression generates assignment commands for example V9 V9 1 VEL V10 10 Command syntax Comments variable expression Assignment Right part expression is calculated and its result is assigned to variable in the left move absolute_position Move to absolute position absolute_position is an expression that defines new target position kill Kill motion Current moti
25. r Manual NANOMOTION A Johnson Electric Company EN XCD NanoCommander v 0 0 1 7 A Johnson Electric Company Communicajie Port Controller not detected Address Axis Motion Program C Documents and Settings Sasha D esktop XCD Download amp Execute Line Setup Command Interface Code Parameters Var v Value Open Loop 1 E d y SS omman o0 aii 0 100 Range Select correct communication port from the Port drop down list to start communication If USB COM adapter is used the corresponding COM appears in the drop down list only when the adapter is connected to computer s USB port Once communication is established NanoCommander displays controller data in the Info CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED cohen name XCD Demo kit user D N XCDCA58DMO 00 REV A Page 6 of 29 XCD Demo Kit Li 177 User Manual NANOMOTION A Johnson Electric Company box ES XCD NanoCommander v 0 0 1 7 TIT nanonorion A Johnson Electric Company Communication Port COM10 Info Y Controller version 0 0 1 7 a al Controller SN O Address Application 1 0 Axis Motion Program CAD ocuments and Settings Sasha Desktop XCD Setup Tune Servo Loop Command Interface Code Parameters Var v Value write Open Loop E d omman 0 468 100 Range 3 3 Further actions with Presentation Package 3 3 1 Monitor Program Execution
26. s along with sophisticated calculations and execution control Prepared XMS program can be stored in the controller flash memory to be executed immediately after power up 3 Quick Start Use XCD Presentation Package for quick start and experiments with the XCD controller 3 1 Package Components XCD Presentation Package consists of the following components 1 Motor drive assembly 2 Communication box 3 Power adapter 4 Software installation disk CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED cohen name XCD Demo kit user D N XCDC458DMO 00 REV A Page 2 of 29 XCD Demo Kit User Manual AT INANOMOTION A Johnson Electric Company WUO UJ uoneojunw y EDGE Motor e a O 3 1 1 Motor drive Assembly Components of Motor drive assembly gt XCD controller gt Connector board gt EDGE motor stage Encoder Encoder Connector board CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED cohen name XCD Demo kit user D N XCDC458DMO 00 REV A Page 3 of 29 XCD Demo Kit User Manual NANOMOTION A Johnson Electric Company The XCD controller is supplied with application stored in the flash memory See First example of XMS program for explanation of the stored application Attention Stored application begins moving the motor immediately upon connecting the power jack The Motor drive assembly is a self s
27. ufficient unit and only requires power adapter connection to be used for simple demonstration Connection to computer through Communication box is only required for additional actions like real time monitoring or changing the motion program 3 71 2 Communication Box Communication Box is a passive device providing RS232 connection to the XCD controller The only Communication Box function is translation of RS232 voltage level to TTL level which is necessary for the XCD controller 3 1 3 Power Adapter Power adapter provides 5 V to XCD controller 3 1 4 Software Installation Disk The disk contains installation files of XSD NanoCommander and several examples of motion programs 3 2 Initial Steps 3 2 1 Hardware Installation 3 2 1 1 Minimal Installation For minimal installation use the Motor drive assembly and connect power adapter to power jack The application stored in XCD controller begins moving the motor see Details of Motion Program 3 2 1 2 Connection to a Computer gt Connect the Communication box to the Connector board using supplied cable gt Connect Communication box to computer s COM port connector using standard RS232 cable gt If the computer doesn t have COM port use USB COM adapter instead of standard RS232 cable 3 2 2 Software Installation gt Insert the installation disk into the computer s CD drive Installation should start automatically CONTENTS PROPERTY OF Nanomotion Ltd NO UN
28. wing table summarizes usage of measuring units Value Example of variables Measuring unit Position POS RPOS FPOS Millimeter mm distance TPOS Velocity VEL RVEL FVEL Millimeter per second mm sec Acceleration ACC Millimeter per second per second mm sec Time interval delay parameter Millisecond msec CONTENTS PROPERTY OF Nanomotion Ltd NO UNAUTHORIZED USE PERMITTED XCDD Kit User Manual JT uanonorion A Johnson Electric Company Scaled values AINO AOUT1 DOUT Percents of maximum 4 3 Variables All variable names in XMS program are predefined the customer is not allowed to define a new variable name XMS variables are subdivided into two classes gt System variables each system variable has predefined meaning like VEL required motion velocity FPOS feedback position gt User variables with predefined names VO V1 V2 V19 A user variable has no predefined meaning and can store any number required in a program The following table summarizes XMS variables in categorical order ID Name Comments Required motion parameters 0 POS Position 1 VEL Velocity 2 ACC Acceleration 4 KDEC Kill deceleration used in fault conditions e g if limit switch was activated Instant reference motion variables 5 TPOS Target position 6 RPOS Reference position 7 RVEL Reference velocity 8 RACC Re
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