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USER MANUAL

1. OORPOPRETER 16 Pnabling C 10 11 Encoder Interface A AA Rede 4 Environmental idi a a a A GG a Aa as aa aga A NGA ve ajana aga a aaa aa a Gg a ab a aa a agan a an 2 Event TITIP asa aaa aana ai rana ie i a ga dg Dai ag gara an a den Waa KO GE raa E aa Aa a ga d aja a a aa aaa Kalana A 7 Event Interface ian ira oboe ui iro tasaa Vaa ed spen SV LATTE PETS ia jet 4 Event INPUTS ies rt poe X HH MERE ARKA ag RETE AERE S tau RRRR ER RENE SERERE ER EYE SERERE BERN saanuumasuvUsAnvAKANKNSAN 22 EXADIDIES ER 40 Examples and Explanations 5 0 erri n eoa kies Eae aa SENSEN OEE DEEE EEV EE REY RREEE EROR REPRE CPU RERO ROS 11 Executable file 5 pere ocn ete eve eese a aA ai SG ES Na ce pe Vd aa va Pr URN 14 External inpuls seosicasisee ENG GAN SE THN GE KANGENE EE HA A SA SAT EE BAR UR EAS PER CE SE ANK NENGENA ANGGANG es ce EE HS Rake Kus 33 Features osuvaa tari eaaa evan ey xu Pru a save 2 POMO Wi durcper EE 16 Frequently asked YU SU OS saa aaa BG lasts exe eR Fre vorerst a KA vive Ag a BN a VIV Y EVEN RE Vis 37 General Specifications sadistic vy a ba Pa EP Ege qa a pa I xe ainoana ru bra eee guo 48 Home Anu vesci qa 13 Home Polarity essi die kedda ss xa D RR E aan EUR EYE YE TV VAN VERE ki RENDER EE OVE pi bia bieba ERE EVEFEERERRE CER EE E YRERR SANKAR FANS 13 HOME uii 22 Homing tbierek c
2. AJ 14 I 93 35 5 3 685 7 45 25 48 680 1 890 8 4 37 331 i i 50 8 25 2 00 34 1 339 OUNTING HOLES 6 75 A B 4 75 187 MAX DE 4 40 UNC 4 PLACE TOP AND BOTTOM Q MicroMini Controller MODULE NET STATUS 101 6 9 4 000 cmm current ur PROGRAM National Aperture Inc O ALL MODELS FRONT VIEW 50 J2 EI XN TT EE RR NF AA Lc E zmooozm e mosnam4z OI LINEAR OUTPUT REAR VIEW Appendix L Typical Potentiometer Circuit EE m Analog Input 1 Analog Ground 2 gt Wiper 5 VDC 15 gt 1K 2W Potentiometer Clarostat P N RVANAYSD102A 51 Appendix M 52 MicroMini Controller Warranty All MicroMini Controller Series controller modules excluding motors gearheads encoders applications notes software cabling and auxiliary devices are warranted against defects in workmanship and materials for 1 year after date of shipment to the original purchaser In the event of defects National Aperture will at its sole option repair or replace the defective controller covered by this warranty without charge To avail themselves of this warranty purchasers must obtain an RMA number from National Aperture s customer service office describe the alleged defect in writing and return the properly packaged defective product within 30 days of discovering an
3. HEDS 5000 Series Compatible Pin Encoder Channel A Input Encoder Power 5 VDC Encoder Return Ground Not Connected Encoder Return Ground Encoder Return Ground Encoder Power 5VDC Encoder Channel B Input Encoder Power 5 VDC Encoder Channel Z index Input 10 O 0 JA 0 ON 4 o J4 DeviceNet M Interface Not Applicable without Special DeviceNet setup Drain Case V Power Input V Power Return CAN H Communications Interface CAN L Communications Interface 3 2 Pin o O4 W N J5 Main Power Pin 24 VDC 24 VDC 2 Ground GROUND 4 J6 Motor Drive 34 Appendix D MicroMini Stage Controller Interface Cable Positive Limit Input External Event 2 Rev Limit Input 5 VDC Limit Ground Case Ground Encoder Ch B Encoder Ch A Encoder 5 VDC Motor Motor J2 E J10 M 7 l Black 540 6 gt White 9 15 Gray 8 16 _Violet YT Blue 5 6 B N Green 5 3 gt Yellow 4 8 gt Orange gt 3 1 Red 69 2 gt Brown 4 J6 B gt A gt J2 J3 J10 35 Appendix E Troubleshooting Should you encounter difficulties with the operation of your MicroMini Controller remove power from the unit and verify all connections as outlined in Appendix C of this manual and reapply power Other Troubleshooting instructions cannot be compiled until further t
4. Typing 1 SP 200 return should be adequate for demonstration purposes 12 MicroMini Controller User Manual Encoder Lines rev Quadrature cts rev rpm unit Example 1000 4000 0 24 960 4000 0 24 rpm step 500 2000 0 48 960 2000 0 48 rpm step 200 800 12 960 800 1 2 rpm step 100 400 24 960 400 2 4 rpm step 16 64 15 0 960 64 15 0 rpm step 15 60 16 0 960 60 16 0 rpm step 10 40 24 0 960 40 24 0 rpm step Note using at 1000us sampling period SR 960 is the conversion factor at 500us 1920 etc 5 The Acceleration command AC which is the number of quadrature counts per sample period The sample period for the MicroMini Controller is 1000us Type 1 AC 400 return the default The MOVE command M Make it move by using the command 1 M MicroMini Controller box at address node 1 MOVE If your motor doesn t move recheck all connections and try reentering the command string again If your motor jumps a little but does not reach destination try increasing the following error FD to 130 default is 110 If your motor does not move at all recheck all connections and communication configuration and reset the controller if necessary If still no motion can be achieved please contact National Aperture Inc at 603 893 7393 and ask for MicroMini Controller Technical Support In this case you should be able to access the computer and controller while talking to the support
5. 10 The individual node address is determined by the binary coding of these switches Switch 5 is the least significant bit LSB Node 0 all switches RIGHT In the Remote Mode RS232 RS 485 all nodes will respond to a command directed to node 0 This functionality allows synchronization among multiple nodes This is the reason 63 axes can be addressed serially Data Rate Switches DATA RATE 3 and 4 Communication rate determined by the binary encoding of these switches as indicated below Switch Remote Data Rate kbaud 3 4 RS 232C RS485 LEFT LEFT 57 6 RIGHT LEFT 19 2 LEFT RIGHT 38 4 RIGHT RIGHT 9 6 Local Remote Mode Switch number 1 to RIGHT RS 232C RS485 mode active default Switch number 1 to LEFT Local mode Potentiometer joystick operated Isolation Power Source The opto power selector determines whether or not the MicroMini Controller opto isolation devices will be powered from an internal 5 VDC or external 5 VDC power source The customary default setting is internal If an external power is desired a source can be accommodated at pin 3 of the external interface connector J2 on the rear of the module MicroMini Controller User Manual 7 RS 485 TERMINATION o o RS 485 Network Termination OPTO POWER ATERIA one The termination jumper pins are below the front mounted switches current uy PROGRAM face oo see drawing Unless you have specified otherwi
6. 5 10 as shown lt s m cm The address 1 2 3 4 will be the first 7 Cm 1 7 Com 2 El _ m entry in every command Using the s m s m s s um address 0 will address all the modules m o Cm gt m in your network m m VN 4 Make sure baud rate is set typical 38 400 switch 3 LEFT switch 4 RIGHT See Configuration Options page 6 for more settings 4 MicroMini Controller User Manual 5 Set up rear panel 6 Plug SERIAL CONNECTOR in back of MicroMini Refer to connection diagrams in Appendix B and proceed as follows a Plug in J 5 connector from wall supply Don t plug MicroMini Controller supply in wall yet b Using main 3 to 1 motor cable CA MVP 1 See also J1 Appendix C for reference familiarity with the connection will help in trouble shooting Plug in f MOTOR DRIVE J 6 J2 fii J5 ENCODER INTERFACE J 3 T EVENT INTERFACE J 2 J6 amp J3 zmooozm mo azmaz Plug 10 pin IDC end of CA MVP 1 interface cable male into stage motor cable female JA DEMCENET amp LINEAR OUTPUT Controller and connect to PC REAR VIEW RS 485 adapter must be plugged into PC for multi axis systems See also Remote Mode Serial Designation page 7 7 If computer is not already on turn on now Do not plug in MicroMini Controller wall supply yet 8 Install MicroMini Controller Demo software from disks check for correct Wind
7. MOVE IN PROGRESS damage If damage is discovered file a claim ose UM NEGATIVE LIMIT with the carrier immediately Each MicroMini Controller has been 100 inspected and tested prior to shipment in accordance with National Aperture s Quality Assurance Program Your MicroMini Controller comes in an antistatic package Carefully remove the unit from this package opro soma EER RR and retain the packaging in case the controller aner uur 5 needs to be shipped or stored in the future Make sure that the unit s shipped match the National Aperture rT zzm axme mo gt namiz N zmooozm e mosnam4z UI packing list MO Warning The MicroMini Controller amp contains ESD sensitive devices LINEAR OUTPUT FRONT VIEW REAR VIEW Hooking up to your MicroMini Controller WIN 3 x 95 98 NT As damage can occur in transit we recommend that you hook up your module and verify its operation upon receipt Make sure you have all the parts listed on the packing list 1 Leave power off Don t plug in MicroMini Controller wall supply yet 2 Check front panel If dip switches 1 and 2 and the two jumpers are not as shown please correct T switches 3 through 10 are to be set by the user then continue as follows 3 Create a binary address other than 0 m s mm E N using switches
8. activated at power up serially or through a DeviceNet poll connection Macro routines provide a mechanism to implement configuration sequences indexing operations or variable motion profiles with minimal host interaction Event inputs from the J2 connector can be used to flag the interruption and prompt continuation of macro routines as these events have binary values that can be used as status masks The status mask tells the program not to continue operation until it sees the correct status binary value The following pages will illustrate the Macro Module Setup and Download utilities 18 MicroMini M Controller User Manual The Specify Macros Screen Multi Macro Download Utility National Aperture Inc JOK Load Setup Specify Macros Command File Editor Down This screen is Fri cis d sections The right N New Combination Delete Combination macro side of the screen is used to develop the Select Macro Combination individual macro e inenta MVPS Version Starting Macro Node Address Commands may be i N d indhe Description Hd ered in Enter information here to describe Selected Macro Text the use of this combination v window and name the macro in the Select Macro window Clicking on Save Macro will save the series of commands under the Delete Macro Link selected macro Macro Sequence in Combination 1 initialize Save Macro New
9. amplifier direction Analog One 12 bit signed output for external amplifier 10 VDC Analog One 12 bit output 10 VDC Drive Amplifier Specifications 22 C 72 F MicroMini Controller Linear Amplifier Out puts 22 Volts DC at 1 0 Amp continuous 3 5 Amps peak Environmental Controller Operating Temperature 0 C to 70 C 32 F to 158 F Ambient Operating Temperature standard version 0 C to 40 C 32 F to 104 F Ambient Storage Temperature standard version 20 C to 85 C 4 F to 185 F Humidity Tolerance standard version 80 Rh non condensing Mounting All MicroMini Controller modules can be mounted to machinery in racks or in cabinets with an optional DIN rail mount or with mounting screws Regardless of which mounting system you use do not penetrate screw holes deeper than 4 75mm 3 16 inch from the surface of the controller module or irreparable damage to the circuit boards may result The mounting scheme for DIN rails is shown in Figure 1 General mounting guidelines and mechanical references are shown Appendix J OPTIONAL DIN RAIL CONNECTOR MAX SCREW DEPTF 187 INCHES MOUNTING HOLES 4 75 187 MAX DE TO P AN D 4 40 UNC 4 PLAC BOTTOM 49 Appendix K Dimensional Outlines
10. delay Message Start here The text in the message statement Start here as in the above example will be displayed in the message window during execution of the command file This feature provides a useful means of following program execution 4 HO Reset Axis 4 to 0 The slash asterisk allows comments to be inserted into command files Not macro downloads c oo 0co ooo Appendix A BASIC STARTUP PACKAGE CONTENTS 1 Axis Configuration 1 RS 232 Motion Controller 1 RS 232 Null Modem Cable 1 24VDC Power Supply 1 Stage Interface Cable single axis Software Demo Diskette MicroMini Controller User Manual 2 Axis Configuration 2 RS 485 Motion Controller 1 RS 485 Converter Module 1 2 axis Communication Cable 2 24VDC Power Supply 2 Stage Interface Cable single axis Software Demo Diskette MicroMini Controller User Manual 3 Axis Configuration 3 RS 485 Motion Controller 1 RS 485 Converter Module 1 3 axis Communication Cable 3 24VDC Power Supply 3 Stage Interface Cable single axis Software Demo Diskette MicroMini M Controller User Manual 4 Axis Configuration 4 RS 485 Motion Controller 1 RS 485 Converter Module 1 4 axis Communication Cable 4 24VDC Power Supply 4 Stage Interface Cable single axis Software Demo Diskette MicroMini M Controller User Manual OPTIONS Macro Module For stand alone applications RS 485 Serial Converters DIN Rails includes mounting screws and washers Custom
11. is usually driven by performance and architectural considerations If the application requires tightly coordinated two axis motion a high performance multi axis solution may be in order But if the requirement is simply to operate 20 conveyer lines an X Y stage to coordinate the processing of products with PLC based I O or coordinate sequenced activities then a distributed single axis implementation using 1 or more MicroMini Controllers should be very competitive Can you provide me with a packaged preconfigured solution In cases involving systems using National Aperture MicroMini stages yes Our Technical Department can configure for special applications as well What operating mode choices do I have In the Local operating mode with no remote host the MicroMini Controller provides velocity or position control using potentiometer input Both relative and absolute operation are supported Additionally encoder following with scaling is also available In the Remote mode using a remote host the MicroMini Controller operates as a slave to the master device and depends on the host for instructions This behavior is consistent with the design constructs for distributed control architectures Local Mode applications range from simple pump operations to tracking an analog input signal to position a target in an ion beam Remote Mode allows networked operation of up to 64 MicroMini Controller modules in an RS 485 Multidrop or De
12. is in position 0 motor is not in position 4 Bit 2 1 MicroMini Controller is in Velocity Mode 0 MicroMini Controller is in Position Mode 8 Bit 3 1 indicates trajectory percentage defined by the T command is complete 0 Trajectory complete percentage not yet achieved 16 Bit 4 1 an error has occurred O everything is o k 32 Bit 5 1 module is in DeviceNet Mode 0 module is not in DeviceNet Mode 64 Bit 6 1 a DeviceNet message error has occurred in one or more packets 0 the DeviceNet message packets are o k 128 Bit 7 1 the current move is off its program trajectory by more than the allowed amount which is set by the FD command 0 current move is going o k 256 Bit 8 1 motor is not enabled or has been disabled by some other error 0 motor is enabled 512 Bit 9 1 you have reached the program range limit set by the LL command 0 move is within the range limits 1024 Bit 10 1 Local Mode is active 0 Remote Mode is active 2 048 Bit 11 Emergency stop flag 1 active 4 096 Bit 12 External Event 1 1 active 8 192 Bit 13 Positive Limit Flag 1 active These flags signal the 16 384 Bit 14 External Event 2 1 active status of event inputs 32 768 Bit 15 Negative Limit Flag l active t This means Home switch is tripped and held not home armed status The binary representation of values over 32 767 require negative sign ex 32 768 Input Events The MicroMini Controller is capable of reacting to and on ex
13. necessary to develop a complete applications solution Inputs for hard overtravel limits as well as an emergency stop input are also available on the external interface connector It is recommended that these inputs be used to detect serious error conditions that can develop from component failure or other fault conditions that require operator intervention to recover from Once the Home Sensor is initially located it is good practice to reverse the motor until the status input indicates that the axis has cleared the Home Sensor By again seeking the Home Sensor at a lower velocity it will be possible to stop in precisely the same position each time the Home Routine is executed Once the node is stopped in the Home Position and defined by the Home command any offset can be invoked to position the device for it s intended application and if necessary another Home instruction can be issued to mitigate the need for maintaining a position offset in the host application program This process should be repeated for each axis in the system Once the initialization is complete the system is ready to operate in the intended application The system status responses provide a wealth of information about the condition of each node in the system It is useful for controlling operational flow as well as detecting system level errors When implementing a position move for example it is normally good practice to ensure that a commanded pro
14. position 4 SP 900 This parameter should be loaded with the desired maximum profile velocity This value should be selected to not exceed the capabilities of the mechanical system 26 MicroMini M Controller User Manual T Set Percentage Trajectory Parameter V Constant Velocity Command I O related commands 4 T 45 This parameter allows the user to determine the percentage of the profile to be completed prior to the Percent Complete Flag Status bit 4 being set If this parameter is set to 0 the Percent Complete Flag will not become set during profile execution 4 V 700 Execution of this command causes the controller to switch into the Velocity control mode The motor will ramp up or down at the selected velocity as defined by the AC parameter Velocity mode can be used interactively with position mode Serial I O responses consist of the responding node address followed by the ASCII representation of the requested data parameter All numerical responses are provided in hexadecimal notation Note that the node address is separated from the data by a space character The string is terminated with a carriage return 13 and line feed 10 characters ANI Query Analog Input Value ANO Set Current Limit POS Query Present Position ST Query Present Node Status Example Status Response 0004 000A 4 ANI The selected MicroMini Controller node will report the current value of the analog input immediately upon receipt
15. quantization error can be mitigated to some degree by extending the filters amplifying period Digital PID controller transfer functions are calculated in much the same way as in analog systems but because they are sampled systems the Laplace transform of the s domain cannot be directly used as in analog calculations To mitigate this problem a separate frequency space called the z domain has been developed for sampled systems Using the z domain sampled approximations of many common functions can be represented using the variable z just as s is used to represent linear analog functions Consider the following definitions Tz z 1 Integrator where z is the complex sampled frequency variable T is the sampling frequency period in seconds This form is derived from a step invariant analysis The filter is constructed by dividing the Z transform of a specified input a step function into the Z transform of the desired output for that input a ramp function The differentiator is simply the inverse or Differentiator Z Although these are not the only z domain representations of these functions they are widely used in control applications Appendix H 4 To mitigate encoder velocity quantization noise the derivative function is followed by an n point averager which averages velocity information over a range of samples to provide finer resolution However this low pass filter also introduces phase la
16. stop at the rate determined by the AD parameter AC Load Profile Acceleration 4 AC 100 This parameter determines the acceleration and deceleration rate to be calculated by the profiler during execution AD Abort Deceleration Parameter 4 AD 200 This parameter allows the user to define the abort deceleration rate This capability permits a profile to be interrupted without loss of servo control by selecting abort action code 2 which is the power up default setting The higher the value the quicker the stop DI Disable Drive 4 DI Execution of this command disables the drive electronics and removes all current from the motor With the exception of Local Mode Operation the MicroMini Controller defaults to the disabled state on power up EN Enable Drive 4 EN This instruction enables the drive electronics and allows the servo controller to become active providing motor current as required FA Configure Following Error 4FA1 Action This parameter determines the action taken when the following error exception occurs Action code 0 will disable the drive current Action code 1 will cause the MicroMini Controller to attempt to servo in the present position and action code 2 causes the MicroMini Controller to attempt to recover the accumulated error but prevents any additional error accumulation FD Set Max Dynamic Following 4 FD 140 Error This parameter allows the user to limit the amount of following error in a profile to a predeter
17. 394 gt section2 st 16392 gt section2 16394 if in position mode and in position 16392 just in case motor is not yet in position delay 100 section2 go here after tripping home switch message st 16394 2 rec d proceed to ctr 1fd 130 following error needs to be larger to prevent stall in pos mode 1 la 102000 set dest in reverse 102000 encoder counts 1m go there 1st10 finish the last move before you go to the next command message Arrived at home destination delay 100 1ho reset the current position to i0 11a 0 reset the current destination to 101 just in case someone hits a move command it won t go flying another 102000 counts back message Controller has reset to zero 1pos display verify the current position lpos a little time to settle into position and display again delay 100 message Home axis 1 successful delay 150 1 5 seconds to read the last message NOTES Bolded black is used to designate code allowable for macro module download Blue indicates user comments actually allowable in code in the MVP Demo cmd files but not allowable in the Macro module Red is used for comments not allowable in any running code file It is strictly for tutoring and or explanation Green indicates messages They will work in command files but will not work in the Macro module 41 Appendix G 3 Page 2 of 3 Rotary Stage Homing code for cmd demo execution Homing for MM 3MR 64 1 gear 10mm mtr axis1 10 24 99 No limit sw
18. Cabling Connector Packs Custom Software Firmware Electronic Gearing Step Direction Control LabView Virtual Instruments Example Source Code Appendix B SAQ eBeis LINEAR AMPLIFIER MODEL MVP 1 CONNECTION DIAGRAM L dAW VO O1 o qeo eoepnoiu 96E1S a MOLO3NNOO TIVY 9 NIG IWNOILdO 32 External Connections J1 RS232C 485 Remote Communications Interface Pin O 0 JA 0 W N H Not Connected RxD RS485 TxD RS485 Not Connected Ground Not Connected Not Connected Not Connected Not Connected J2 External Interface Connector Micro Mini stage connector cable uses applicable pins Pin ND OP WN FR 10 11 12 13 14 15 16 Analog Input Signal 0 to 5 VDC 10 bits Analog Reference Ground External Opto Power 5 VDC Emergency Stop Input Positive Hard Limit Input Status bit 13 Negative Hard Limit Input Status bit 15 External Event 2 Homing Status bit 14 External Event 1 Status bit 12 External Drive Enable not applicable 0 disable 1 enable Appendix C 1 also position capture input Status mask input index input also position capture input index trigger etc DAC A Output External Amplifier Command Signal not applicable DAC B Output Programmable Analog Output not applicable not applicable not applicable not applicable 5 VDC Ground 33 Appendix C 2 J3 Encoder Interface
19. Enable your MicroMini Controller because you cannot move a motor that is not enabled The EN command allows the amplifier to respond to commands destined for the MicroMini Controller module Enter 1 EN and return Feel the lead screw coupling to make sure you are in servo mode resists rotation 3 The Destination position where the motor load will move to This can be either an Absolute or Relative point If you want to move your load motor shaft etc to a predetermined point from home you will need to Load the Absolute destination position which you can do by giving the module s the command LA Putting 1 LA followed by a space and a number will allow the shaft to turn encoder counts in either direction If you want to go to a position a given distance from the point you are presently located at other than home give the module the command LR which will move the motor shaft incrementally relative to its present location i e from a point other than home Repeatedly typing 1 LR 1000 return followed by M return to initiate the motion will give you consistent steps of 1000 counts each 4 The Velocity at which you wish to move This is defined by the command SP speed The speed at which the motor shaft will turn is dependent on the resolution of the encoder you are using see table If you are using a 500 place encoder each unit 0 48 rpm If you are using a 10 place encoder each unit 24 0 rpm maximum
20. Macro Delete Macro Insert Add To Combo Combination Sequence initialize v Select Macro I I 1 I I 1 I I 1 I I 1 I I Selected Macro Text 34 Bytes I I 1 I I 1 I 1 I I 1 4 home 4en 5 home 5en macro2 name Clicking on New Macro will clear the text and macro name area Each macro code sequence must end with the keyword Macro followed by a number i e Macro2 The name you give a Macro init zig zag etc is not the thing that you place at the end of the code sequence it is just a nickname which appears in the combination list The position in that combination is pre numbered by the software and that number is the suffix that is placed after keyword Macro Macro2 Macro3 at the end of the content of each macro The assigned number is a pointer to the next macro to be executed In the Example Macro2 indicates that the second macro in the combination whatever you named it will be executed next A Macro can therefore be renamed without changing the code content at all A macro that ends with it s own position number will therefore loop forever Specifying Macro 0 will terminate execution after the first pass The left or combination portion of the screen is used to develop the combination of macros to be downloaded to the module Type a name for your combination of macros into the Select Macro Combination
21. Manual 002 1 USER MANUAL 50 81 25 2 000 G HOLES A B 4 75 187 MAX DEPTH 4 40 UNC 4 PLACES TOP AND BOTTOM Q MicroMini Controller S conser uas PROGRAM National Aperture Inc ALL MODELS LINEAR OUTPUT FRONT VIEW REAR VIEW National Aperture Inc 16 Northwestern Drive Salem NH 03079 4810 603 893 7393 FAX 603 893 7857 www nationalaperture com www naimotion com 2Z2 sOAQ s AOMFFONnNHZOO Table of Contents System OVervieW so se KT dua Cun b ekk ee FONT Ha S ra Vast eco Cote das 1 Summary of Features sisa sese een ag N E a SR ag UR a RR end kl a ae 2 Hooking up to your MicroMini Controller LL 3 Front Panel Indicators sis loses asd oy ERU Me ES ee 8 a Ra Sa E in 6 Configuration Options ia a esee desee era ka eae toe a e lata eta een e a On ace din wasn 6 Remote Mode asciende exactam es di ew le mona iden to aen Ban ons 7 Software Installation 42254 Eee revera a Ra SO Bae oe RE SY EA ee en are es 7 Configuration Screen 0303000000 Vea taa bx ee DG pun c pen Bothe pl b sep ter tok re d 8 Terminal Emulation Screen 20 ga Bi ga eee 9 Manual Command Entry Screen sis ek es ey eee o KA Ba ERU Y EATUR EG RO Vaala 10 Examples and Explanations Using Command Entry Mode sess 11 Command File Processing us ssa pani ek d wa b hare Oe Rd DR e i Ra abe 14 Sending Dir
22. PID control structure is illustrated below The PID transfer function as a function of s is zT OUTPUT Gp INPUT E S C s Ps Ds E s S where C s is the output of the PID section E s is the input of the PID section usually servo error P is the multiplier for the servo error I is the multiplier for the integral of the servo error D is the multiplier for the derivative of the servo error s is the laplace complex frequency variable From the previous equation it can be seen that the PID controller has a pole at s 0 and two zeros at _ P P ADI 2D The two zeros are real valued when 4DI gt P A bode plot of the PID transfer function with real valued zeros reveals that one of the zeros is used to brake the 20 dB decade descent associated with the integrator and the other one is used to provide a 20dB decade rise and positive phase lead required to stabilize the system page 2 of 4 P S PLANE Pas Appendix H 2 The Proportional term amplifies the error signal by a constant amount However the P term is not in series but in parallel with I and D which implies that P cannot be used to scale the transfer function amplitude at all frequencies Instead the P term interacts with the I and D terms to determine the placement of the zeroes in the controller open loop transfer function A root locus solution to the numerator of the previous equation as P is varied with respect to I and D is illustra
23. abled since bit 8 is one How can I determine the present system settings You can enter any command without an argument to verify the present setting How do I set the Node address in remote mode In remote mode switches 5 through 10 set the node address for serial communications and DeviceNet communications the address becomes the total sum of all switches selected Each switch has a particular scale associated with it when it is turned LEFT The scaling is as follows Switch 5 Switch 6 Switch 7 Switch 8 Switch 9 Switch 10 1 2 4 8 16 32 examples to set address 1 only Switch 5 would be turned LEFT to set address 4 only Switch 7 would be turned LEFT to set address 10 only Switch 8 and Switch 6 would be turned LEFT to set address 20 only Switch 9 and Switch 7 would be turned LEFT What is the difference between V and SP velocity commands The V command activates the velocity mode and sets the speed at which the motor will run The SP command sets the velocity at which the motor will run when a move in position mode is performed 39 Appendix G 1 40 Examples Applications Examples The following programs illustrate the proper mechanism for initializing and operating the MicroMini Controller using example node address 4 The 4 st 10 is a status mask for executable files not manual entries indicates comments that follow this sign will not be sent or executed The recommended initializ
24. alleged defect with transportation and insurance prepaid Replacement or repaired units will be reshipped at our expense to North American destinations only This warranty shall also apply to controllers which have been repaired or replaced with respect to the original warranty commencement date In no event will National Aperture be liable or held responsible under this warranty if the controller has been improperly stored installed used or maintained or if the purchaser has performed or permitted any unauthorized modifications adjustments or repairs to the product National Aperture has no control over the use of this product or the associated applications notes and demonstration software The applications notes and software are provided free of charge as is for illustrative purposes without warranty of any kind either expressed or implied including but not limited to quality performance merchantability or fitness for any particular use Neither National Aperture its affiliates its employees or its distributors shall be liable to the purchaser or any other person or entity with respect to any liability loss or damage caused or alleged to have been caused directly or indirectly by the product the applications notes engineering application device or associated software No person or entity including any employee agent distributor or representative of National Aperture is authorized to make any representation or warranty on behal
25. ammable Maximum Allowable Following Error RS 232C or RS 485 Operation e Panel Rack or optional DIN rail mounting eStand alone Terminal PC Compatible Operation e Interface Software Demo and Example Code Very Compact only 2x4x4 inches Easy to use Plug and Play operation Flexible configuration through software Amplifiers One of the distinguishing features of the MicroMini Controller modular system is that integrated amplifiers are included inside each module Communication I O amp Environmental RS 232C or RS 485 Command sent as ASCII Controller Inputs Encoder Two channel single ended 5 VDC TTL compatible 4 MHz max frequency optically isolated Analog One analog input 0 5 VDC 10 bit General Purpose Two hard limits one emergency stop two external event inputs all optically protected Controller Outputs Analog One Analog output 10 VDC 12 bit DAC Motor Command One 12 bit DAC 10 VDC Drive Amplifier Linear Amplifier Outputs 22 VDC 1 0 Amp Continuous 3 5 Amp peak Environmental standard version Controller Operating Temp 0 to 70 C 32 F to 158 F Ambient Operating Temp 0 to 40 C 32 F to 104 F Storage Temp 25 C to 85 C 13 F to 185 F Humidity Tolerance 80 RH non condensing Enclosure Protection Level IP40 MicroMini Controller User Manual amp e Unpacking MicroMini Controller N amp 4 X MODULE NET STATUS Examine shipping containers for visible
26. ation sequence can be implemented as follows 4 ano 2350 Sets a maximum current 4 por 28000 Configure Proportional Filter Term 41 600 Configure Integral Filter Term 4 ho Define temporary HOME location 4en Enable the drive amplifier 4 st 10 Verify System Status refer to status bit definitions Once the initialization has occurred and operation has been verified the MicroMini Controller is ready for operation under host control The following instruction sequence demonstrates a motion operation where the motor is commanded to move 1000 encoder counts and then return to the Home location 4 la 1000 Load an absolute target position of 1000 counts 4 sp 300 Set the target velocity 4 ac 400 Set the target acceleration 4m Initiate the motion 4 st 10 Use status to confirm that the motion has completed 41a 0 Load an absolute target position of 0 counts 4m Initiate motion using previously defined SP amp AC 4 st 10 Use status to confirm that the motion has been completed Note that the mask values associated with the status requests are not sent to the controller but are used by the demo program to test for the desired response The demo software will continue to poll the node until the desired mask response is received indicating that the anticipated conditions have been met This same testing mechanism should be implemented in the users application program in order to control instruction flow M
27. auses the MicroMini Controller to return the position captured when capture input A J2 7 was last triggered 4 POSCB This command causes the MicroMini Controller to return the position captured when capture input B J2 8 was last triggered Demo Software Command File Conventions ST mask Status response mask field ST mask gt label Delay Timing Delay Function Message Message Field Comment Fields 4 ST 10 The inclusion of a status mask parameter following the ST command allows the demo software to compare the responses received with the anticipated response The demo software program will continue to poll the selected node until the desired response is received providing a means of implementing flow control in the demo environment 4 ST 10 gt mainloop ST 9 gt loop2 Adding a user created label name to the mask parameter separated with a gt provides a means of implementing a logical goto operation for structured control If the system status matches the mask or any one of the masks if two or more as shown a jump to the appropriate label will be performed The words mainloop and loop2 are user created and not embedded commands The mask is a binary value from the Status Response Bit Map The program will continue only after seeing that value and it will go where pointed Delay 100 This command causes the demo program to pause for the specified time period Each unit represents a 10 millisecond
28. d E2prom button the contents of the Eprom on the Macro Module can be displayed with all the needed information and values This is also an extremely useful tool especially for verifying the success of your download procedure MicroMini Controller User Manual 21 Notes on Actual real life Application The type of terminal serial input device you select will depend on your application but any device capable of serial communications can be used for remote mode operation It is the responsibility of the programmer to control access to the communications network in the event that more than one device is connected Note The DeviceNet protocol defines it s own mechanism to control access arbitration While the end applications are extremely varied almost all motion control applications share at least some common traits The motion system needs to be initialized configured and the drive electronics enabled These activities are normally accomplished at the beginning of the program and usually don t need to be repeated unless some exception has occurred and some possible exceptions will be discussed in a moment The initialization phase involves establishing communications with the various network nodes and defining an initial Home position for the controllers to operate from This position usually differs from the actual Home position required by the application Once the initial Home position has been established the s
29. d structure works and will allow you to control a servo motor But first you will need to know a few generic motion command formalities See Examples amp Explanations next page 1 In order for a module or series of modules to receive instructions from the host each module must have a unique address If you are using an RS 232C protocol you will be using only one address because in RS 232C configuration you can only communicate with one MicroMini Controller module If you are using the RS 485 option you must give each of your MicroMini Controller modules a unique address from 1 63 so each module will know when the host is addressing it Using the address 0 will address all the modules in your network 2 Before a motor can move it must be enabled Before enabling it must receive an HO command not to be confused with homing to a fixed reference Enabling allows the MicroMini Controller to source current by turning on its amplifier To enable your drive you will use the Command HO then EN Each axis can be enabled independently by using appropriate address with letter commands or click the Home Enable button to enable all 3 After enabling the motor s can be commanded to move but first use a sample velocity of 200 slow See Examples amp Explanations next page MicroMini Controller User Manual 11 Examples and Explanations Using Manual Command Entry Mode I Sending Commands See also MicroMin
30. e DeviceNet protocol eProgrammable Current Limit No external amplifier required eRS 232 RS 485 Multidrop or DeviceNet CAN compatible interfaces eLinear drive capable of 10 Watts continuous at 22 C ambient Local mode speed range up to 20 000 1 eShort Circuit Protection e Accepts Step Direction Input Optional eTorque Limiting Capability Modes of Operation Local Stand alone for speed position control or Remote via RS 232 or RS 485 or DeviceNet Performance Remote Mode Position Range 8 388 607 quadrature counts Velocity Range up to 2 million quadrature counts sec Velocity Accuracy 0 1 of max rate Positional Accuracy 0 18 with a 500 CPR encoder Servo Loop Update Time 1000usec Servo Tuning Programmable PID filter Acceleration Range 32 767 quadrature counts sec sec Power Requirement Single supply 24 VDC at 300mA plus current to drive selected motor Input voltage range Linear 18 40 VDC PWM 12 40 VDC Communication RS 232 RS 485 Multidrop DeviceNet Controller Inputs Encoder Two channel Single ended 5VDC TTL compatible 4 MHz maximum frequency Optically isolated Analog One analog input 0 5 VDC 10 bit General Purpose Two external event inputs Two hard limits One emergency stop All inputs are optically protected except analog input Opto Coupler Power Input to supply external Power to Opto Couplers Controller Outputs Sign Bit One bit digital output TTL for external
31. e ed s i rales ee cya c Sven occus ev es a ge Loa deb yu ERR Qe RU 7 Startup 3 Status Indicators LED mustassa vammaan ter er ER e YR bea CX YEN CY e YER ed ia cr YER TEE C YEN YR E a BN 6 Status MASE qe aana an ngi aaa aaa TE NG E E D E GE GAE NE Ga a E A BN ED A GAN IG GE GA E ANG BA NGE Ega aa aa 12 40 status RESPONSE si iwa sa aa aaa pa aa aa a KT a ONE ANK ND aaa Ka aaa a Na fa 22 Status Response Bit Map odii ces sa yx E CHR bi UB ERA SERE EKER bi CER RAV ERA dees E Bob bi ara MAANA VA Naga KE AA KDA wk ia 22 Status QUEIV M 12 System OVerVIeW i uei eq ee pae ee PE aa ehka KANKAAN AN AA ERR E RRRRRE RE PER ERI NAKNUKKNAKKN PEKKA KA KANKAAT ANTON KAU SE CERERI SR OAKEN EYE 1 Terminal Erm latiOoTi as aa iri aa E tesi esse peseovs etr ev evi easton sas dene vire vae exe retta v ess roseis ue 4 9 Torque constant a dresse se NNN ON HOT te pce bs eeu crx EO V STV VA dE ven tev est IX KOTA a vader Ve du le 16 TOTGUE COMMON pices EE 16 Troubleshooting s EUER 36 VI be g 11
32. e the motor to overheat if enough torque cannot be generated to overcome the error this is not the only possible detrimental effect If applied torque is suddenly removed while the integrator output is large the motor shaft will spin past the desired shaft position while the control voltage is dumped Eventually a zero steady state condition is achieved but in an underdamped and potentially unacceptable manner Because this situation is similar to winding up a spring and then letting it go the term wind up is often used to describe it 45 Appendix H 3 46 page 3 of 4 The Derivative term has the greatest effect on servo loop damping and stability As demonstrated below increasing the value of D from 0 to P2 4I causes both zeros to move toward 2I P As this happens the higher frequency zero takes on a value that can provide useful phase lead to offset the phase lag introduced by poles elsewhere in the system In a position servo the feedback position signal is differentiated either directly or indirectly to create a signal proportional to the output velocity In systems that use digital feedback mechanisms such as shaft encoders velocity information is also quantized typically in encoder counts per sample period At low velocities the effects of quantization on system performance is pronounced because each quantization step represents a large portion of the velocity signal amplitude The effects of this
33. eNet is a network that provides connections between simple industrial devices like sensors and actuators and higher level devices PLCs and controllers All MicroMini Controllers are able to communicate with other DeviceNet modules but do so only when the MicroMini Controller is part of a DeviceNet network Can a MicroMini Controller control linear motors Yes As with any closed loop system however an encoder or other type of feedback device is still required and the brushless version of the controller Does the MicroMini Controller accommodate resolver feedback Yes No modifications are required to use the MicroMini Controller in a resolver based system or with other types of feedback devices as long as the feedback device used provides quadrature feedback This is not uncommon with most types of high performance feedback devices 38 Appendix F 3 How do I know if the MicroMini Controller is operating One indication that a MicroMini Controller module is working properly is the diagnostic sequence performed when power is first applied to the unit You will know the unit is performing this diagnostic sequence by observing the sequential turning ON and OFF of all LED indicators at power up I ve hooked up the MicroMini Controller but the motor just runs away What do I do Recheck all motor connections and make sure the encoder is powered and properly connected Recheck mode configuration dip switc
34. ect Serial Commandswithout the Demo software a 15 Current Limiting and Torque Control sisa tioa ana pd gka Bg aa a aaa E Ba a Bg 16 Macro Module Operation Optional Device Specity Macros SCreefi cv date ses Ue e Ba aana ia a es eu eR Cunt es ea der ace 18 Download Screen iuis sede etre eH Pp Pes ee Kaa Ea Redes Geka eR bus Ree en 19 Setup SCr en i caesi da de gor oe a ge RR KORR Ra RR UR RR RR UR AT b Ra DOE Rp 20 Notes on Actual Application s sa isir ie sak rr eee haa HE een Mea dern Ede x ves 21 Status Response Bit Map sina akku dag a ier e n 22 MicroMini Controller Commands Motion Related Commands sep secessit eer RR er ER a 23 WO Related Commands 2 5 ess hed take rec oe Ra CR s RD dE b aem dica 26 Configuration Related Commands a s kisa gen gadi ccc nn 26 Indexing Commands i 25 iscsi sanaa vita eda eae os Phas VAHAA aaa Bs Rd Rs 27 Position Capture Commands sasi agen a ag ah aa aya Ragi a ala Bana ad anaa Ba a aaa 28 Demo Software Command File Conventions s sasa inan as to bkin iiin KA Bag ga aa ks 28 Appendices Appendix A Basic Startup package contents ae 31 Appendix B Linear Amplifier Connection Diagram lt lesus 32 Appendix C External Connections oloon 33 Appendix D Interface Cable 44 sas sor rb ene ke er doe Sed 35 Appendix E Troubleshooting amp iaedesxcsqdens iu pexuec tee P eR rq E sap aec s 36 Appendix F Frequently asked Ouestions
35. ect the data rate matching the configuration of your MVP by examining the settings of the Data Rate switches 3 and 4 and referring to the following table 3 4 Data Rate ON ON 9600 ON OFF 19200 OFF ON 38400 OFF OFF 57600 3 In your terminal program select the setting that matches that of your MVP If the MVP s data rate setting is out of range of your terminal program then configure the terminal program and the MVP to the fastest data rate they both have Once this procedure is done you may run your terminal program power up the MVP and watch for the sign on message MVP 2001 ready Then proceed to issue the commands in the MicroMini Controller Commands section as needed Note User must be familiar with his own terminal program 16 MicroMini M Controller User Manual Current Limiting and Torque Control The MicroMini Controller Servo Controller provides programmable output current protection The ANO command allows the user to program the maximum allowable continuous output drive current supplied to the motor This feature provides not only short circuit protection for the internal drive circuitry but also protects the motor from potentially harmful high currents that can occur during locked rotor conditions The following table diagrams the programming parameters for the available output range for each device The power up default setting is about 300 mA ANO 2350 decimal Since the programmable output current capab
36. engineer Important Using the address of 0 will address all the modules in your network II Query Status You can enter any command you wish without any argument to verify the current setting Not having an argument treats the command as a request to send the stored value back to the Host or Master 1 Status request ST The motion and event status of your operations can be determined at any point by invoking the status request ST The ST command serves to verify whether the move is happening or has happened Try typing 1 ST to check the motion status A binary result of 1010 decimal 10 according to the status bit code see Status Response Bit Map page 21 signifies command recognized motor in position and trajectory is complete The remaining bits 4 15 are 0 indicating no errors A very useful feature of the status command is the Status Mask used in Command File execution This involves placing a binary value after the ST command This will prevent further program execution until the desired status is achieved as dictated by that binary value For example 1 ST 10 means that unless the binary code of 1010 is achieved binary 1010 indicates motion is complete and has a decimal value of 10 Other statuses such as an active Limit Switch Velocity Mode and or External Event active also contribute to a binary value which will reflect their existence For example if you want to demand three conditions before conti
37. ent optional The HOME parameter provides a mechanism to define a known mechanical position a specific numerical position within the MicroMini Controller s operational space Using this command without an argument will set the position to 0 If an argument is used the new position will be defined by the numerical value of the argument 1 HO means set pos to 0 1 HO 242 means set pos to 242 4 HP 1 1 Positive Logic normally open The HP command allows the user to select positive or negative logic input signals to trigger the HOME and Error inputs This flexibility eases installation into existing applications where the state of these signals is predetermined The Home operation is performed upon the appropriate change of state of the selected input The Status Query in this particular case is achieved with the HS command 4HS This allows the user to verify the status of the Homing Sequence Bit 0 indicates the present status of the Arming function and bit 1 reflects the current polarity setting It is important to note that the polarity configuration affects the event inputs as well as the overtravel and emergency stop inputs This an exception to the general rule of Status Query This parameter is used to allow the user to select the local mode speed range Since the encoder resolution and the value of the command voltage multiplied by a scaling factor determine the velocity the velocity ranges indicated are using a 500 ppr encode
38. ervo loop parameters should be loaded with values that provide the system response required by the application The responsiveness of the control loop is highly application dependent and may even vary to some degree within an application program This usually occurs when there are wide variations in load such as a vertical lifting application Discussion regarding the configuration of the servo parameters is contained in Appendix H Once the filter has been configured the drive can be enabled and the motor should begin to servo in the temporary Home position At this point it is usually applicable to initiate a Homing Routine to prepare the device for it s intended task In most cases where absolute system position isn t maintained once power is lost it is desirable to locate a Home Sensor at one end of each axis range of travel This will allow the Home Routine to seek the sensor in a known direction Initiate a move in velocity mode in the direction of the sensor while polling the node for it s current status A moderate velocity may be used to locate the sensor as more precise detection can be accomplished later Testing the status responses will allow detection of a Home Sensor that has been connected to one of the External Event inputs provided on the external interface connector located on the rear of the unit Utilization of these inputs allows this functionality to be implemented with little difficulty and minimizes the resources
39. es messages They will work in command files but will not work in the Macro module These commands can be eliminated along with the delays that allow time to read them 42 Appendix G 4 cont d Page30f3 Rotary Stage Homing for Macro Module Homing for MM 3MR 64 1 gear 10mm mtr axis1 10 24 99 For use with Macro Module No limit switches involved release the jumper at pin 5 on the J2 connector for external limit application The servo settings alone or the following entire code may be used as the boot up file start macro 1 ano 2350 1k1 1 ad 200 1aa1 1fa1 1 fd 130 1 sr 1000 1 sp 1200 1 ac 400 1 por 28000 11600 11s 99 1hp1 115 1 ho len servo settings and basic configurations 1 st 16394 pullaway st 16392 gt pullaway st 16648 gt pullaway st 14 gt home st 10 gt home pullaway 1 v 100 1 st 13 delay 25 1v0 home 1ha1 1 fd 100 1 v 700 1 st 16394 gt section2 st 16392 gt section2 section2 1 fd 130 11a 102000 1m 1st 10 1ho 11a0 NOTES Bolded black is used to designate code used for macro module download Red is used for text not allowable in anv running code file 43 Appendix H 1 44 Page 1 of 4 The Servo Loop Digital Filter Configuration Since the proper configuration of the digital filter parameters are crucial to achieving a table systems it is necessary to have some understanding of the operation of PID control topologies A block diagram of an analog
40. esiis tkis I ter o P e a FG saava asda CH EHI ERE COR WERE TE Ce D ec PE EIER YOUR 14 Commands motion related 2 5 2 0 0 2 ER eC eb cede e re TEE PEL sx aa eer A ERO CER NE Saa edd kN 23 COMMUNICA ON coi ee ren OE EX YR Ce NE AS KA TY RACE E EXER AES ERE VERRE NERA TER NA XAR EE VER Ea CY dh CERE E YE klikka Fa eee 2 COMPOTt s sess kein N 4 Conf Stir Atl ON 2 1 bar a era p b jak al a ab BAEN BUNE A pr L BA fo Pa eR ER emt 6 8 Configuration Commnitnication ahdar Sp fa l 8 Con ections 455 ga BANA Aa er NE en AE ea owes KAN SAN fee keta ira Goossens fik ai taa QU diae ey EL ee Y vie vade reas 33 Connector serial 23x rere ve edes ra ns sates e ra VENE EP NETS Ve uae ese ve E KORIN aa eeu 4 Controller Commands saa we b e RO YE EET RE NERA ETHEI S ERR NG a Ba AI YEA ER EE CEU RR a a Ga e QUT 23 Current Limiting asasaran ener tie siad oe a e i eed iine bai a ER Pe o ea be e kaavana a o l 16 Data Rate iussit e repr ER EN ERA a KE a EYES EE VU VENE VARER EN WEN AVR S KN KASVUN KANIN EN NAE VENE T KEREYRVRYREVENTEVV HUI YERVEVEREMEER OU Y VUE 8 Data Rate Switches i cerei nea CERE miete ENIN vi ems Terres dixere viu T BE edo verte Vv IR Ce PT A 6 DEMO SONWALE saa aane naa aa gagi E ceases sede I Er I spe E E erem eed Ive aa TG 8 DS SUA AUTOM een 11 Digital Filter Configuration rre er a EN e RE RARI V CER VERRE MERE BAGEN EE KT KUN UV ANE YANG aga KEN 44 EMP
41. f of National Aperture concerning any products guidelines or software except as set forth herein No other warranties either expressed or implied are made and National Aperture shall not be held liable or responsible for any incidental or consequential damages or claims including but not limited to breach of contract negligence strict liability tort warranty or patent or copyright infringement and in no case shall be responsible or liable under this warranty or otherwise even if National Aperture has been advised of the possibility of such damages as inability to use the product increased operating costs from failure to be able to use the product loss of anticipated profits or other special incidental or consequential damages whether similar or dissimilar of any nature arising or resulting from the purchase installation removal repair operation use or breakdown of the product or any other cause whatsoever znu x 54 A Acceleration i5 aaa nana o a E OO ER KA KAMAA AN CEA E E STN ARA GENG a AV LAA a ANN CERES EE ERA EQ VIR ER S Taal 12 Remote Communication with the MVP Controller onere crac e i s i VA i KASAN 15 Address EEREEEDDSUPESST 3 12 JAT PAA SIGS oeste OD OD EA et eI eM eu 2 Batid Take uos ip RU E E ER ER RAT TE VE WIRE VE TAIN COS aN v n 3 BItTTAD E 22 Cable TDLETTAC suc oie ea ss d Va dan Ve ve Ve ad sr Ad exa Ev Re ve nt 4 Command File
42. file begins to execute before attempting to detect whether or not it has finished In a distributed control system there can be a variety of reasons for an instruction being ignored by a node These can range from a data collision on the network to noise which may have been induced from an outside source But without verifying the beginning of a move and detecting move complete and motor in position instead the host program controlling the application may be tricked into believing that the motor is in a position it hasn t moved to By following good installation practices and taking a logical approach to program development most of the pitfalls normally associated with integrating an application can be avoided The time and effort spent planning and developing a sound installation can eliminate many hours of debugging later National Aperture MicroMini Stages are equipped with home and limit devices along with appropriate wiring for use with the MicroMini Controller Sample homing routines are also available for demo software supplied 22 MicroMini M Controller User Manual Status Response Bit Map The MicroMini Controller provides you with 16 status bits when you monitor or request the system s status This feature cannot be used in DeviceNet Mode They are read from right to left with the following values and meanings Binary Value Bit Description 1 Bit 0 1 move in progress 0 not commanded to move 2 Bit 1 1 motor
43. g functions are shared by one switch If you have a Rotary stage you will need to disable the Limit action of the Homing switch Limit and Homing are combined by the Interface cable There are two ways to disable the Limit action in a MM 3MR MM 4MR rotary stage a Set the Limit action LS to 99 see Examples and Explanations page 11 b Clip or unplug the jumper on the J 2 connector eliminate pin 5 This method will be necessary if you plan to use external limit protection pins 5 amp 6 will be used for positive and negative limits respectively with pin 16 as the common ground Pin 7 event 2 will be reserved exclusively for Homing The correct way to apply hard limit protection to a Rotary stage is externally 6 MicroMini Controller User Manual Front Panel Indicators LED Status Indicators The following from top to bottom are the status indicators and their meaning eMODULE NET STATUS Flashing green not initialized Allocated Steady green Initialized Allocated Flashing Red Recoverable Communications Error MODULE NET STATUS Steady Red Unrecoverable Communications Error me DU MOVE IN PROGRESS Active Position or Velocity Profile EMERGENCY STOP eIN POSITION Motor is in the Commanded Position NERONE vd EMERGENCY STOP ESTOP Input has been Activated POSITIVE LIMIT PLIM Input has been activated NEGATIVE LIMIT NLIM Input has been Activated Configuration Options Node Address switches 5
44. g proportional to n that counteracts the desired phase lead generated by the differentiator To balance these two constraints n is set equal to two which effectively doubles encoder resolution per sample interval The derivative stage transfer function is page 4 of 4 VELOCITY z 55 The following diagram illustrates the PID controller as well as the transfer functions of parasitic effects found in the system PID System Block DSP Calculation Sample and Accumulator PWM Limit Delay Hold z 1 EXP ST Volts Integrator Limit Commanded Position Position Error Motor G S Radians 4 Point Averager Integrator Output Tz Position Differentiator On Off Threshold Encoder Position Counts Radian The default parameters for the digital filter have been calculated to provide stable operation in most applications It should not be necessary to adjust the derivative term In many cases especially when using small high speed motors the proportional and integral terms are set to relatively low values and should be increased to provide the desired system response 47 Appendix I 48 General Description The MicroMini Controller is a low cost miniature single axis intelligent drive that provides speed and position control of DC motors with an on board integrated amplifier Up to 63 motor axes can be controlled using an RS 485 Multidrop interface or th
45. hat allows the user to always return to a predetermined position when commanded to do so How fast will a MicroMini Controller respond to an external stimulus The MicroMini Controller provides two external event inputs two hard limit inputs and one emergency stop input The MicroMini Controller can respond to any of these inputs in approximately 500 microseconds How can I synchronize my MicroMini Controller to external events The MicroMini Controller provides two external event inputs These inputs are monitored and their states are reported to you When one of these inputs changes you can then command the MicroMini Controller to perform any function What safety features does the MicroMini Controller have The MicroMini Controller provides several safety features The MicroMini Controller offers software configurable range limits and three hardwired inputs for overall travel limits and emergency stop The MicroMini Controller can also be configured with action codes to provide servo off hard stop and soft stop functions when limits are exceeded or when following error occurs The MicroMini Controller also has programmable current limit ANO command 37 Appendix F 2 At what point is it cheaper for me to buy a multiaxis system instead of stringing a number of MicroMini Controllers together The cost per axis curves never really cross The decision to move to a centralized multi axis solution
46. he combination to load into the EPROM section of the Macro Module Click on the arrow button in the Select Macro Combination window and select the desired macro combination Now simply click on the Download button to send the named combination of macros to the MVP Macro Module The progress of the download will be reported at the bottom of this screen and you will be informed of the success or failure of the downloading process This screen also allows an individual macro contained in the selected combination to be activated for testing purposes If the selected macro is chained all macros in the chain will execute The cancel execution button allows the operator to terminate the process 20 MicroMini M Controller User Manual The Setup Screen Multi Macro Download Utility National Aperture Inc Specify Macros Command File Editor Down Load Setup Directory Files EM ca Program Files Macro Download gc H FH Drive File Type Post Read Delay ms Enable Clear Utility on Down Load Tab Post Write Delay ms In the Setup screen select the disk drive desired the baud rate and the serial com port you wish to use when downloading macros to the Macro Module Initially set the Post Read Delay to 0 and the Post Write Delay to 1 The program will retain these settings until you change them in the future The Read back Screen By clicking the Rea
47. hes How do I know if the MicroMini Controller is communicating with my serial interface and the proper baud rate has been selected If remote mode or serial communication is being used a serial message MVP2001 READY will be received after the diagnostic sequence is performed How do I know if I need custom software for my application The MicroMini Controller was designed to be flexible and to provide many useful features but if you feel your application requirements cannot be met with the present MicroMini Controller functions please contact National Aperture at 1 603 893 7393 and ask for MicroMini Controller Technical Support Our engineering staff will be happy to go over your application in detail and provide effective solutions to your problems How do I perform a diagnostic sequence if the MicroMini Controller is not performing the commands I just sent it The MicroMini Controller provides systems information when the ST or status command is used A status response looks something like this 0004 010A The first part of the message 0004 is the node address in this case the node address is 4 The second half of the message 010A is the system status response represented by a hex number The 16 bit representation would be 0000000100001010 Binary Page 21 of the operator s manual describes the meaning of each bit In this example the motor is in position command was recognized but the motor is not en
48. hich must be equal to current position 0 if no argument len enable servo ho must be called first 1 st 16394 pullaway st 16392 gt pullaway st 16648 gt pullaway st 14 gt home st 10 gt home wait for correct status before proceeding 16394 if in position mode and in position 16392 if motor is not yet in position 16648 just in case rebooted while sitting at switch Velocity mode ends when home is hit pullaway an arbitrary name for the section of code causing release of the homing switch if execution started while resting on switch message Pull away from home switch 1v 100 pull away from switch slowly in the negative direction 1st13 wait for switch release by seeking status of motion in v mode without other events active delay 25 time to get a little away from the switch to avoid chatter 1v0 stop v mode motion home an arbitrary name for the commencement of the homing routine after correct switch release if needed message Arm home switch 1ha1 arm home switch event 2 pin 7 J 2 connector delay 100 time 1 second to read the last message message Go to home in v mode 1 fd 100 for v mode you need a different following error fi optional for maximum protection 1v700 this velocity mode setting gives maximum speed delay 150 time to read last message if starting out already close to home switch message Wait for st 16394 trip home switches 16394 means home event switches active motor in position all else ok delay 100 1 st 16
49. i Controller Commands Constructing a motion profile is simply a matter of stringing together a series of compatible commands which make the drive system execute the profile you want to implement Set the address of your MicroMini Controller to 1 Try the following simple sequence to make the motor move after first selecting an available com port See Hooking up to your MicroMini Controller for DIP switch settings This is how the practice sequence looks with a return after each command Read the explanations as you enter them 1 1HO 1EN 1LA 2000 1 SP 200 1 AC 400 6 1M Normally you would next set Proportional amp Integral Gain but for this exercise you can leave the gain setting in the default positions which are very tame The Proportional Gain Setting defines how quickly your system will respond to a deviation from the desired profile moving The Integral Gain determines how fast the motor or load integrates into position at the end of the profile stopped When you do an actual motion application you will have to change these values to optimize the performance of your system If you need to brush up on this topic see Appendix H Digital Filter Configuration gu co P Explanations 1 Home A motor s home location will be at a point you define as zero 0 To tell your module number that it is home or that it is where it is commanded to be enter 1 HO without the quotes and hit return 2 Next
50. ility is used in conjunction with the programmable following error limit feature torque limiting or torque control mode operation is implemented In this instance the servoloop should be configured for following error stall FA 1 The default dynamic f value FD is set to 110 quadrature counts When the following error exceeds the programmed amount the servo loop stops producing trajectory data and the motor stops This contains the accumulated following error within the programmed limit Since the motor current is limited so is the available torque or if the following error allowed FD is insufficient to overcome a load on the motor with MicroMini Controller in a given current limit ANO state the motor will stall and remain in servo If the current is insufficient to allow the motor to produce enough torque to stay within the following error setting the MicroMini Controller will stall in servo mode Setting the following action to FA 1 will allow the motor to stall If the motor is able to recover the following error the trajectory generator will continue operation and the motor will servo normally The dynamic following error is programmable using the FD command and both of these parameters are programmable on the fly to allow flexibility in applications where varying load conditions are a factor The torque developed by a motor per ampere of input current is known as the torque constant KT This definition is specific to Amps ANO F
51. ional Loop Gain RD Reverse Operational Direction RE Reverse Encoder Phasing RN Reset Node SR Set MicroMini Controller Loop Sample Period X Synchronize Nodes Indexing Commands IA Indexing Acceleration ID Index Destination IE Indexing Enable IM Single Continuous Indexing IS Indexing Velocity ITD Index Destination Delay ITZ Index Zero Delay MicroMini Controller User Manual 27 4 POR 28000 4K 32K The proportional gain determines the systems proportional response to a given amount of positional error Increasing this parameter provides a tighter and more dynamically responsive system 4RD1 Often the direction of rotation of the motor when provided a positive command position needs to be reversed This parameter allows the user to reconfigure the system without the need to rewire the motor and encoder connections 4 RE1 This parameter allows the encoder phasing to be reversed to facilitate closure of the control loop 4 RN This command causes the MicroMini Controller to perform a power on reset operation 4 SR 1000 This command allows the user to program the sampling rate of the digital filter Increased sample periods are useful in cases where a low resolution feedback encoder is used or where very low velocities are desired 0x This parameter arms the synchronization sequence in multiple MicroMini Controller devices The process is triggered when the next global move 0 M command is i
52. itches involved release the jumper at pin 5 on the J2 connector for external limit application message Set servo values for axis 1 1 ano 2350 1k1 1 ad 200 1aa1 1 fal 1 fd 130 1 sr 1000 1 sp 1200 N n 1 ac 400 servo settings and basic configurations 1 por 28000 1i 600 11s 99 1hp1 115 1 ho 1en 1 st 16394 gt pullaway st 16392 gt pullaway st 16648 gt pullaway st 14 gt home st 10 gt home pullaway message Pull away from home switch 1 v 100 1st 13 delay 25 1v0 home message Arm home switch 1ha1 delay 100 message Go to home in v mode 1 fd 100 for v mode you need a different following error fi optional for maximum protection 1 v 700 delay 150 message Wait for st 16394 trip home switches 16394 means home event switches active motor in position all else ok delay 100 1 st 16394 gt section2 st 16392 gt section2 delay 100 section2 go here after tripping home switch message st 16394 2 rec d proceed to ctr 1 fd 130 11a 102000 1m 1st 10 message Arrived at home destination delay 100 1ho 11a0 message Controller has reset to zero 1 pos 1 pos delay 100 message Home axis 1 successful delay 150 NOTES Bolded black is used to designate code required for cmd file execution Blue indicates user comments allowable in the MVP Demo cmd files not allowable in the Macro module Red is used for text not allowable in any running code file Green indicat
53. mined maximum Excess following error is treated as defined by the FA parameter 24 MicroMini Controller User Manual HA HF HO HP HS K Arm the HOME input Homing Sequence Action Code Define the present position Home Define Home Arming Polarity Query Home Arming Status Set Local Velocity Range 4J2 Multiplier Select Continuous Integration 4HA1 The external event input on the J2 connector pin 7 can be used as a HOME input that can be triggered by an external sensor or proximity switch When used in conjunction with HP command an automated homing sequence can be easily implemented The current position will be set to 0 the instant the home switch is triggered Setting the HA parameter argument to 0 will disarm the function The input is also disarmed once it has been triggered The Status Query in this particular command is achieved with the HS command 4HF1 Configuration of this parameter provides the user the opportunity to select which behavior the controller implements during the Homing process Action code 0 disables the drive amplifier when the home input is triggered Setting the code to 1 will cause the MicroMini Controller to execute a Hard Stop assigning the present position as the HOME position when the input is triggered and code 2 is the selection required if a Soft Stop is desired The deceleration rate is defined using the AD parameter 4 HO Argum
54. n mode allows direct interaction with the MicroMini Controller Command strings entered in terminal mode are sent directly to the target controller and response data is displayed in the terminal window Configuration for terminal mode is the same as for all other modes This provides a means to troubleshoot communications difficulties without the overhead of additional software Communication may be verified by typing and entering node DI then RN Reset Node or by unplugging and replugging controller wall supply The best way to practice sending commands is by following page the Manual Command Entry mode 10 MicroMini Controller User Manual Manual Command Entry Select the Manual Command Entry button The following screen will appear This should be the first means of testing commands and command syntax J MVP DEMO Copyright National Aperture Inc Mode Selection Commands O Configuration Command History Command File Processing Q Manual Command Entry O Terminal Emulation O Disable Rx Display n Show Status D Disable Conditional Looping Receive Buffer Description Node Binary Hex Decimal The code you will put into the Manual Command Entry screen will perform all functions one command at a time including any status request It can t be saved or edited Each instruction is invoked only once before passing into Command History It will however give you a flavor of how the comman
55. ng Description Configuration Command History Command File Processing N Configuration Directory Baud Rate Receive Buffer Node Binary Hex Decimal amp c MS Dos 6 7 Enable Echo For Terminal Emulation The default screen which you will open looks like this The Configuration button allows you to choose the baud rate at which your system will operate and the com Bod teh Namb r Remote Data Rate kbaud port which you want to use Both the RS232C RS485 software and the MicroMini Left Controller module s running on this Left program must have the same baud Right rate Left 57 6 19 2 38 4 Right Right Right We recommend configuring to 38 400 baud to provide reasonable bandwidth and information processing speed sal al fa IM 3 4 3 4 3 Left 4 3 4 9 6 MicroMini Controller User Manual 9 Terminal Emulation MVP DEMO Copy Mode Selection O Configuration O Command File Processing O Manual Command Entry Terminal Emulation Command File Message Log p Terminal Emulation Receive Buffer saan Em o Jog Nod Enter Command ird 0 lL HET CI Disable Conditional Looping Home Enable All All Disableat All O Disable Rx Display Node Binary Hex Decimal Terminal emulatio
56. nputs may be determined by testing bits in the status response The value of the 10 bit analog input can be obtained by interrogating the controller using the serial ANI command The location of the external interface connections are detailed in Appendix C Software Installation Operation in Remote Mode allows you to install the demo software which came with your Startup Package or as an option with your first commercial shipment of MicroMini Controller modules The demo software is designed to highlight the capabilities of Remote Mode Operation The program disks are for Windows 3 x Windows 95 Windows 98 or Windows NT operating systems utilizing a 16550 UART or equivalent on a 386 16 MHz machine or better Initial program installation will give you an MVPDEMO icon in the program group in your hard drive which you can use for future training or testing When installing the Windows program for the first time close all other Windows programs Insert disk 1 and run a Vsetup or b Vsetup depending on where your floppy disk drive is located Insert Disk 2 when prompted This will establish an MVPDEMO icon in your program file group folder 8 MicroMini Controller User Manual Configuration Click on the MVPDEMO icon to begin setting up your system Manual Command Entry A i Disable All O Terminal Emulation Help Jog nnmn Node o Message Windo Enter Command sn D Disable Rx Display pm Show Status EI Disable Conditional Loopi
57. nuing execution you must add their binary values and place the total value after the ST The command 1 ST XXXX must be inserted where needed Note If the status mask of over 32 767 is required a minus sign must be placed before the value i e 32 768 MicroMini Controller User Manual 13 2 Value requests All applicable commands Any value or setting can be retrieved by entering the node then the appropriate command The binary and decimal values will then be displayed in the Received Buffer window Example 1 POS enter returns the position value of node 1 in the Receive Buffer window One current exception involves the HA Home Arm and HP Home Polarity commands which utilize the HS Home Status query The result is displayed as binary the first bit 0 and second bit 1 bits show the HA and HP values respectively 14 MicroMini Controller User Manual Command File Processing Configuration Command File Processing Manual Command Entry Terminal Emulation Message Window Command Flle Processing File Name Edit demo cmd Execute Pause Cancel Delete File Commands National Aperture Inc Command History 9 O Disable All Help Jog Node 0 Enter Command E O Disable Rx Display n Show Status CI Disable Conditional Looping Description Receive Buffer Node Binary Hex Decimal In order to construct store edit and execute motion routines yo
58. o handle National Aperture s MicroMini stages with their limit homing switch system and specially wired servo motors Warning A standard generic MV P9 should not be used with National Aperture s MM stages as the unconfigured MVP controller without specialized cabling will do serious damage to both the motor and the stage body Use with other motors and stages However the controller can be reconfigured to handle the wide variety of motors as mentioned in the previous paragraph but this requires a knowledge of the commands and the available settings MicroMini Controller Module Flexibility Stand alone Local Mode Velocity Control desired velocity Absolute coarse speed setting Relative fine tuning Tracking Mode Optional Step Direction or Encoder Following DCS Remote Mode RS 485 or RS 232C Velocity Control Position Control Absolute and Relative MicroMini Controller units can be operated as either stand alone modules or as part of a distributed control system DCS 2 MicroMini Controller User Manual Summary of Features e Programmable Current Limit Optically Isolated Inputs including Encoder Overtravel Limits External Event Home Inputs and Emergency Stop One Analog Input 10 bit One Analog Output 12 bit Also used for programmable current limit e 10 Volt DC Linear Control Outputs e Linear Drive Amplifier Supplying 10 Watts Continuous 22 C Ambient Programmable Position Range Limits Progr
59. of this instruction 16 bit signed response 4 ANO 2350 The MicroMini Controller has programmable current limit protection Programming the desired value to the analog output sets the current level Refer to the charts diagramming the output current levels for the corresponding output voltages If the fixed current limit option is selected on the MicroMini Controller front panel the analog output is available for alternative application 4 POS The selected MicroMini Controller node will report the current position of the motor immediately upon receipt of this instruction 32 bit signed response 4ST The selected MicroMini Controller node will report the current node status immediately upon receipt of this instruction 16 bit signed responses see Status Response Bit Map Configuration Related Commands DER _ Set the Derivative Loop Gain I Set Integral Loop Gain 4 DER 25536 1K 32K The derivative gain balances the loop error compensation against the rate of change of the loop error Adjusting this parameter may be necessary to achieve optimal stability when using larger motors with longer mechanical time constants 41600 1 32K Unlike the proportional gain where the response remains constant if there is no change in error the integral term continues to increase the effects of it s response until it becomes effective This parameter determines the rate of change of this response POR Set Proport
60. or MVP 1 Systems EM EE Linear Current Limit Micra ka pid max for 10 mm default Sage 03 t 5000 Range 95 2537 4000 it 5 max for 13 mm motor O 0 7 2710 Z 3000 0 8 2796 0 9 2883 2000 1 0 2969 1000 larger 1 1 3056 motors 1 2 3142 0 as 1 3 3229 per 1 4 3316 missible 1 5 3402 1 6 3489 0 2 4 1 7 3575 AMPERES E 2 0 3835 2 1 3922 2 2 4008 2 3 4095 brush type and electronically commutated motors This constant is temperature dependent and can be mathematically derived from the Back EMF constant Kp which can be found on the motor data sheet FA 1 would be the safer drive to start but be aware of possible stalls which don t allow programs to complete while reporting a false completion status Krloz in amp 71 35 xK mV rpm MicroMini Controller User Manual 17 Macro Module Operation Optional Device The Macro Module enhances the stand alone capabilities of the MicroMini Controller Series Controllers In this configuration programs developed using the MVP Demo Software can be downloaded into non volatile memory in a Macro Module contained within a MVP Servo Drive A single Marco Module is capable of controlling up to 63 axes of MVP nodes In addition to the ability to download multiple macro routines individual macros may be chained together in any order providing additional flexibility These chained groups of macros are called Macro Combinations Once downloaded macro routines may be
61. osicorsi sce o uec Y ERE ER EAR RERO BRE NU seeds press Be ECEERE CUR RREEMET eens KKKA KAKKO XXE PEE KAKUN NUKUTA KA KKUUTAN KOKOA KOH HAKUUN 5 Homing Polarity eroi eere re ovest ek a aa saa iv ee ee Exe E TE E EE ania FAVERE ERO NAK U KASAN sk Lee RYE eS 24 HOOKING Up osos its een ea YR ik uma n ad TEELEN TERRE CORREEU S ALE CHER EXER AAAUEKSNN TAA CON EE CS ERRARE a 3 pop a ses UNIT OMIA NE KISAN 2 Input D CLE 22 lacs 2 Integral Gak a UN 11 Isolation POWET EEUU 6 Kbaud te n e naa Steers 8 LED Status Indicators isane ES rr or a a NGE A ds AAN AA JG NE AAN GA NAN NG tn es Ka a a AN wuss tates ie GN EHE NENG UN qs 6 Limit actio ti E MEE 5 Limit Status omenasta ETT 6 bini 22 Linear Stages M 5 Local Remote Mode iss ks a anang gana aa a gag NEG dei ae E a e a a 6 Ma ro Downlo d ERR 19 Macro Module Operation 5 ert HA En ANU Ee ey p a SERRE HERE eU Rye ERE dir FEN FERE ERU ce KHAN NONA KANGENE NAK ONKO KAS 17 Macro Setup is 320 iss MOS 20 Manual Command Entry 5 ertt herb Evans e eoa EE SEELEN ER ERE EE NEN MUKANA FE HERE KAA OPERETE Re Ces UGA e Ree eb Pa ges 10 MicroMini Controller torte tees rna inea vaa a E paga IET Ifta EE CUR ABES au E eer aaa nns 1 MOUNTING sci tAAPWAIA 49 MOVE m 12 Multi axis Systems 1 css rhe
62. ows version if not already installed See Software Installation page 7 9 Start MicroMini Controller Demo program a Go to Configuration page 8 Set baud rate to match that on MicroMini Controller DIP switches 38 400 typical and select available comport 1 2 etc and save Make sure comport is available and working may require computer tech to verify b Go to Terminal Emulation See picture on page 9 c Please read entire paragraph before attempting to follow these instructions Plug in MicroMini Controller wall supply to AC outlet and observe LED s on front panel Upon plug in watch upper LED s for self diagnostics All lights must in turn appear on The first top green light will stay on and the third green light may remain on at this point The red limit lights will flash once in turn Example If you didn t see this happen type in node DI and enter node RN and enter The Terminal Emulation box should say MVP ready If not recheck connections configuration port See Front Panel Indicators page 8 Note RN means reset node and is similar to unplugging and replugging the wall supply MicroMini Controller User Manual 5 10 Choose either Rotary or Linear translation stage configuration If you have a Linear stage you will not need to change the default Limit switch LS value nor will you need to alter the wiring of the interface as the Limit and Homin
63. plifier upon limit input activation Setting the LS flag to 1 causes the MicroMini Controller to permit motion only in the opposite direction until the activated input is cleared Setting this flag to 99 disables limit action used for National Aperture rotary stages Rotary stages need to be hard limit protected externally 4M Receipt of the M Move command initiates motion using the values presently loaded to determine the profile characteristics 4 N 1 0 not allowable The value of the N parameter determines the size of the position window that the MicroMini Controller considers to be In Position 400 This flag provides a mechanism for the user to switch from remote mode to local velocity mode which provides velocity control using the analog input voltage as the velocity command signal When used in conjunction with the J parameter this functionality provides a convenient means of switching from programmable to manual control Setting O to a 0 selects remote mode and setting o to 1 selects local velocity control mode 4 SA 2 Code 0 2 The Range Limit Action Code determines the MicroMini Controller response to a command directing motion outside of the defined range limits Action code 0 disables the drive immediately Setting the code to 1 causes the MicroMini Controller to attempt to servo in the present position If action code 2 is selected the MicroMini Controller will move to the programmed range limit
64. r Not currently used by National Aperture MM series stages 0 250 rpm default 1 1000 rpm 2 5000 rpm 3 10000 rpm 4 20000 rpm 4K1 Setting this parameter to 0 permits the user to disable the integral term of the digital filter LA LL LR LS SA SP Load Absolute Target Position Set Position Range Limits Load Relative Target Position Limit Sequence Enable Move Initiate Motion Define the In Position Range Local Remote Mode Flag Select Range Limit Action Load Maximum Commanded Velocity MicroMini Controller User Manual 25 4 LA 1000 Allows programming of the desired target position relative to the present zero or home position 4 LL 2000 or 4 LL 1300 The range limit mechanism provides an additional layer of protection in applications where the network master calculates position data on the fly Both positive and negative range limits are determined independently using the sign of the limit parameter If the MicroMini Controller receives an instruction from the host to move to a position which is not within the range limit window it will respond as directed by the SA parameter 4 LR 1000 Allows programming of the desired target position relative to the present position 41S1 The limit seguence defines the controllers response to the activation of one of the overtravel limit inputs Setting the LS flag to 0 causes the MicroMini Controller to disable the drive am
65. roubles are encountered At this point there are no typical problems besides inactive serial port or wrong selection of RS 232C or RS 485 operation If a generic MVP other than National Aperture Inc MicroMini Controller is used or if correct NA cabling is not used there will be unsupportable trouble 36 Appendix F 1 FREQUENTLY ASKED QUESTIONS FAQ S What does a MicroMini Controller do Any MicroMini Controller module can provide single axis motion position and velocity control as well as torque limiting of DC motors Using the on board integral amplifier motors up to about 100 Watts can be controlled Using external amplifiers motors into the integral horsepower range can be controlled regardless of who they are made by Communication between the module and the host can be accomplished via serial RS 232 RS 485 Multidrop or DeviceNet protocols Who do I call to discuss a specific application Contact National Aperture at 1 603 893 7393 and ask for MicroMini Controller Technical Assistance How reliable is a MicroMini Controller Every MicroMini Controller unit built undergoes stringent burn in testing to assure high quality and reliability National Aperture s engineers have years of experience in the motion control business ensuring that the MicroMini Controller design incorporates state of the art proven reliable technology If you require detailed information before specifying including result
66. s of our thermal vibration and mechanical shock electrical and accuracy tests contact National Aperture s Marketing Department for a copy of the complete validation report What sort of accuracy can I expect with a MicroMini Controller A system s potential accuracy is determined by a number of factors in a servo system The encoder resolution and the ratio of the reduction gearing if any as well as the mechanical design of the drive system are the primary considerations Servo loop bandwidth should also be addressed when incorporating a high resolution encoder in a high speed application National Aperture has done applications using MicroMini Controller Series controllers that provide 0 5u accuracy and 0 25u repeatability using our low resolution magnetic encoders with our coreless motors Testing in similar micropositioning applications with our new high resolution magnetic encoders yields results which are an order of magnitude more precise The primary obstacle to precise positioning is usually mechanical backlash in the gearing system or torsional resonance at the interface of the moving parts in the system National Aperture offers some gearhead series in zero backlash versions for sensitive applications Backlash should also be compensated for in software My system requires that on startup it must be in a defined position Can I do this with a MicroMini Controller Yes The MicroMini Controller provides a homing feature t
67. se your MicroMini Controller unit has been shipped without a termination jumper In the event you were to use a jumper typically for very lengthy runs of networked modules it is advisable to insert the jumper on the MicroMini Controller module furthest from the host controller This keeps the signal levels balanced across the network Each MicroMini Controller has an internal 120 Ohm termination resistor included for this purpose Remote Mode Serial Designation Remote operating mode allows closed loop speed and position control with trapezoidal profiling via the RS 232C or RS 485 interface Remember when you operate in any of the serial modes the communication protocol is pre set at the factory to either RS 232C or RS 485 Confirm which model you have by checking the label on the side of the MicroMini Controller module If your unit is configured for RS 485 operation your host computer or terminal must also be capable of RS 485 communication RS 485 converter modules are available from National Aperture Event Input Overview Inputs for analog control or monitoring overtravel emergency stop and HOME or event sensing are also accessible some of which are used by the CA MVP 1 interface cable An amplifier enable output can also be used to automatically select an external amplifier when a control mode is activated The overtravel Limit switch inputs are intended to protect the drive from a hard stop The status of the HOME or event i
68. ssued 4 IA 100 This parameter permits configuration of the indexing profile acceleration 4 ID 2000 his parameter permits the user to configure the destination position for an indexing operation 4IE 1 The IE command provides a means of activating and deactivating indexing mode Setting this flag to 1 activates indexing and setting the flag to 0 restores normal operation 4IM1 Indexing operation may be either single step operation in response to an external pulse applied to J2 pin 8 or continuous operation Setting this flag to a 1 selects continuous mode 4 IS 2000 This parameter permits configuration of the indexing profile velocity 4 ITD 2000 This parameter allows the user to determine the dwell time at the index destination position Each unit is equal to a 500us time delay 4 ITZ 2000 This parameter allows the user to determine the dwell time at the index zero position Each unit is equal to a 500us time delay 28 MicroMini M Controller User Manual Position Capture Commands CA Capture A Input CB Capture B Input POSCA Report Capture Position A POSCB Report Capture Position B 4 CA1 Setting the input capture flag enables capture operations on external event input 1 J2 7 Setting the flag to 0 terminates capture operation 4CB1 Setting the input capture flag enables capture operations on external event input 2 J2 8 Setting the flag to 0 terminates capture operation 4 POSCA This command c
69. t obese aya Cio kaan PERRO PY CE KASA AAU KAN CHE REOR FERRI ERE L AAR RAJNA S Ce UUNI ENENGE NG 31 Network que E 10 Output drive C rrent 5 cen eer i e kaavaa te a Fev C i EPA A EN NY re A Raga 16 106 011 SE L APPARAT 2 gp 44 47 Power r gire MOM S e m 48 Proportional ET ibo Pm 11 56 Q Query Status ree rea an Pa a oe YER LE XE EEEE EENEN ERR MAYER E YR EFE PER YE UKK ERE ERE KAN E CEP UNNA AKUN AN 12 R Read Dack Screen esce assa mv evt REED Ere E odia TEIN NSATT KAPEITA sU v ska tos eva ves kuissa 20 Rear panel i isptar M U m m 4 R ititements ii NM 48 Reset Node iri itini 9 Rotary Stage Homing i iie ciere ei eec Fx CLE Xv KENE C GLEN KV P RHET ELE Fa ERE VUES NG Ba E GETEN IB aaa 41 42 43 Rotary Stages ivive ver REE EN RN VEN REY Ee RN VERE NVYFAR VER EVER N VEN SEV ENNEN Yea NV Ye ka Y Xx KN x EY YN 5 Ip MOTOT sasa ye erento recipe i e exeat vives vae p avain euet ava e a ts 11 Sending Direct Serial Commands without the MVP Demo Software eee 15 Serial Designation 5 rer Lens e ea RE n pe EN OR CREE SERERE ERE AN ARKUN ERR EY UR EO KAKA KNNUSKKOANA ASUTAAN ERO KOH KAKS SAKSIA 7 SETVO LOOP Me 44 Servo mode nee g E a EY GR HG UAE a RC a CU FE kk E e l 11 Software Installation seassa ik aa fa stie ouo copa na
70. ted here The Integral term gives the servo loop that inflexible stubborn feel Since the I term adjusts the amount of integrated error mixed to the output of the filter and the value other than zero implies that no steady state error can be tolerated by the servo loop Given sufficient time the PID control loop will eventually servo the output to the exact value of the commanded input In the frequency domain the I term also affects the placement of the zeros as demonstrated below For I 0 one of the zeros is at s P D and the other zero is at s 0 which means that it will cancel the integrator pole at s 0 This makes sense intuitively since the integrator is turned off if I equals zero As I increases the servo loop becomes snappier and responds more quickly to steady state error While adding an integrator does address the issue of steady state error it can also have a negative impact l 0 on the system dynamics The effect is most easily seen in the time domain In a linear PID system that performs servo control the controlled motor is initially at rest with a zero position error When torque is applied to the motor shaft changing it s position the control system senses a steady state error and tries to return the shaft to the commanded position Since in this example the system is linear the control voltage will continue to increase as a result of integrated error While increasing the control voltage could caus
71. ternal events which you provide to it as inputs The inputs can be used for any particular event you define The event sets a bit in the status bit indicator only for example using a home sensor to turn the motor on or off depending on the position of a mechanism The bit flag does not perform an event on its own An event happens only if you order it in your motion profile program Positive and Negative I limits hard are also recognized by the controller These are typically error inputs For example one could use these inputs to stop a motor if an encoder were broken or if the encoder wires became damaged or disconnected The hard limits are designed to remedy errors or alert the operator to events that are not planned or scheduled to occur MicroMini Controller User Manual 23 MicroMini Controller Commands See Examples and Explanations before attempting to use commands Motion Related Commands AA Abort Action Codes 4AA2 The Abort Action Codes permit selection of the behavior of the controller during an abort situation Action code 0 disables the drive immediately Setting the code to 1 causes the MicroMini Controller to perform a Hard Stop and attempt to servo in the present position If action code 2 is selected the MicroMini Controller will abort the profile at the programmed abort deceleration rate AB Abort Motion Command 4 AB Execution of this command terminates the present motion and the motor will ramp to a
72. u must go into the programming screen by selecting the Command File Processing button from the Mode Selection box Here is what it looks like Operable programs are provided for you in the form of files cmd These also serve as examples to show you how the code works To execute a program highlight the file cmd and click the execute button It is advisable to check the content of the file by first going to Edit mode and select the NO option to execute the file once Comments are provided at the top of each file to indicate the application Write a stored executable file by typing a new program name in the File Name window and clicking the edit button When a command file is created and saved it will be stored in the directory with this demo program as a cmd file Any cmd files stored in the MVP program directory will be available for execution See Examples Appendix C MicroMini Controller User Manual 15 Sending Direct Serial Commands without the MVP Demo Software Remote Communication with the MVP Controller 1 Start the terminal program you intend to use for communication with your MVP Controller Open the configuration or setup menu or dialog box for the program and locate the settings concerned with the communication port 2 Select the port number such as COMI or COM2 to use an available serial port on your computer Set the data word format for 8 data bits no parity bit and 1 stop bit Sel
73. ultiple masks may be used with labels to separate events Appendix G 2 Page 1 of 3 Rotary Stage Homing and explanations Limit switches disabled release the jumper at pin 5 on the J2 connector for external limits for MM 3MR 64 1 gear 10mm mtr axis1 message Set servo values for axis 1 1 ano 2350 sets the current limit to the max allowable for a 1016 motor 1k1 maintains integral gain during move lowers the following error by strengthening keep up force 1 ad 200 abort deceleration lower numbers give slower deceleration 1aa1 abort action hard stop amp remains in servo 1 fa 1 following error action hard stop amp remains in servo 1 fd 130 following error allowance in positive rotary direction position mode speed set by sp 1sr 1000 sample period in u sec longer for lower resolution encoders The encoder won t update until the next sampling Longer periods will allow slower speeds 1000 is optimum for 10 place encoder at higher speeds 1 sp 1200 speed sp 1200 x 960 000 sample period sr counts rev 40 here motor rpm 28 800 1 ac 400 set acceleration 1 por 28000 set proportional gain 1i600 integral gain that which brings the motor into target position 1 Is 99 limit action 99 limit disabled for rotary stage homing 1hp 1 homing polarity 1 positive logic normally open 1n5 dead window 5 for quicker action between stops n 1 minimum for maximum accuracy at short duration stops 1 ho sets target position w
74. viceNet environment When using Local Velocity mode how can I change the MicroMini Controller s velocity Range In Local Velocity mode the MicroMini Controller s range is set using dip switches 7 through 10 Each switch has a particular range scale associated with it when it is turned LEFT The scaling is as follows Switches7SWITCHESS8 Switches9Switches10 100050001000020000 RPM ALL SWITCHES RIGHT IS 250 RPM examples To set a range of 5000 rpm only Switches8 would be turned LEFT To set a range of 20 000 rpm only Switches10 would be turned LEFT What is the difference between absolute and relative positioning Absolute positioning implies that you want to move a load motor shaft etc to a predetermined point from home or base position usually from position 0 Relative position implies that you want to move a given distance from your current position I m confused When should I use RS 232 RS 485 or DeviceNet Which way you decide to communicate and control the MicroMini Controller is dictated by the type of application you need to do Traditionally RS 232 is used in applications involving only two devices usually a PC and a MicroMini Controller over relatively short distances up to 32 feet RS 485 is used when many devices up to 63 devices need to communicate over the same medium usually a twisted pair cable and the distance between devices is relatively long up to 4 000 feet Devic
75. vr sneren seny karsan 37 Appendix G Applications Examples isan gae brey Ka ea Eres it 40 Appendix TT The Servo Loop ss lt kua soisissa sia saksassa ks L 45 Appendix I General Description L see 48 Appendix J Mounting ces assa ARIS cee oe ei pc Na Kitee dd 49 Appendix K Dimensional Outlines lus 50 Appendix L Potentiometer Circuit soul 51 Appendix M Warranty v ssa asa an b innia ERR EE E LEES I KN 52 Index MicroMini Controller User Manual 1 MicroMini Controller The basic MVP series controllers are miniature single axis intelligent drives that can provide speed and position control and can be configured for a wide range of DC motors Designed to integrate seamlessly into any proprietary or open architecture system they come complete with built in motor drive amplifiers This eliminates the extra amplifier costs amplifier modules and wiring costs inherent in traditional motion control topologies Up to 63 motor axes can be addressed using the RS 485 Multidrop Network interface MicroMini Controller modules can operate in Remote Mode serially or Local Mode stand alone Your choice is made entirely through DIP switch adjustments and software configuration no additional or substitute parts or additional modules are needed The MicroMini Controller MVP 1 is a highly specialized version of the generic OEM MVP controller It has been specially configured and documented t
76. window and click Save Combination This will establish a filename into which you will insert individual macros Select the macro s using the Select Macro button in the right screen Insert the macro into the Combination file by clicking on the Insert Add To Combo bar You will see the macro name s appear in the Macro Sequence window in the correct order The Version and Description windows are for your use as an optional means of controlling the revisions of the combinations created The Starting Macro window contains the initial macro executed in the combination This should be set to 0 if you do not wish to execute any macro routines at power up Otherwise enter the number of the macro you want to execute when the MVP is turned on normally the first macro The Node Address should be the address of the MVP module that the macro module is installed in During initialization this MVP module will be defined as the Network Master for macro module operations MicroMini Controller User Manual 19 The Download Screen Multi Macro Download Util National Aperture Inc Mm Specify Macros Command File Editor Down Load Setup Macros in Combination Select Macro Combination 2 move left Clear Receive History Download Execute Block Cancel Execute Selecting the Down Load tab will bring you to the macro download screen Here you may choose t

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