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Section 8 - Newport Corporation

1. Number ASCII Binary Number ASCII Binary decimal Code Code decimal Code Code 168 10101000 212 11010100 169 10101001 213 11010101 170 10101010 214 11010110 171 10101011 215 11010111 172 10101100 216 11011000 173 10101101 217 11011001 174 10101110 218 11011010 175 10101111 219 11011011 176 10110000 220 11011100 177 10110001 221 11011101 178 10110010 222 11011110 179 10110011 223 11011111 180 10110100 224 11100000 181 10110101 225 11100001 182 10110110 226 11100010 183 10110111 227 11100011 184 10111000 228 11100100 185 10111001 229 11100101 186 10111010 230 11100110 187 10111011 231 11100111 188 10111100 232 11101000 189 10111101 233 11101001 190 10111110 234 11101010 191 10111111 235 11101011 192 11000000 236 11101100 193 11000001 237 11101101 194 11000010 238 11101110 195 11000011 239 11101111 196 11000100 240 11110000 197 11000101 241 11110001 198 11000110 242 11110010 199 11000111 243 11110011 200 11001000 244 11110100 201 11001001 245 11110101 202 11001010 246 11110110 203 11001011 247 11110111 204 11001100 248 11111000 205 11001101 249 11111001 206 11001110 250 11111010 207 11001111 251 11111011 208 11010000 252 11111100 209 11010001 253 11111101 210 11010010 254 11111110 211 11010011 255 11111111 CN EDH0181En1020 03 03 8 34 Sw MM4006 8 Axis Motion Controller Driver G Stages Preset in the Controller Default Stages DEFAULT PP T DEFAULT PP R D
2. 8 17 Point to Point Four Wires Full 8 17 Multidrop Four Wires Full Duplex eene 8 17 Motor Interface Connector 25 Pin 5 8 19 Pass Through Board Connector 25 Pin 8 20 D Motion Program Exat ples esee leer PORE ERE 8 21 Troubleshooting Guide eite pe Rs 8 29 Decimal ASCII Binary Conversion 8 32 Stages Preset in the Controller eene 8 35 Detault Stages 8 35 Translation Stages rte teer nr nier 8 35 Rotation Stages P eee Pn eei ins 8 37 ACTUAU Senon 8 38 DY IV OS rria E E O T 8 38 ee e eren eee 8 39 DEF VICE orerar rE NEE EAEE 8 40 8 1 EDH0181En1020 03 03 MM4006 8 Axis Motion Controller Driver AD EDH0181En1020 03 03 8 2 Newport MM4006 8 Axis Motion Controller Driver A Error Messages The MM4006 controller continually verifies the actions of the motion control system and the operator When an error is detected the controller stores it in an error register To avoid communication and application conflicts the MM4006 does not automatically report the error It is the user s responsibili ty to periodically q
3. 250 0 1 1 TSP50 UTM25CC1HL 72 1 150 0 1 1 250 0 1 72 1 51000 0 5 UTM25CC1HL 72 0 150 0 1 0 250 0 1 72 0 TS100DC1 UTM25CC1HL 72 1 150 0 1 1 250 0 1 72 1 100 UTM25CC0 1DD 1 MTM250CC1 1 TS150DC0 5 UTM25CC0 1DD 0 200 0 1 1 250 1 0 TS150DC1 UTM25CC0 1DD 1 200 0 1 0 250 1 1 1500 0 1 UTM25CCIDD 1 200 0 1 1 MTM250CC1 79 1 TST150DC0 5 UTM25CCIDD 0 MTM200PE1 1 MTM250CC1 79 0 TST150DC1 UTM25CCIDD 1 MTM200PE1 0 MTM250CC1 79 1 TSW150DC1 MTM200PE1 1 MTM250CC0 1HA 1 TSW150DC0 5 50 1 1 200 1 1 250 0 1 1500 0 5 50 1 0 200 1 0 MTM250CC0 1HA 1 TSP150 UTM50PE0 1 1 200 0 1 1 MTM250CC0 1HAT 1 TSPW150 UTM50PE1 1 MTM200PP1 1 250 0 1 0 TS200DC0 5 50 1 0 MTM200PP1 0 250 0 1 1 TS200DC1 UTM50PE1 1 MTM200PP1 1 2000 0 1 50 1 1 200 0 1 1 400 TST200DC0 5 UTMS50PP0 1 0 200 0 1 0 TBM400CC TST200DC1 UTM50PP0 1 1 200 0 1 1 TBM400CC1HA TSW200DC1 UTM50PP1HL 1 200 0 1 72 1 TBM600PE TSW200DC0 5 UTM50PP1HL 0 200 0 1 72 0 TBM600CC TSP200 UTM50PP1HL 1 200 0 1 72 1 TBM600CC1HA TSPW200 UTMS50CCO 1 1 MTM200CC1 1 TBM800PE TS250DC0 5 UTMS50CCO 1 0 200 1 0 800 TS250DC1 UTMS50CCO 1 1 MTM200CC1 1 800 TS300DC0 5 UTM5
4. Fig D 4 Desired Motion Result The program will have the following listing 3XX Erase program 3 if it exists 3EP Enter programming mode and store all entries as program 3 CB Clear all output I O bits set all bits to zero 1PA0 2PA0 WS Move axes 1 and 2 to absolute position 0 mm wait for all axes to complete motion 1VA4 2VA4 Set velocity of axes 1 and 2 to 4 mm sec 1AC8 2AC8 Set acceleration of axes 1 and 2 to 8 mm s 1PA14 Move axis 1 to absolute position 14 mm 1WP2 3SB Wait for axis 1 to reach position 2 mm set bit 3 1WP12 2PA10 Wait for axis 1 to reach position 12 mm start axis 2 and move to position 10 mm 2WP8 1PA0 Wait for axis 2 to reach position 8 mm start axis 1 and move to position 0 mm 1WP2 2PA0 Wait for axis 1 to reach position 2 mm start axis 2 and move to position 0 mm 2WP2 1PA4 Wait for axis 2 to reach position 2 mm start axis 1 and move to position 4 mm 1WP2 3CB Wait for axis 1 to reach position 2 clear bit 3 3QP End of program 2 quit programming mode AD EDH0181En1020 03 03 8 24 Newport MM4006 Appendix D Motion Program Examples Example 4 Lets assume we want to write the from the Newport logo We have X Y table and a 0 5 mm plotter pen or a laser beam controlled by a TTL line One possibility is to scan the symbol with a 0 5 mm spacing and fill it in with 0 5 mm lines The result will be similar to Fig D 5 Fig D 5
5. Section 8 Appendices F SV Newport Motion Controller Model MM4006 15 8 TAND BY ER lt 900 FR 9 AD Newport MM4006 8 Axis Motion Controller Driver AD Newport MM4006 8 Axis Motion Controller Driver Table of Contents Section 8 Appendices AD Newport Error 8 3 Error VAS s ia 8 3 B IEEE 488 Link 404 444 4 8 6 IEEE 488 Functions Supported by MM4006 Controller 8 6 IEEE 488 Function Subsets inire RR n Ee Een 8 7 SRO USIOE uibem 8 7 C Conector PIROULS eee 8 9 Labeling Conventions i i terrre Ehe bn ener is ende 8 9 Power Inhibition Connector 9 Pin D Sub esses 8 9 Remote Control Connector 15 pin D Sub 8 10 Auxiliary Connector 25 Pin 2 1 12020001011 000000 000043 8 11 GPIO Connector 37 Pin D Sub sese 8 12 RS 232C Interface Connector 9 Pin D Sub 8 14 RS 232C Interface err e teer eere eet 8 14 IEEE488 Interface Connector 24 1 8 16 RS 485 Interface Connector 5 Pin essen 8 16 Connecting RS 232 C to a Protocol Converter
6. End of Run 19 Encoder NC Encoder Encoder Encoder Phase A Phase Phase Phase 20 Encoder NC Encoder Encoder Encoder Phase B 20 Phase Phase Phase 21 5 V NC 5V 5V 5 V Encoder Hid Encoder Encoder Encoder 0V 0V 0V 0V ae Encoder Ne Encoder Encoder Encoder 23 Encoder N C Encoder Encoder Encoder Phase A Phase Phase Phase 24 Encoder NC Encoder Encoder Encoder Phase B md Phase B Phase B Phase B 25 Index Pulse Index Pulse Index Index Index Forcing Level 0 Forcing Level 0 Pulse I Pulse 19 Pulse I AD D For UEI6CC and UE17CC motors the pin 15 is connected Index Pulse I Forcing Level 1 2 For UEI6CC and UE17CC motors the pin 25 is connected Index Pulse 1 Forcing Level 0 3 Except UE41UP motor N C Newport 8 19 EDH0181En1020 03 03 MM4006 Appendix C Connector Pinouts Pass Through Board Connector 25 Pin D Sub WARNING This pass through board connector takes the place of the motor interface connector only if this axis is connected to an external motor driver x 5 O Wh 51 P2 2 2 2 2 COHAN WwW DY I rt ttt tt tt tt MC3487 Fig C 9 DiFF Output Type EDH0181En1020 03 03 Designation Ground 5 V Encoder Supply I Mechanical Zero I End of Travel I End of Travel I Driver Fault Signal I Encoder Phase
7. 1PA6 65 2PA12 5 SE WS 1PA6 5 SE WS 2PA9 521 SE WS 1PR 0 5 2PR0 596 SE WS 2PA12 5 SE WS 1PA5 5 SE WS 2PA10 712 SE WS 1PR 0 5 2PR0 596 SE WS 2PA12 5 SE WS 1PA4 5 SE WS 2PA11 904 SE WS 1PA4 2PA12 5 SE WS 8CB 1SY0 2SY0 4QP 8 28 Set relative destination of axis 2 3 mm away from current position start motion on the synchronized axis wait for motion to complete Increment variable 1 by 1 End while loop Set destination of axis 1 to 6 65 mm and of axis 2 to 12 5 mm start synchronous motion wait for motion to complete Set destination of axis 1 to 6 5 mm start synchro nized axis wait for motion to complete Set destination of axis 2 to 9 521 mm start synchro nized axis wait for motion to complete Set relative destination of axis 1 at 0 5 mm and of axis 2 at 0 596 mm away from current position start synchronous motion wait for motion to complete Set destination of axis 2 to 12 5 mm start synchro nized axis wait for motion to complete Set destination of axis 1 to 5 5 mm start synchro nized axis wait for motion to complete Set destination of axis 2 to 10 712 mm start syn chronized axis wait for motion to complete Set relative destination of axis 1 at 0 5 mm and of axis 2 at 0 596 mm away from current position start synchronous motion wait for motion to complete Set destination of axis 2 to 12 5 mm start synchro nized axis wait for motion to complete Set destin
8. 25 Pin D Sub This connector interfaces to the motion device Depending on the type of driver and motor some pins have different meanings If not otherwise spec ified this description is valid for all cases Stepper Motors DC Motors UE31PP UE16CC UE17CC UE404CC Pin UE16PP UE16PPSC UE41PP UFAIUP UE31CC UE33CC UE35CC UE511CC UE62PP UE63PP 0 4045 0 40452 UE511S UE611CC 1 Phase 1 Phase 1 Phase 1 T Iano Generator 2 N C N C Phase 1 N C Generator Tacho 3 Phase 1 Phase 1 Phase 1 N C Generator 4 N C N C Phase 1 N C ewe Generator 5 Phase 2 Phase 2 Phase 2 Motor Motor 6 Phase 2 Motor Motor 7 Phase 2 Phase 2 Phase 2 Motor Motor 8 N C N C Phase 2 Motor Motor 9 N C N C mde rome N C N C Phase 1 10 N C N C N C N C N C Middle Point 11 N C N C Phase 2 12 Mechanical Mechanical Mechanical Mechanical Mechanical 13 Zero Zero Zero Zero Zero 14 Shield Shield Shield Shield Shield Ground Ground Ground Ground Ground 15 Index Pulse I Index Pulse I Index Index Index Forcing Level 1 Forcing Level 1 Pulse I Pulse I Pulse I 16 0V 0V 0V 0V 0V Logic Logic Logic Logic Logic 17 End of Run N C End of Run End of Run End of Run 18 End of Run N C End of Run End of Run
9. 25 pin connector for the RS 232C inter face you can use an off the shelf 25 to 9 pin adapter and one of the two cables described above If you do not wish to add an adapter you can use an off the shelf 9 to 25 pin RS 232C cable or build one like in Fig C 6 1 8 2 3 3 2 4 20 5 7 6 6 7 4 8 5 9 9 Pin D Sub 25 Pin D Sub Femal Connector Femal Connector on Controller Side on Computer Side Fig C 6 9 pin to 25 pin RS 232C interface cable To build a three conductor cable with a 25 pin RS 232C connector use the wiring diagram in Fig C 7 1 8 2 3 3 2 4 9 20 5 7 6 6 7 r 4 8 5 9 9 Pin D Sub 25 Pin D Sub Femal Connector Femal Connector on Controller Side on Computer Side Fig C 7 3 conductor 9 pin to 25 pin RS 232C interface cable AD Newport 8 15 EDH0181En1020 03 03 MM4006 Appendix Connector Pinouts EDH0181En1020 03 03 IEEE488 Interface Connector 24 Pin The IEEE488 connector has a standard configuration shown in Fig C 8 Pin DIO1 1 13 0105 DIO2 2 14 DIO6 3 15 DIO7 DIO4 4 16 DIO8 5 17 REN DAV 6 18 GND NRFD 7 19 GND NDAC 8 20 GND IFC 9 21 GND SRQ 10 22 GND ATN 11 23 GND SHIELD 12 24 SIG GND Fig 488 connector definition RS 485 Interface Connector 5 Pin T
10. R2mm Fig D 2 Glue Dispensing Pattern Notice that there is no need to set the velocities before the synchronized interpolated motion The controller automatically calculates them to get the best accuracy possible without exceeding the pre set individual veloci ties Also when finished with an interpolated motion always return the axes to the non synchronized mode Velocity A Axis 1 Axis 2 gt Time Axis 1 Fig D 3 Overlapping Axis Acceleration Deceleration Assuming that the desired velocity is 4 mm sec we need to calculate the acceleration and the positions where one axis starts decelerating and the other accelerating We know that an axis must travel 2 mm before reaching a velocity of 4 mm sec Velocity A Distance Time A Distance Time Velocity Acceleration A Velocity A Velocity e Velocity Time A Distance Since the velocity starts from zero A Velocity Velocity Velocity 42 8 mm sec A Distance 2 Acceleration AD Newport 8 23 EDH0181En1020 03 03 MM4006 Appendix D Motion Program Examples Before starting to write the actual program we need to consider one more thing to assure a good result the glue must start being dispensed while the motion is in progress Thus we have to start the motion first and then turn on the dispenser The motion we decide to perform is shown in Fig D 4 Axis 2 0 10 14 10 e Axis 1 0 0 14 0
11. and 2 non synchronized Set I O bit 8 low this will lift the pen up Move axis 1 to 17 start synchronized axis wait for motion to complete Set I O bit 8 high this brings the pen down 2PR12 5 WS 1PR 0 5 WS 2PR 12 5 WS 1PR 0 5 WS RP2 Make four relative 2PA2 5 WS 1 50 1SY1 2SY1 1WL8 motions by sequentially incrementing axis 1 and 2 wait for each motion to stop repeat the cycle com mand line two times Move axis 2 to 2 5 mm and wait for motion com plete Initialize variable 1 set its value to zero Declare axes 1 and 2 synchronized Start a wile loop repeat the following commands while variable 1 is less than 8 1PR 0 5 2PR0 596 SE WS Set relative destination of axis 1 at 0 5 mm and of 2PR 3 SE WS axis 2 at 0 596 mm away from current position start motion wait for motion to complete Set relative destination of axis 2 3 mm away from current position start motion on the synchronized axis wait for motion to complete 1PR 0 5 2PR0 596 SE WS Set relative destination of axis 1 at 0 5 mm and of axis 2 at 0 596 mm away from current position start synchronous motion wait for motion to com plete EDH0181En1020 03 03 MM4006 Appendix D Motion Program Examples iN K EDH0181En1020 03 03 J 2PR3 SE WS 1YA1 WE
12. continue Fig 5 Error screen command line too long The second type of error message that is available during program creation or modification is shown in Fig A 6 It will appear when the non volatile memory allocated to program storage becomes full The last line entered XXXX will be lost but the rest of the program is saved Program is too long Press any key to continue Fig A 6 Error screen program memory full AD Newport 8 5 EDH0181En1020 03 03 MM4006 8 Axis Motion Controller Driver B IEEE 488 Link Characteristics EDH0181En1020 03 03 NOTE In order to meet FCC emission limits for a Class B device you must use a double shielded IEEE 488 cable Operating this equipment with a single shielded cable may cause interference to radio and television reception in residential areas NOTE Comply to IEEE Standard Digital Interface for Programmable Instrumentation ANSI IEEE Std 488 1978 This norm is commonly called IEEF 488 IEEE 488 Functions Supported by MM4006 Controller Mnemonic Definition Support ATN Attention Yes DCL Device Clear Yes EOI End or Identify Yes EOL End of Line Yes GET Group Execute Trigger No GTL Go to Local No IFC Interface Clear Yes LAD Listen Address Yes LLO Local Lockout No OSA Other Secondary Address No PPC Parallel Pol Confi
13. should be referred to Newport Corporation or your Newport representative for assistance Obtaining Service To obtain information about factory service contact Newport Corporation or your Newport representative Please have the following information available 1 Instrument model number MM4006 2 Instrument serial number 3 Firmware version number 4 Description of the problem If the instrument is to be returned for repair you will be given a Return Authorization Number which you should refer to in your shipping docu ments Please fill out the service form on the next page and return the com pleted form with your system 8 39 EDH0181En1020 03 03 Service Form Your Local Representative Tel Fax Name Return Authorization Please obtain prior to return of item Compagny Adress Date Country Phone Number P O Number Fax Number Item s Being Returned Model Serial Description Reasons of return of goods please list any specific problems AD EDH0181En1020 03 03 8 40 Newport
14. 0 1 1 UTMI100CCO 1DD 1 UTM150CC1HL 72 1 UZMS0PPO 1 100 1 1 UTM100CC0 1DD 0 UTM150CC1HL 72 0 UZMS80CCO 1 100 1 0 UTMI100CCO 1DD 1 UTM150CC1HL 72 1 UZM160PE0 05 100 1 1 UTMI100CCIDD 1 UTM150CCO0 5HA 1 UZM160PP0 05 UTM100PP0 1 1 UTM100CC1DD 0 UTM150CC0 5HA 0 UZM160PP0 1 100 0 1 0 UTM100CC1DD 1 UTM150CCO0 5HA 1 UZMI160CC0 05 100 0 1 1 UTM150CC0 5HA 72 1 UZM160CC0 05 72 UTM100PP1HL 1 150 0 1 1 UTM150CC0 5HA 72 0 UZMI160CCO 1 UTM100PP1HL 0 150 0 1 0 UTM150CC0 5HA 72 1 UTM100PP1HL 1 150 0 1 1 UTM150CC0 1DD 1 UZS80PP0 1 UTMI100CCO 1 1 150 1 1 UTM150CCO0 1DD 0 UZS80CCO0 1 UTM100CCO 1 0 150 1 0 UTM150CC0 1DD 1 100 0 1 1 150 1 1 UTMI150CCIDD 1 VP 25XA UTMI100CCIHL 1 UTMI150PP0 1 1 UTM150CC1DD 0 VP 5ZA UTM100CC1HL 0 UTM150PP0 1 0 UTMI150CCIDD 1 Rotation Stages 495PE BGM160PP RTM120CC RV120PE 495 BGM160CC RTM120CC 79 RV120PEHL 495PP BGM160CC 79 160 RV120PPHL 495APP BGM200PE RTM160PP RV120PP 495CC BGM200PP RTM160CC RV120CC 495 BGM200CC RTM160CC 79 RV120CCHL 495CCHL BGM200CC 79 RTM240PE RV120HA 495ACCHL RTM240PP RV120HAHL PR50PP RTM240CC RV120HAT BGM50PE PR50CC RTM240CC 79 RV120HAHLT BGM50PP RTM350PE RV160PE BGM50CC RGV100 RTM350PP RV160PEHL BGM80PE RTM350CC RV160PPHL BGM80PP RTM80PE RTM350CC 79 RV160PP BGM80CC RTM80PP RV160CC BGM120PE RTM80CC RV80PE RV160CCHL BGM120PP RTM80CCHL RV80PEHL RV160HA BGM120CC RTM80CCH
15. 00101 2 stx 00000010 38 amp 00100110 3 etx 00000011 39 00100111 4 eot 00000100 40 00101000 5 enq 00000101 41 00101001 6 ack 00000110 42 00101010 7 bel 00000111 43 00101011 8 bs 00001000 44 00101100 9 tab 00001001 45 00101101 10 If 00001010 46 00101110 11 vt 00001011 47 00101111 12 ff 00001100 48 0 00110000 13 cr 00001101 49 1 00110001 14 50 00001110 50 2 00110010 15 Si 00001111 51 3 00110011 16 dle 00010000 52 4 00110100 17 dcl 00010001 53 5 00110101 18 dc2 00010010 54 6 00110110 19 dc3 00010011 55 7 00110111 20 dc4 00010100 56 8 00111000 21 nak 00010101 57 9 00111001 22 syn 00010110 58 00111010 23 etb 00010111 59 00111011 24 can 00011000 60 00111100 25 em 00011001 61 00111101 26 eof 00011010 62 gt 00111110 27 esc 00011011 63 00111111 28 fs 00011100 64 01000000 29 55 00011101 65 01000001 30 7 00011110 66 01000010 31 us 00011111 67 01000011 32 5 00100000 68 D 01000100 33 00100001 69 E 01000101 34 i 00100010 70 F 01000110 35 00100011 71 G 01000111 GO EDH0181En1020 03 03 8 32 Newport MM4006 Appendix F Decimal ASCII Binary Conversion Table AD Newport Number ASCII Binary Number ASCII Binary decimal Code Code decimal Code Code 72 H 01001000 120 x 01111000 73 I 01001001 121 y 01111001 74 J 01001010 122 7 011
16. 00PE1 1 MTM150PP0 1 1 8 1 MTM100PP0 1 1 MTM150PP0 1 0 ILS50PP MFN25PP MTM100PP0 1 0 MTM150PP0 1 1 ILS50CC MFN25PP0 1 MTM100PP0 1 1 MTM150PP1 1 ILS50CCHA MFN25CC MTM100PP1 1 MTM150PP1 0 ILS100PP 25 0 1 MTM100PP1 0 MTM150PP1 1 Nevvport 8 35 EDH0181En1020 03 03 MM4006 Appendix G Stages Preset in the Controller 150 0 1 1 250 0 1 1 1600 25 1 0 150 0 1 0 250 0 1 0 1600 25 1 1 150 0 1 1 250 0 1 1 25 1 1 150 0 1 72 1 250 1 1 TIX200CCO 1 TM25PP0 1 0 U U U U 150 0 1 72 0 MTM250PE1 0 200 0 5 UTM25PP0 1 1 150 0 1 72 1 MTM250PE1 1 TIX200PP0 5 UTM25PP1HL 1 150 1 1 250 1 1 TIX200PP1 UTM25PP1HL 0 MTM150CC1 0 MTM250PP0 1 0 200 0 1 UTM25PP1HL 1 150 1 1 MTM250PP0 1 1 200 0 5 25 0 1 1 150 1 79 1 MTM250PP1 1 200 0 5 UTM25CC0 1 0 150 1 79 0 250 1 0 200 1 25 0 1 1 MTM150CC1 79 1 MTM250PP1 1 UTM25CC1HL 1 150 0 1 1 250 0 1 1 TS50DCO0 5 UTM25CC1HL 0 MTMI50CCO 1HA 0 250 0 1 0 TS50DC1 UTM25CCIHL 1 MTMI50CCO 1HA 1
17. 0CC1HL 1 MTM200CC1 79 1 TBM1000PE TS300DC1 UTM50CC1HL 0 MTM200CC1 79 0 TBM1000CC TSW300DC1 UTMS50CC1HL 1 MTM200CC1 79 1 TBM1000CC1HA TSW300DCO0 5 UTM50CC1HL 72 1 MTM200CCO 1HA 1 TBM1200PE TSP300 UTM50CC1HL 72 0 MTM200CC0 1HA 0 TBM1200CC TSPW300 UTM50CC1HL 72 1 MTM200CC0 1HA 1 TBM1200CC1HA 5 5 1 200 0 1 1 1400 UTM25PE0 1 1 UTMS50CC0 5HA 0 200 0 1 0 1400 UTM25PE0 1 0 50 0 5 1 200 0 1 1 1400 UTM25PE0 1 1 UTM50CC0 5HA 72 1 TBM1600PE UTM25PE1 1 UTM50CC0 5HA 72 0 EDH0181En1020 03 03 8 36 AD Newport MM4006 Appendix G Stages Preset in the Controller UTM50CCO0 5HA 72 1 UTM100CC1HL 1 UTM150PP0 1 1 UTS20PP0 1 UTMS50CCO 1DD 1 UTM100CC1HL 72 1 1 UTS20PP0 1F UTMS50CCO 1DD 0 UTM100CC1HL 72 0 0 UTS20PP1 UTMS50CCO 1DD 1 UTM100CC1HL 72 1 1 UTS20PPIF UTM50CC1DD 1 UTM100CCO0 5HA 1 UTM150CCO0 1 1 UTS20CCO 1 UTM50CC1DD 0 UTM100CC0 5HA 0 150 0 1 0 UTS20CCO 1F UTM50CC1DD 1 UTM100CC0 5HA 1 UTM150CCO0 1 1 UTS20CCI UTM100CC0 5HA 72 1 UTM150CC1HL 1 UTS20CCIF 100 0 1 1 100 0 5 72 0 UTM150CC1HL 0 UTM100PE0 1 0 100 0 5 72 1 UTM150CC1HL 1 UZMSO0PEO 1 100
18. 11010 75 01001011 123 01111011 76 L 01001100 124 01111100 77 M 01001101 125 01111101 78 N 01001110 126 01111110 79 O 01001111 127 01111111 80 P 01010000 128 10000000 81 Q 01010001 129 10000001 82 R 01010010 130 10000010 83 5 01010011 131 10000011 84 T 01010100 132 10000100 85 U 01010101 133 10000101 86 V 01010110 134 10000110 87 W 01010111 135 10000111 88 X 01011000 136 10001000 89 Y 01011001 137 10001001 90 Z 01011010 138 10001010 91 01011011 139 10001011 92 01011100 140 10001100 93 01011101 141 10001101 94 A 01011110 142 10001110 95 _ 01011111 143 10001111 96 01100000 144 10010000 97 01100001 145 10010001 98 b 01100010 146 10010010 99 01100011 147 10010011 100 01100100 148 10010100 101 01100101 149 10010101 102 01100110 150 10010110 103 5 01100111 151 10010111 104 h 01101000 152 10011000 105 i 01101001 153 10011001 106 j 01101010 154 10011010 107 k 01101011 155 10011011 108 1 01101100 156 10011100 109 m 01101101 157 10011101 110 n 01101110 158 10011110 111 01101111 159 10011111 112 01110000 160 10100000 113 4 01110001 161 10100001 114 r 01110010 162 10100010 115 s 01110011 163 10100011 116 t 01110100 164 10100100 117 u 01110101 165 10100101 118 v 01110110 166 10100110 119 w 01110111 167 10100111 EDH0181En1020 03 03 MM4006 Appendix F Decimal ASCII Binary Conversion Table
19. A I Encoder Phase B I Index Pulse I O Pulse Command O Direction Command o O 10 V Analog Output N C 0 V Encoder Supply Driver Inhibition Command N C N C N C I Encoder Phase A I Encoder Phase B I Index Pulse 0 V logic 0 V logic N C O Reference for 10 V Analog Output Stepper Motor Driver DC Motor Driver Vx Ouput 741 506 or 0 Ouput 741 507 Vx Ouput 0 V Logic Fig C 10 Open Collector Output Type Power Supply 4K7 TTL Input 0 V Logic Fig C 11 TTL Input Type Trigger AD 8 20 Newport MM4006 8 Axis Motion Controller Driver D Motion Program Examples When learning a new computer language there is no substitute for actually writing some real programs The motion controller s command set is a spe cialized language that needs to be mastered in order to be able to create complex applications To help you familiarize yourself with MM4006 pro gramming structure and language this appendix contains a few examples that you can read and copy Example 1 The first example is a simple two axes program that will generate the trian gle shown in Fig D 1 Axis 2 5mm Start Axis 1 10 mm Fig D 1 Triangle Pattern Make sure there is no other program in memory with the same name num ber If you are operating the controller from a remote computer start by issuing the XX command for that program number Then enter the pro
20. B SRQ line When the Controller acknowledge the SRQ it serial polls each open device on the bus to determine which device requested service Any device requesting service returns a status byte with bit 6 set and then unasserts the SRQ line Devices not requesting service return a status byte with bit 6 cleared Manufacturers of IEEE 488 devices use lower order bits to communicate the reason for the service request or to summarize the state of the device AD Newport 8 7 EDH0181En1020 03 03 MM4006 Appendix B IEEE 488 Link Characteristics EDH0181En1020 03 03 Service Requests from IEEE 488 2 Devices The IEEE 488 2 standard redefined the bit assignments in the status byte In addition to setting bit 6 when requesting service IEEE 488 2 devices also use two other bits to specify their status Bit 4 the Message Availiable Bit MAV is set when the device is ready to send previously queried data Bit 5 the Event Status Bit ESB is set if one or more of the enabled IEEE 488 2 events occurs These events include power on user request command error execution error device dependant error querry error request con trol and operation complete The device can assert SRQ when ESB or MAV is set or when a manufacturer defined condition occurs Also on page 7 7 National instruments give an example on how to conduct a serial poll SRQ and Serial Polling with NI 488 Device Functions The following example illustra
21. EFAULT CC T DEFAULT CC R Translation Stages CTS25 ILS100CC MTL100PP0 1 MTM100PP1 1 CTS25 10 01 ILS100CCHA MTL100PP1 100 0 1 1 ILS150PP MTL100PP2 54 100 0 1 0 GVM500PE10 ILS150CC MTL100CCO 1HA 100 0 1 1 GVM500PE100 ILS150CCHA MTL100CC1 MTM100CC0 1 72 1 GVM500PP1 ILS200PP MTL150PPO 1 MTM100CC0 1 72 0 GVM500PP10 ILS200CC MTLI150PP1 100 0 1 72 1 GVM500CC1 ILS200CCHA MTL150PP2 54 100 1 1 GVM500CC10 ILS250PP MTL150CC0 1HA MTM100CC1 0 GVM700PE10 ILS250CC MTL150CC1 100 1 1 GVM700PE100 ILS250CCHA MTL200PPO 1 MTM100CC1 79 1 GVM700PP1 IMS300PP MTL200PP1 MTM100CC1 79 0 GVM700PP10 IMS300CC MTL200PP2 54 MTM100CC1 79 1 GVM700CC1 IMS300CCHA MTL200CCO 1HA 100 0 1 1 GVM700CC10 IMS400PP MTL200CC1 MTM100CCO0 1HA 0 GVM1000PE10 IMS400CC MTL250PPO 1 100 0 1 1 GVM1000PE100 IMS400CCHA MTL250PP1 100 0 1 1 GVM1000PP1 IMS500PP MTL250PP2 54 100 0 1 0 GVM1000PP10 IMS500CC 250 0 1 100 0 1 1 GVM1000CC1 IMS500CCHA MTL250CC1 GVM1000CC10 IMS600PP MTM150PE0 1 1 GVM1400PE10 IMS600CC 100 0 1 1 150 0 1 0 GVM1400PE100 IMS600CCHA MTM100PE0 1 0 150 0 1 1 GVM1400PP1 MTM100PEO 1 1 150 1 1 GVM1400PP10 MFN8PP MTM100PE1 1 MTM150PE1 0 GVM1400CC1 MFN8PP0 1 MTM100PE1 0 150 1 1 GVM1400CC10 MFN8CC MTM1
22. IL UTIL UTIL UTIL DGND DGND UTIL UTIL UTIL UTIL UTIL WARNING NEWPORT assumes no responsability for the use of any other Remote Controller AD 8 10 Newport MM4006 Appendix C Connector Pinouts Auxiliary Connector 25 Pin D Sub This connector is used for the MOTOR indicator the frequency gener ator output the analog inputs and outputs and the synchronisation pulses The analog outputs are only available in option The logic outputs are open collector type and are rated for maximum 30 V and 40 mA Fig C 2 To drive logic input they require a pull up resistor The analog inputs and outputs have 12 bits resolution The analog inputs are multi range software programmable The available ranges are 10V 5V 0 10V 0 5V See the RA and AM commands for more programmation details In all cases analog inputs must be below 10 V The impedance of the converter inputs is typically 10kOhms The maxi mum input current is 300 The maximum offset error is 10 LSB and the maximum gain error is 10 LSB The input characteristics of the analog inputs are in Fig C 1 The value of 1 LSB depends of the used range e 1 LSB is 20 V 4096 5 mV for the 10 V range e 1 LSB is 10 V 4096 2 5 mV for the 5 V range and 0 10 V range e 1 LSB is 5 V 4096 1 25 mV for the 0 5 V range 10 Q In o t 100 nF gt Fig C 1 Equivalent circuit of an analog input A D Converter Typ 10 kQ T
23. L 72 RV80PP RV160HAHL BGM120CC 79 RTM120PE RV80CC RV160HAT BGM160PE RTM120PP RV80CCHL RV160HAHLT AD Newport EDH0181En1020 03 03 MM4006 Appendix G Stages Preset in the Controller RV240PE RV350PP UBG80PP URM80ACCHL RV240PEHL RV350CC UBG80CC URMI100PE RV240PPHL RV350CCHL UBG120PP URM100APE RV240PP RV350HA UBG120CC URM100PP RV240CC RV350HAHL URM100APP RV240CCHL RV350HAT URM80PE URM100CC RV240HA RV350HAHLT URM80APE URM100ACC RV240HAHL URM80PP URM100CCHL RV240HAT SR50PP URM80APP URM100CCHL 72 RV240HAHLT SR50CC URM80CC URM100ACCHL RV350PE URM80ACC URMI50PP RV350PEHL UBG50PP URMS0CCHL URMI150CCHL RV350PPHL UBG50CC URM80CCHL 72 Actuators 850F CMA12PP VM4CC VM25 4PPE 850F HS CMA12CCCL VM4CCE VM25 4CC 850F LS CMA25PP VM12 7PP VM25 4CCE 850G CMA25CCCL VM12 7PPE 850G HS VM12 7CC VP 25AA 850G LS VM4PP VM12 7CCE VMAPPE VM25 4PP Drives EM3ICC T EM41PP T EM31CC R EM41PP R EDH0181En1020 03 03 8 38 AD Newport MM4006 8 Axis Motion Controller Driver H Factory Service AD Newport Introduction This section contains information regarding factory service for the MM4006 The MM4006 contains no user serviceable parts The user should not attempt any maintenance or service of this instrument and or acces sories beyond the procedures outlined in the Troubleshooting Guide Appendix E Any problem that cannot be resolved
24. Stop switches or Start switches They will have the same effect as the front panel MOTOR or MOTOR buttons The minimum rating for the switches should be 50 mA at 24 V and the maxi mum contact resistance should be less than 100 Q Pin Description 1 NC 2 UTIL Start switches must be self release push buttons Wire the switch contacts normally opened The other side of the switch should be connectd to DGND If more than one switch is installed they should be connected in parallela 3 I Emergency Stop must always be connected to DGND dur ing normal controller operation An open circuit is equiva lent to pressing MOTOR on the front panel Wire the switch contacts normally closed If more than one switch is installed they should be connected in series DGND DGND DGND CAN HD AD Newport 8 9 EDH0181En1020 03 03 MM4006 Appendix C Connector Pinouts EDH0181En1020 03 03 Remote Control Connector 15 pin D Sub This connector should only be used with the NEWPORT RC4000 remote Controller The connector also provides an Emergency Stop switch input with identi cal operation to the one in the Power Inhibition connector If no remote controller are used the pins must be shorted Pin 1 2 Description DGND For normal operation connect pins 2 and 3 together An open circuit is equivalent to pressing the MOTOR on the front panel 0 UTIL UT
25. The solid lines show the actual pen trajectory Next we need to select a coordinate system For simplicity lets make the lower left corner of the trajectory the origin zero as shown in Fig D 6 Y 2 Axis 1 Fig D 6 We decide to make the symbol 13 mm high and 17 5 mm wide But using a pen with a 0 5 mm wide tip the actual trajectory must be shrunk to 12 5 Y 17 mm To control the pen up and down we will use bit 8 of the I O output port where logic high means pen down First we need to make sure that there is no other program in memory with the same name number We do this by listing the program number select ed or just by erasing it with the XX command Assuming that this program is being edited on a computer and then down loaded to the controller we also need to send the commands to enter and terminate the programming mode AD Newport 8 25 EDH0181En1020 03 03 MM4006 Appendix D Motion Program Examples S EDH0181En1020 03 03 4EP CB 1PA0 2PA12 5 WS 8SB Erase program t if it exists Store all following entries as program 1 Clear all output I O bits set all bits to zero Move axis 1 to 0 mm and axis 2 to 12 5 mm wait for all motion to complete Set I O bit 118 high this brings the pen down 2PR 12 5 WS 1IPR0 5 WS 2PR12 5 WS 1PR0 5 WS RP2 Ma
26. ation of axis 1 to 4 5 mm start synchro nized axis wait for motion to complete Set destination of axis 2 to 11 904 mm start syn chronized axis wait for motion to complete Set destination of axis 1 to 4 and of axis 2 to 12 5 mm start synchronous motion wait for motion to complete Set I O bit 8 low this will lift the pen up Declare axes 1 and 2 non synchronized End of program quit programing mode AD Newport MM4006 8 Axis Motion Controller Driver E Troubleshooting Guide AD Newport Remember that there are no user serviceable parts or adjustments to be made inside the controller or any other component Contact Newport for any repair or other hardware corrective action Most of the time a blown fuse or an error reported by the controller is the result of a more serious problem Fixing the problem should include not only correcting the effect blown fuse limit switch etc but also the cause of the failure Analyze the problem carefully to avoid repeating it in the future The following is a list of the most probable problems and their cor rective actions Use it as a reference but keep in mind that in most cases a perceived error is usually an operator error or has a simple solution Problem Cause Corrective Action Rear power Turn on the main power switch switch turned located on the power entry mod off ule in the rear of the unit Verify with an adequate tester or N
27. gramming mode by using the EP command If you enter the program from the front panel ignore these two and the QP commands 1XX Erase program 1 if it exists 1EP Enter programming mode and store all entries as program 1 10 5 1VA4 Set velocity of axis 1 to 4 mm sec 1PA10 1WS Move axis 1 to absolute position 10 mm wait for axis 1 to complete motion 2VA4 Set velocity of axis 2 to 4 mm sec 2PA5 2WS Move axis 312 to absolute position 5 mm wait for axis 2 to complete motion 0 0 10 0 2VA2 Change velocity of axis 2 to 2 mm sec 1PA0 2PA0 Move axis 1 to absolute position 0 mm and axis 2 to absolute position 0 mm 1 End of program quit programming mode AD Newport 8 21 EDH0181En1020 03 03 MM4006 Appendix D Motion Program Examples 0 0 EDH0181En1020 03 03 10 5 Example 2 In the previous example to generate the diagonal line the third motion segment both axes must move simultaneously This is achieved by taking two special precautions the commands are placed on the same line to insure a good start synchronization and the velocities are modified such that the motions will end in the same time But if you would measure very accurately the precision of this diagonal line you would notice some errors due to imperfect start synchronization and an incorrect acceleration ratio In other words we achieved this dual axes motion with two independent single axis motions To elim
28. gure No PPD Parallel Poll Disable No PPE Parallel Poll Enable No PPU Parallel Poll Unconfigure No REN Remote Enable No SDC Selected Device Clear Yes SPD Serial Poll Disable No SPE Serial Poll Enable Yes SRQ Service Request Yes TAD Talk Address Yes TCT Take Control No UNL Unlisten Yes UNT Untalk Yes AD 8 6 Newport MM4006 Appendix IEEE 488 Link Characteristics IEEE 488 Function Subsets This controller support the many GPIB function subsets as listed bellow Some of the listings described subsets that the controller does not support CO Controller The MM4006 not control other devices T5 Talker The MM4006 becomes a Talker when the CIC Controller In Charge sends its TAD Talker Address with the ATN Attention line asserted It ceases to be a talker when the CIC Controller In Charge sends another device s TAD Talker Address with ATN Attention asserted L4 Listener The MM4006 becomes Listener when the CIC Controller In Charge sends its LAD Listener Address with the ATN line asserted The MMA006 does not have Listen Only capability SH1 Source Handshake The MM4006 can transmit multiline messages accros the GPIB Acceptor Handshake The MM4006 can receive multiline messages accros the GPIB Service Request The MM4006 asserts SRQ Serial Request line to notify the CIC controller In Charge when it requires service RLO Remote Local The MM4006 does not s
29. he analog outputs range is 10 V The maximum offset error is 200 mV and the maximum gain error is 10 LSB The output setting time is typically 6 psec These outputs are voltage outputs output current less than 1 mA so to use them properly they must be connected to an impedance higher than 10 kW 1 LSB is 20 V 4096 5 mV 5 Description DGND N C UTIL UTIL UTIL UTIL UTIL NC NC O A LOW signal indicates that Motor Power is ON 0 Pulse synchronized to one AXIS see PB PE PI and PS com mands O 00 10 WD N O Pulse synchronized to a trajectory see NB NE NI NN and NS commands 13 DGND 14 I Analog Input 1 15 I Analog Input 2 16 I Analog Input 3 AD Newport 8 11 EDH0181En1020 03 03 MM4006 Appendix C Connector Pinouts 17 I Analog Input 4 18 DGND 19 O Analog Output 1 20 O Analog Output 2 21 O Analog Output 3 22 O Analog Output 4 23 DGND 24 O Output frequency defined by the FT command 25 DGND NOTE Remember that an I O output bit set means that the transistor is con ducting thus appearing to be low GPIO Connector 37 Pin D Sub This connector is dedicated to the digital I O ports All outputs are open collector type and are rated for maximum 30V and 40mA Fig C 2 To drive a logic input they require a pull up resistor All i
30. ify that the load specifica tions for the motion device are not being exceeded The axis does not move System perfor mance below expectations Incorrect con nection Verify that the motion device is connected to the correct driver card as specified by the labels Incorrect para meters Incorrect con nection Verify that all relevant parame ters PID velocity etc are set properly Verify that the motion device is connected to the correct driver card as specified by the labels Incorrect para meters Verify that all relevant parame ters PID velocity etc are set properly Motor excessively hot Incorrect con nection Verify that the motion device is connected to the correct driver card as specified by the labels Move command not executed Software travel limit The software travel limit in the specified direction was reached If limits are set correctly do not try to move past them Incorrect para meters Verify that all relevant parame ters PID velocity etc are set properly Home search not completed Time out too short Verify the home search time out is set correctly If the home search velocity was changed the time out must be increased Faultry origin or index signals Carefully observe and record the motion sequence by watching the manual knob rotation if avail able With the information col lected call New
31. inate these motion errors we need to use the axes synchronization linear interpolation feature The improved program will have the follow ing listing 2XX Erase program 2 if it exists 2EP Enter programming mode and store all entries as program 2 1VA4 Set velocity of axis 1 to 4 mm sec 1PA10 1WS Move axis 1 to absolute position 10 mm wait for axis 1 to complete motion 2VA4 Set velocity of axis 1 to 4 mm sec 2PA5 2WS Move axis 2 to absolute position 5 mm wait for axis 2 to complete motion 15 1 25 1 Declare axes 1 2 synchronized 1PA0 2PA0 SE WS Set axis 1 destination to 0 mm and axis 2 destina tion to 0 mm start synchronous motion wait for motion to complete 1SY0 2SY0 Declare axes 1 and 2 non synchronized 2QP End of program 2 quit programming mode Notice that there is no need to set the velocities before the synchronized interpolated motion The controller automatically calculates them to get the best accuracy possible without exceeding the pre set individual velocities Also when finished with an interpolated motion always return the axes to the non synchronized mode AD 8 22 Newport MM4006 Appendix D Motion Program Examples Example 3 The MM4006 does not offer true circular interpolation but in many cases less demanding applications can be successfully implemented Take the example of dispensing glue on the pattern shown in Fig D 2 lt 14mm 10 mm
32. ironment high speed communication The following figure shows the how to connect your computer or protocol converter to the MM4006 controller RS 232 C TX RX to TX lt gt RX MM4006 RS 485 RX TX Controller Converter RX gt TX Multidrop Four Wires Full Duplex This feature enables you to connect up to 31 MM4006 controllers to one serial communication port As a network each MM4006 controller will have its own address to identify the commands that are sent to it The following figure shows the how to connect your computer or protocol converter to several MM4006 controllers 8 17 EDH0181En1020 03 03 MM4006 Appendix Connector Pinouts Computer RS 232 C Interface EDH0181En1020 03 03 RS 232 C TX e RX MM4006 to TX lt 1 gt RX controller RS 485 RX lt gt TX 0 1 Converter RX lt gt TX gt RX 4006 gt gt TX 02 gt TX RX wMa4006 RX Controller gt TX In this mode of communication each controller must have a single address from 1 to 31 this address must be different for each controller In this network communication if some controllers are switched off the others will still continue to work And it is no delay in the communication all controllers receive the commands at the same moment Th
33. is is more efficient than daisy chaining in daisy chaining the computer send com mand to the first controller who repeat that command to the next one who repeat to the next one and so on The daisy chaining puts a lot of traffic on the communication line introduce repeater delays and will not work if any of the controllers is switched off The standard command set of the MM4006 controller is directly usable with the following changes Each command must be initiated with the string address to be under stood by the right controller For example for a single computer you send a command like 1OR home axis 1 this same command will be 1 1OR controller 1 home axis 1 For commands to which the controller has to respond e g 1TP tell position of axis 1 you should operate with care to avoid any collision on the communication lines Only one controller should be asked to respond at a time and the computer must wait the reception of the response before interrogating an other controller So to avoid some of the possible collisions in this mode commands without axis number to which the controller has to respond will be ignored by the controller For example commands like TP tell position of all axes will be ignored To do the same the computer should issue these commands axis per axis and wait the response each time before issuing the next one AD 8 18 Newport MM4006 Appendix Connector Pinouts Motor Interface Connector
34. ke four relative 2PA10 WS 1 50 15 1 25 1 1WL8 1PR0 5 2PR 0 596 SE WS 2PR3 SE WS 1PR0 5 2PR 0 596 SE WS 2PR 3 SE WS 1 1 WE 1PA10 35 2PA0 SE WE 1PA10 5 SE WS 2PA2 979 SE WS 1PR0 5 2PR 0 596 SE WS 8 26 motions by sequentially incrementing axis 1 and 2 wait for each motion to stop repeat the cycle command line two times Move axis 2 to 10 mm and wait for motion complete Initialize variable 1 set its value to zero Declare axes 1 and 2 synchronized Start a while loop repeat the following commands while variable 1 is less than 6 Set relative destination of axis 1 at 0 5 mm and of axis 312 at 0 596 mm away from current position start synchronous motion wait for motion to complete Set relative destination of axis 2 3 mm away from current position start motion on the synchronized axis wait for motion to complete Set relative destination of axis 1 at 0 5 mm and of axis 2 at 0 596 mm away from current position start synchronous motion wait for motion to complete Set relative destination of axis 2 3 mm away from current position start motion on the synchronized axis wait for motion to complete Increment variable 1 by 1 End while loop Set destination of axis 1 to 10 35 mm and of axis 2 to 0 mm start synchronous motion wait for motion to complete Set destination of axis 1 to 10 5 mm start synchro nized axis wait for motion to complete Set destination of a
35. nputs are optocoupled and are configured as a LED in series with a 1 kQ resistor connected to the 12 V line Fig C 2 Pin Description Pin Description 1 External 12 V Internal 12 V 20 DGND 2 12V 25mA 21 DGND 5V 100 mA 22 DGND 4 I Digital port Input 1 23 DGND 5 I Digital port Input 2 24 DGND 6 I Digital port Input 3 25 DGND 7 I Digital port Input 4 26 DGNDO 8 I Digital port Input 5 27 External Ground Internal Ground 9 I Digital port Input 6 28 DGND 10 I Digital port Input 7 29 DGNDO 11 I Digital port Input 8 30 DGND 12 O Digital port Output 1 31 DGND 13 O Digital port Output 2 32 DGND 14 O Digital port Output 3 33 DGND 15 O Digital port Output 4 34 DGND 16 O Digital port Output 5 35 DGND 17 O Digital port Output 6 36 DGND 18 O Digital port Output 7 37 DGND 19 O Digital port Output 8 D foptocoupling is not activated pin 1 outputs 12 VDC If optocoupling is activated external 12 VDC must be supplied to pin 1 Needs factory service to be activated 2 If optocoupling is not activated 20 to pin 29 are tied to the internal DGND A EDH0181En1020 03 03 8 12 Newport MM4006 Appendix C Connector Pinouts If optocoupling is activated pin 20 to pin 29 are not tied to the internal ground and must be tied to the ground of the external 12 V po
36. o electrical another electrical device lamp etc Or that the power is present in the out let If not contact an electrician to correct the problem Stand By red LED Plug the power cord in the does not come on Unplugged appropriate outlet Observe all caution notes and procedures P described in the System Setup section Replace the line fuse as described in the System Setup section Beware that the fuse Blown fuse blows only when a serious prob lem arises If fuse blows again contact Newport for service nected A physically pre sent axis is declared uncon Bad connection Bad component Turn power off and verify the motion device cable connection Turn power off and swap motor cable with another axis if cables are identical to locate the prob lem Contact Newport for cable replacement or motion device service EDH0181En1020 03 03 MM4006 Appendix E Troubleshooting Guide EDH0181En1020 03 03 Problem Cause Corrective Action The MOTOR green LED does not stay on Limit switch tripped Execute a home search routine or move the axis in manual mode jog Make sure that the limit switch was not tripped by a seri ous problem Executive fol lowing error Verify that teh motion device installed is connected to the proper driver card Verify that all setup parameters correspond to the actual motion device installed Ver
37. oller will request the operator to perform a complete setup procedure on the front panel NOTE Under certain conditions you may need to erase the non volatile memo ry and load the default parameters This is accomplished simultaneously pressing the minus key and the period key on the keypad during the power up sequence This will initiate a setup procedure The error message shown in Fig appears on power up if the IEEE488 is detected to be malfunctioning Under this condition only the RS 232 inter face can be used AD EDH0181En1020 03 03 8 4 Newport MM4006 Appendix A Error Messages 4 88 initialization error Press an ke to continue Fig Error screen IEEE466 The error message in Fig A 4 appears if one of the function keys or keypad keys are detected being pressed or stuck during power up The X indi cates which key is detected function keys being labeled from A to D from left to right Keyboard error Fig A 4 Error screen depressed key during start up During program creation or modification the screen shown in Fig A 5 could appear if the command line being edited exceeds the 110 character limit The last command entered will be lost but the rest of the line is retained and can be saved The XXXX represents the actual command line being edited Command line too long Press any key to
38. output ports AD Newport 8 13 EDH0181En1020 03 03 MM4006 Appendix C Connector Pinouts EDH0181En1020 03 03 RS 232C Interface Connector 9 Pin D Sub The RS 232 C interface uses a 9 pin Sub D connector The back panel connector pinout is shown in Fig C 3 Internal Connections CAN OUP WD Fig C 3 RS 232C connector pinout RS 232C Interface Cable The reason some pins are jumpered in the controller as described in Fig C 3 is to override the hardware handshake when an of the shelf cable is used for the RS 232C interface This guaranties proper communication even when the handshake cannot be controlled from the communication software Fig C 4 shows a simple pin to pin cable with 9 conductors 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 9 Pin D Sub 9 Pin D Sub Femal Connector on Controller Side Femal Connector on Computer Side Fig C 4 Conductor pin to pin RS 232C interface cable If you want to use a three conductor cable you must use a cable config ured as in Fig C 5 to get the same hardware handshake override 8 14 AD Newport MM4006 Appendix C Connector Pinouts 1 r 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 9 Pin D Sub 9 Pin D Sub Femal Connector Femal Connector on Controller Side on Computer Side Fig C 5 Conductor RS 232C interface cable If your computer or terminal uses a
39. port for assistance 8 30 AD Newport MM4006 Appendix E Troubleshooting Guide Problem Cause Corrective Action Make sure that the computer Wrong line and the controller use the same line terminator Verify that the controller is set to communication on the left port RS 232 C or IEEE 488 No remote commu Wrong commu nication nication port Wrong commu Verify that all communication nication para parameters match between the meters computer and the controller NOTE Many other type of problems are detected by the controller and reported on the display and or in the error register Consult appendix A for a com plete list and description AD Newport 8 31 EDH0181En1020 03 03 MM4006 8 Axis Motion Controller Driver Decimal ASCII Binary Conversion Table Some of the status reporting commands return an ASCII character that must be converted to binary To aid with the conversion process the fol lowing table converts all character used and some other common ASCII symbols to decimal and binary To also help in working with the I O port related commands the table is extended to a full byte all 256 values Number ASCII Binary Number ASCII Binary decimal Code Code decimal Code Code 0 null 00000000 36 00100100 1 soh 00000001 37 001
40. tes the use of the ibwait and ibrsp functions in a typical SRQ servicing situation when automatic serial polling is enabled include decl h char GetSerialPollResponse int DeviceHandle char SerialPollResponse 0 ibwait DeviceHandle TIMO RQS if ibsta amp RQS printf Device asserted SRQ n Use ibrsp to retrieve the serial poll response ibrsp DeviceHandle amp SerialPollResponse return SerialPollResponse y The MM4006 Controller is an IEEE 488 device in which the SRQ is always enable It will respond accordingly to the National Instruments example When the queried data will be ready the MM4006 will assert the SRQ line and in the serial poll response bit 6 will be set Requesting service and bit 7 manufacturer defined will be set Message Availiable After that you can use the ibrd command to retreive the data from the MM4006 AD 8 8 Newport MM4006 8 Axis Motion Controller Driver Connector Pinouts Labeling Conventions All pinout diagrams in this section use the following labeling convention AGND Analog ground DGND gt Digital ground N C gt Not connected UTIL Test utility signal DO NOT USE MAY BE ENERGIZED I gt Input O gt Output WARNING The company assumes no responsability for the use of any UTIL labelled pin Power Inhibition Connector 9 Pin D Sub This connector is provided for the wiring of one or more remote Emergency
41. ty angle 8 3 EDH0181En1020 03 03 MM4006 Appendix A Error Messages Trajectory first angle definition error Trajectory Line x y Line expected Trajectory Line x y too big discontinuity Trajectory Line x 0 or Line 0 impossible Trajectory Arc expected Trajectory Arc radius is too small gt N lt x Trajectory Arc 0 radius is too big Trajectory Arc sweep angle is too small Trajectory Arc x y circle is too small Trajectory Arc x y Circle is impossible Trajectory trajectory is empty Unit not translational or incorrect Unit not rotationnal or incorrect Trajectory Units not translationnal or not identical _ sync pulses generation impossible mechanical familly name incorrect Trajectory execution exceeds physical or logical limits Besides the standard screens available on the front panel display there are a number of error screens that appear only in special error conditions Parameters Error Press an ke to continue Fig A 1 Error screen English Erreur Param tres Une touche pour continuer Fig A 2 Error screen French The screen in Fig A 1 English version or Fig A 2 French version appears if the battery backed non volatile memory is corrupted This will result in a loss of all data in this memory and the contr
42. uery the error status particularly during the development phase of an application To better understand error handling keep in mind the following points Reading the error with TE or TB clears the error buffer The controller stores only the last error encountered Once an error is detected it is stored until read or replaced by a new error The error read represents an error that could have happened at any time since the last read For faster communication throughput use the TE command to read only the error code Use the TB command to read an existing error or to translate an error code Error List The following is a list of all error message codes and their descriptions S lt CHMPOVOASZM RAFINDAN AD Newport Unknown message code Incorrect axis number Parameter out of limits Unauthorized execution Incorrect I O channel number Program number incorrect Program does not exist Calculation overflow Unauthorized command in programming mode Command authorized only in programming mode Undefined label Command not at the beginning of a line Program is too long Incorrect label number Variable number out of range Number of WE commands does not match the number of open loops Unauthorized command Command cannot be at the beginning of a line Communication time out Error during home search cycle Failure while accessing the EEPROM Too long trajectory Trajectory to big discontinui
43. upport the GTL Go To Local and LLO Local Lock Out functions PPO Parralel Poll The MM4006 has no Parallel Poll capability It does not respond to the following interface messages PPC PPD PPE and PPU The MMA006 does not send out a message when the Attention and EOI End or Identify line are asserted Device Clear The MM4006 responds the DCL Device Clear and when made Listener the SDC Selected Device Clear interface message DTO Device Trigger The MM4006 does not support GET Group Execute Trigger interface message E2 Electrical The MM4006 uses tristate buffers to provide optimal high speed data transfer SRQ Using The NI488 2 User Manual for Windows from National Instruments in the GPIB Programming Techniques chapter describes the use of Serial Polling as follow page 7 5 Serial Polling You can use serial polling to obtain specific information from GPIB devices when they request service When the GPIB SRQ line is asserted it signals the Controller that a service request is pending The controller must then determine which device asserted the SRQ line and respond accordingly The most common method for SRQ detection and servicing is serial poll This section describes how you can set up your application to detect and respond to service requests from GPIB devices Service Requests from IEEE 488 Devices IEEE 488 devices request service from the GPIB Controller by asserting the GPI
44. wer supply Needs factory service to be activated Logical Inputs Parameter Symbol Min Max Units Low Level Input Voltage Vi 0 5 V High Level Input Voltage Vin 11 12 V Input Current LOW Ii 5 10 mA Pulse Width 1 Servo Cycle Input low to high TPin 10 psec Input high to low 10 psec D Optoisolated logical inputs These inputs works with current driven into the led If there is no current input is read as a 1 if there is current through the LED input is read as a 0 To drive current through the LED you can tie the input to ground or drive it by an open collector This way the logic level seen at the input is the same as the one given by the RB command To ensure good performances when current is present its value must be between 5mA and 10 mA To be taken into account one pulse on the input must be larger than one servo cycle Logical Outputs Parameter Symbol Min Max Units Low Level Output Voltage Va 0 1 High Level Output Voltage Von 30 V Output Current LOW Ii 40 mA Pulse Width 1 Servo Cycle Output low to high 1 psec Output high to low 1 2 minimum width an output pulse cannot be smaller than servo cycle To assure good use and performances of the MM4006 respect these maxi mum ratings 12 V Out 30 V max MZ LED 40 mA max 1kQ Input Fig C 2 Equivalent circuits for the digital input and
45. wo identical RS 485 connectors are available Both are connected in paral lel so you can make the connections on each GPIO Auxiliary RS 232 C Motor Remote Interlock Control 8 16 EARTH TX TX RX Pin Ww Oi B Ww AD Newport MM4006 Appendix C Connector Pinouts Computer RS 232 C Interface AD Newport Connecting RS 232 C to a Protocol Converter To use this communication protocol from a computer equipped with an RS 232 C serial port you must connect a RS 232 C to RS 485 protocol con verter A large choice of those converters can be found from the shelf The following one are very popular ones and are not a limiting list ROLINE IC 485S ROLINE IC 485SI Burr Brown LDMAS5S Refer to the protocol convert er s to properly configure it and check it s connection to a RS 232 C interface The above figure gives the standard RS 232 C pin out and inter connection Computer RS 232 C RS 485 RS 232 C Connector Converter 25 D Sub 9 D Sub Pin Pin 25 D Sub 25 D Sub Male Male Name Name Femal Femal 3 2 TX RX 2 3 2 3 RX lt TX 3 2 5 8 RTS CIS 5 4 4 7 CTS RTS 4 5 7 5 GND GND 7 7 Point to Point Four Wires Full Duplex This is the mode for single computer to a single MM4006 controller in long distance or noisy env
46. xis 2 to 2 979 mm start synchro nized axis wait for motion to complete set relative destination of axis 1 at 0 5 mm and of axis 2 at 0 596 mm away from current position start motion wait for motion to complete AD Newport MM4006 Appendix D Motion Program Examples AD Newport 2PA0 SE WS 1PA11 5 SE WS 2PA1 788 SE WS Set destination of axis 2 to 0 mm start synchronized axis wait for motion to complete Set destination of axis 1 to 11 5 mm start synchro nized axis wait for motion to complete set destination of axis 2 to 1 788 mm start synchro nized axis wait for motion to complete 1PR0 5 2PR 0 596 SE WS set relative destination of axis 1 at 0 5 mm and of 2PA0 SE WS 1PA12 5 SE WS 2PA0 596 SE WS 1PA13 2PA0 SE WS 1SY0 2SY0 8CB 1PA17 WS 8SB axis 2 at 0 596 mm away from current position start synchronous motion wait for motion end set destination of axis 2 to 0 mm start synchro nized axis wait for motion to complete Set destination of axis 1 to 12 5 mm start synchro nized axis wait for motion to complete Set destination of axis 2 to 0 596 mm start synchro nized axis wait for motion to complete Set destination of axis 1 to 13 mm and of axis 2 to 0 mm start motion wait for motion to complete Declare axes 1

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