User Manual - Pacific Laser Equipment
Contents
1. No position control Set motor in position control mode Move relative to current position Stops the motor Set baud rate Define zero position Set echo off Set echo on Enables Integral Term Disables Integral Term Set count number to step back Resets the controller Set the acceleration rate Set the deceleration rate Sets the dynamic gain Sets the static gain Sets output voltage Sets the deceleration point Sets the maximum output voltage Sets the motor speed Reports the EPROM checksum Reports programmed SD values Reports the dynamic error Reports programmed SG values Reports iteration count Reports programmed SA values Reports stored macros Reports programmed SE values Reports output voltage command value Reports actual position Reports programmed SP values Reports target position Reports actual velocity Reports programmed SV values PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 20 of 21 Motor controller 4ch November 19 2002 MACRO amp SEQUENCE EM Execute macro MC Macro command MD Macro definition RM Reset macro TM Tell macro RP Repeat WA Wait absolute WS Wait for stop WP Wait for position WD Wait for delta WE Wait for error MISCELLANEOUS AP Adjust position CP Calculate Point LN Limit on LF Limitoff RS Reset points RG Reset strings IN l term oN IF l term ofF HE Help user manual C 402. PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page llof 21 Motor controller 4ch User manual C 400 November 19 2002 Release 1 30 2002 by Pacific Laser Equipment 8 Commands MOTION and SEQUENCING COMMANDS AB Abort motion This command stops the motor at the present position any further motion requirements are ignored The target position is changed to be equal to the present position FEn Find Edge n 0 1 This command is used to move the system to a given initial position The direction of motion depends on the value of n The target is set to or 16 777 013 depending on the value of n The motor runs at the programmed speed until the limit switch is activated Example FEO lt return gt causes motor to move in a positive direction until the reference input changes state If the reference input is high when the command is issued the motor runs toward the positive limit until the input changes to low and vice versa FE1 lt return gt causes the motor to move in a negative direction until the reference input changes state These commands assume that your system has the reference input line connected to a reference switch FE can be useful in calibrating the home position on start up or for simply slewing long distances at the most recent velocity setting If limit switches are not in use a command string such as FEO WS100 WA500 DH MN could
3. 32 767 This command sets the slope of the proportional relationship between the position error and the motor voltage The higher the gain value set the greater the stiffness of the position coupling meaning that a small error value causes a proportionally larger motor current driving the motor towards the target The default gain value usually ensures stable operation The optimum value depends on friction inertia motor power and the resolution of the encoder It must be determined by the user If the error reported by an axis after completing its motion is excessive the gain value may be increased in small increments until the error is within acceptable limits If the axis becomes unstable and begins to oscillate the gain must be reduced until the oscillation stops Example SG80 lt return gt Sets a gain of 80 SAn Set Acceleration 0 lt n lt 2 000 000 Sets the maximum acceleration rate in encoder counts per second squared Acceleration values are in the range from 100 000 to 800 000 The default value is set to 150 000 SVn Set Velocity 0 lt n lt 500 000 Causes the motor to run at maximum velocity of n counts s for subsequent motion commands The value is given in encoder counts per second If the torque load changes on the motor the controller attempts to maintain the velocity by varying the motor current Example SV40000 lt return gt Sets the velocity of motion to 40 000 counts per second SMn Set Maximum following
4. return gt The DH command is also useful for determining the encoder resolution Issue the MF command manually position the motor encoder at some known angle issue a DH command to set the position to 0 then turn the motor encoder one revolution Now the TP command will report the number of encoder counts revolution PI stages have incremental encoders with from 2000 to 4000 counts rev MN Motor ON This is the normal system control mode in which C 400 controls the axis position continuously Any deviation between actual and target position causes the motor to be driven toward the target possibly with maximum force depending on the distance moved during the motor off condition Use caution when turning the motor back on C 400 keeps track of both the motor and target position even when in the MF state When it receives an MN command The controller will try to return the motor to the old target unless the target has been redefined Example MN lt return gt RPn Repeat 0 lt n lt 65 535 This command causes the command string to repeat n times If n is not specified the command s in the string are repeated 65 536 times The repeat loop may be interrupted by sending any character This character should not be the first character of anew command because it will be discarded Example TE WA500 RP99 lt return gt Will display the distance to the target every 500 milliseconds 0 5 second for a total of 100 times WAn Wait 0
5. be used on startup to find the Home position value of a mechanical stop This command tells the motor to run toward a target value of 1 000 000 000 until stopped When the motor encounters the mechanical stop the following error will rise quickly triggering a halt because of an Excessive Error condition See SM command This error halt will disable the motor loop so the MNcommand at the end is required to maintain the new position against any forces that might be attempting to move it It may be desirable to use the SM command to set the maximum allowable following error to a low value at the start of motion Do not forget to restore it to a better working value after the operation is complete Note This procedure requires that limit switches not be in use If they are in use they will automatically stop motion without causing an Excessive Error condition GH Go Home The Go Home command causes the motor to move to the absolute zero position Equivalent to an MAO Move to zero position command Example GH lt return gt Moves motor to zero position MAn Move Absolute 1 073 741 823 lt n lt 1 073 741 823 This command generates a motion to the absolute position n The zero or home position may be redefined by the DH Define Home statement If not otherwise defined it is the position where the controller was when powered on MAO lt return gt Tells motor to go to Home position MRn Move Relative This command generates a motion
6. error 0 lt n lt 32 767 Sets the maximum allowable error between the dynamic target and the actual position May be changed as often as desired to provide maximum protection to the system The normal following error can be monitored during motion with the TF command For maximum system safety use the SM command to limit following error to a value slightly above that required for normal operation LN Limit Switch operation ON Enable software limit switch operation When a limit switch is encountered during motion motion is halted and is no longer possible in that direction as long as the switch remains closed The target is changed to the position at which the limit switch was encountered Movement in the reverse direction is not affected LF Limit switch operation OFF Disables software limit switch operation C 400 also has logic circuitry to disable motion in the direction of a hardware limit switch when the switch is actuated whether or not the software limit switch operation is enabled The LN and LF commands affect only the software The LF command should only be used when hardware limit switches are not installed PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 14 of 21 Motor controller 4ch User manual C 400 November 19 2002 Release 1 30 2002 by Pacific Laser Equipment REPORTING COMMANDS Reporting commands cause the C 400 controller
7. it stops enter TP lt return gt The position should be very close to 1000 Now enter 77 7E lt return gt in order to read the target and the position error This reports where the motor should be 1000 and the distance of the actual position from this target If the reported position was 998 then the reported error will be 2 If the reported position was 1002 the reported error will be 2 To read all values at the same time enter TT TP TE lt return gt Now all three values are reported Now enter MR 1000 lt return gt The motor should return to zero or home position Press lt return gt again The motor should move another 1000 counts in the negative direction Press it again and again The motor should move each time Now try GH lt return gt The motor should return to the position it occupied when power was applied Now for advanced programming enter WR1000 WS100 TE lt return gt The motor should move 1000 counts positive When it arrives at this position it should report how close it came to the target For a longer move enter WR100000 lt return gt and verify that the motor has moved that distance Press the lt return gt key again and see that the motor moves the same amount in the same direction Press it again and again A GH lt return gt command will return to the previously defined HOME position While in motion we could have entered 7V and pressed the lt return gt key as often as desired to read the actual nu
8. to emit a string of data These commands are easy to remember as they usually begin with a Tell statement TG Tell gain Reports programmed SG values This value can be changed with the TI Tell Iterations This command reports the state of the repeat counter It is useful for determining the number of times a repetitive action has taken place Example MR100 WS100 WA250 Tl RP99 The motor will make repetitive moves of 100 steps with a delay of 25 seconds between steps for a total of 100 times The Tl command will report the number of iterations remaining to be performed after each iteration TP Tell Position Tell Position reports the absolute position of the motor TP may be used to monitor motion during both motor on and motor off status TT Tell Target Reports target position This is the absolute position to which the servo loop will try to drive the motor any time the MN Motor ON state is in effect TY Tell programmed velocity Reports the Programmed Velocity value This value can be changed with the SV command The values reported with the TV and TY commands should differ by only a few counts Command TY lt return gt Report Y 0000020000 TV Reports actual velocity Command TV lt return gt Report V 0000020006 CS CheckSum Calculates and reports the check sum This command is useful to test the integrity of the firmware The reported value should be the same every time Report C 50EE_FBF2 CRETX TL Tell acceLera
9. 0 Release 1 30 2002 by Pacific Laser Equipment Starts macro execution Starts macro execution Defines a macro command string Erases macro storage Reports all listed macro commands Performs a command loop Delay next command execution Wait for motor stop Wait until axis reaches specified position Wait until axis has moved by the delta amount Wait until error is lt specified value Modifies position in Point storage Calculates SP Enables limit switch operation Disables limit switch operation Reset point storage Clears the string storage Enables servo loop integral term Disables servo loop integral term Reports all available commands PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 21lof 21
10. 400 November 19 2002 Release 1 30 2002 by Pacific Laser Equipment 3 Technical specs Maximum current 2 A peak Pora lo cnames feiows soups Control modes Position and velocity Position encoder compatibility E h a or differential with index Communication RS 232 Output type Analog 0 to 12V Control language wo letter mnemonics LabView 6 1 drivers cceleration deceleration velocity position digital filter gains derivative Sampling interval absolute and relative Programmable functions breakpoint positions integration limit interrupt mask maximum allowable able error stop mode 30 bits 1 073 741 824 Interrupts Position breakpoints limit switches error limit Switch selectable I O mapped Physical interface pP 7 motors amp I O 25 pin and 9 pin Sub D connectors a Power requirements 120V AC 100mA PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 7 of 21 Motor controller 4ch User manual C 400 November 19 2002 Release 1 30 2002 by Pacific Laser Equipment 4 Test and troubleshooting Attention The unit uses AC 120V This is a dangerous voltage Front and Back Panel Elements Connectors RS 232 1 Sub D 9 m Serial network input STAGES 4 Sub D15 f Motor connector AC 120V 1 Standard AC 3 pin receptacle Indicators Power 1 Orange LED on front panel Fuses The fuse
11. D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 18 of 21 Motor controller 4ch November 19 2002 10 We are offering OEM versions User manual C 40 O Release 1 30 2002 by Pacific Laser Equipment OEM versions T Ee CEALELLELILIL lee Seren For volume buyers custom designs are possible if they make economic sense PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 19 of 21 Motor controller 4ch November 19 2002 MOTION COMMANDS AB FE GH MA MF MN MR ST Abort motion Find edge Go home Move absolute Motor off Motor on Move relative Stop PARAMETER SETUP BR Baud rate DH Define home EF Echo off EN Echo on IF l term oN IN I term ofF LS Limit set RT Reset SA Set acceleration SD Set deceleration SE Set dynamic gain SG Set gain SO Set output SP Set point SQ Set torque SV Set velocity REPORTING CS Check sum TD Tell deceleration TE Tell following error TG Tell gain TI Tell iteration TL Tell acceleration TM Tell macros TN Tell dynamic gain TO Tell output TP Tell position TR Tell deceleration pt TT Tell target TV Tell velocity TY Tell commanded velocity user manual C 400 Release 1 30 2002 by Pacific Laser Equipment Stops the motor Move to reference point Moves to the origin Moves to absolute position
12. Motor controller 4ch User manual C 400 November 19 2002 Release 1 30 2002 by Pacific Laser Equipment Pacific Laser Equipment C 400 User Manual Name C 400UM Release 1 30 Release Date November 19 2002 2001 by Pacific Laser Equipment PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page lof 21 Motor controller 4ch User manual C 400 November 19 2002 Release 1 30 2002 by Pacific Laser Equipment Table of contents L Introduction 3 11 Product description 12 Labels 13 Operation 2 Block diagram 6 3 Technical specs 7 4 Test and troubleshooting 8 5 Command structure 9 5 1 Single commands 5 2 Compound commands 5 3 Macro commands 5 4 Reporting commands 6 Cable connections 7 Software 8 Commands U B E amp 9 LabView 9 1 Vis Drivers 9 2 Example programs 10 OEM versions 18 PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 2 of 21 LL Motor controller 4ch User manual C 400 November 19 2002 Release 1 30 2002 by Pacific Laser Equipment 1 Introduction Product description The C 400 is a unique 19inch rack mountable 4ch DC servo motor controller with integrated DC motor amplifiers on board It consists of precision amplifiers power supplies insulation transformers rectifiers and voltage regulators and TTL lo
13. Software Windows Library DLL On the CD provided the user will find the C812Lib202 dll file under the DRIVERS directory LabView Driver Library See content in the DRIVERS folder on the CD Command Reference All C 400 commands use two letters to identify the type of operation followed by pertinent data values if necessary For example TP by itself is adequate to display the motor position but MR alone would be useless because the system would not know how far you wished to move All commands are checked for acceptability as they are entered MR for example must be followed by a minimum of 1 and a maximum of 9 digits to accommodate the allowable range of motion C 400 commands are arranged by group for the following discussion Motion and sequencing commands AB Abort motion DH Define home GH Go home MN Motor on MF Motor off MR Move relative MA Move absolute RP Repeat from beginning of line WA Wait absolute time WS Wait stop FE Find edge find limit Parameter setup commands SV Set Velocity SA Set Acceleration SM Set maximum following error LN Limit switch operation ON LF Limit switch operation OFF Reporting commands Report Identifier CS Report checksum C TI Tell iteration number X TM Reports all listed macro commands TY Tell programmed velocity Y TL Tell programmed acceleration L TE Tell error distance from target E TP Tell position P TT Tell target position T TV Tell actual velocity V
14. St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 9 of 21 Motor controller 4ch User manual C 400 November 19 2002 Release 1 30 2002 by Pacific Laser Equipment 6 Cable Connections pacific Loser Cau mont c 400 SN 115 AC 120V A Mechanics output NC 1 0 Analog IN AC POWER IN RS 232 IN POWER SWITCH There are seven connectors on the C 400 to provide access to its functions The motor connections are included in the D sub 15 pin connector with the encoder and limit switch signals The 9 pin sub D connector is wired straight to the RJ 11 connector The DSub 15 connectors are the motor or stage connection Compatible with NEWPORT PI and ThorLabs stages and motor drives Motor Connector Pin Assignment Connector type Sub D 15 f labeled MOTOR PIN Function 1 5V output 9 Motor output 2 Motor output 10 Power GND 3 PWM magnitude output 11 PWM sign output 4 5 V output 12 Negative limit input 5 Positive limit input 13 Reference signal input 6 Limit GND 14 Encoder A ENCA input 7 Encoder A input 15 Encoder B ENCB input 8 Encoder B input PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 10 of 21 Motor controller 4ch User manual C 400 November 19 2002 Release 1 30 2002 by Pacific Laser Equipment 7
15. e 1 30 2002 by Pacific Laser Equipment 12 Labels Rear panel labels indicate the functions for every connector the unit serial number and display the power requirements 13 Operation Controller operates only controlled by a host PC via the serial cable provided with the unit The operating voltage for the DC motors may change in the range from 12V to 12 V Serial communication is set by factory to 9600 baud 8 data 1 stop no parity Internal buffers are used so there is no handshake required Use a null modem cable for connection Setting Motion Control Parameters Prior to commanding the connected motor or stage to move the servo control as well as the velocity and acceleration values have to be set If you are using host software with valid configuration files or the C 400 is set up to default to correct parameter settings then you may skip this section Each stage could require its own set of parameters for proper operation They can be modified as appropriate for the actual setup The settings are not particularly critical so you can vary parameters by 50 to achieve better settling performance Operating Motors and Stages Type MN lt return gt C 400 is now on line and ready for motion f the motor oscillates or begins to run away when the MN command is given remove power and read further before continuing Enter MR1000 lt return gt The motor should move 1000 encoder counts in the positive direction When
16. e 16 of 21 Motor controller 4ch User manual C 400 November 19 2002 Release 1 30 2002 by Pacific Laser Equipment 9 LabView 9 1 Vis Drivers The following Vis are provided on the enclosed CD They are based on the C81 2Lib dl file fat Drivers o x i File Edt View Go Fi e Gi Bank pansan Up PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 17 of 21 Motor controller 4ch November 19 2002 9 2 Example programs User manual C 40 O Release 1 30 2002 by Pacific Laser Equipment A few example programs are also offered as listed bellow The 2CH C812 vi is also shown bellow and please note that only one of the 2 channels has been wired CLICK HERE 1 C 812_MF_test C 812_TEST CLICK HERE 0 81 2vil I DIVA DEMO I Encoder_motor_ test 1 LINE COMAND i READ_C400 I SET_C400 ll Tabs Pacific Laser Equipment Commended Velocity in courta second x 1000 CH2 aa PUXIRTUCESTREIRIIOTETERTI SEER ERIE PUXIRTUCEST REATARD eT rrer PoE A o 3 w S 1D 14 1H 5 20 o zZz w S Wis WH y w Number of counts comanded x 1000 aaa amp 8 8 cago 480 am g A so hn ta ato ato a0 abn 50 A Sa iio Fa Sho C CE Tesengeeavnsenentee fu esheusenngererosee te ATOT sete pereseneteunene est pet 200 150 100 0 O wW 10 10 W Mm 0 100 30 O wW 10 10 W Number of count reached PLEquipment 39415 Bristol St Unit
17. e of the two switches will interrupt motion in a given direction When connecting other motor drives or mechanics the correct limit switch wiring must be determined To do this set the system into a safe position set a low velocity with the SV command begin motion with an MR MA or FE command and enable limit switch operation with the LN command While the motor is moving actuate the limit switch toward which it is moving If the motor stops that is the correct switch to connect at the end of desired motion for that direction If the motor does not stop actuate the other limit switch If the motor still does not stop remove power and read further Each axis has provision for two limit switches and a reference switch in addition to a differential quadrature encoder input with index capabilities For highest precision in a homing application motion is commanded until the reference switch is encountered then continues at a slower rate until the encoder index is found With this procedure the home position may be repeated to an accuracy of one encoder count or the ultimate accuracy of the system All limit and reference switch inputs are sensed through line receivers with 1 volt of hysteresis for noise rejection The encoder inputs use differential line receivers with 300 mV of hysteresis They may be used with single encoders as well A capture compare circuit is used to sense any change in the state of the limit and reference switches When an
18. er command and can be re executed by sending a carriage return pressing lt enter gt 5 3 Macro Commands Macros can be a most powerful tool for the programmer A macro command is a grouping of commands to form a short program stored under a macro number To use macros to programming the C 400 controller insert an MDn MacroDefinition command as the first instruction on the line and follow it by acomma and a comma separated command string The syntax for macro commands is MD macro followed by a compound command string Example MD3 MR1000 WS100 MR 1000 WS100 RP5 lt return gt In this example MD3 defines macro 3 To call up run this macro just issue the command EM3 Unlike MD commands EM commands may be used in compound commands and with some restrictions in other macro definitions A macro command can call other macros but if the calling macro is to continue after the called macro completes the called macro must not contain any macro calls For example MC1 could call MC2 but MC2 could not then call MC3 and still be able to return to complete the remainder of MC1 Example MD1 EM2 EM3 EM4 EM5 EM6 5 4 Reporting commands Reporting commands are commands which cause the C 400 controller to send a string of data be it a position servo control parameter help or other information These commands are easy to remember as they usually begin with a T tell For example 77 Tell Target PLEquipment 3941S Bristol
19. gic built around the Mitsubishi M 50734SP processor All this is compactly packaged in a 6 part 19 x 3 5 x 10 rack mount anodized aluminum case The DC voltage output can deliver up to 12V making the controller compatible with most mechanics from Newport PI OptoSigma and ThorLabs PC control is done via a null modem serial interface cable that can be purchased as a STANDARD On the rear panel the user has access to the AC power plug and the ON OFF switch The fuses are located inside the 19 chassis The controller is delivered with this User Manual power cord and one null modem serial cable This manual is provided as an aid in operating and programming the C 400 DC Motor Controller This servo controller is intended for motion control in research and industrial applications providing in a single package a complete stand alone control system for the smaller DC servo motors used in high precision positioning systems The C 400 utilizes quadrature encoder signals for position feedback and depending on the resolution of the encoder scale incremental resolutions of 50nm to 0 1m can be achieved The C 400 provides servo control of position velocity and acceleration Although each parameter is programmable each is also set to a programmable default value upon power up Using the built in commands and features the user will very quickly be able to command the motor to move to any desired position During the motion the velocity a
20. lt n lt 65 535 This command inserts a wait period of n milliseconds before going to the next command Example MR2000 WA3000 MR 2000 lt return gt This command line will move the motor by 2 000 steps then 3 seconds after the start of the move the motor will move back 2 000 steps Note that the wait period of 3 seconds includes the time the motor is moving If the motor is to be at rest for 3 seconds an additional command must be inserted to prevent the wait interval from beginning until the motor has completed it s motion MR2000 WS 100 WA3000 MR 2000 lt return gt WSn Wait for motor stop The WS command waits until the motor has reached the end of its trajectory and then waits for another n milliseconds before continuing to the next command Example MR5000 WS100 TE lt return gt This command line moves the motor for 5000 counts and then waits for 100 ms after the motor has completed the move before executing the TE command Tell error and reporting the error PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page B of 21 Motor controller 4ch User manual C 400 November 19 2002 Release 1 30 2002 by Pacific Laser Equipment PARAMETER SETUP COMMANDS DH Define Home Defines the current motor position as the zero position Home position Example DH lt return gt Sets the current motor position to 0 SGn Sets the static gain 0 lt n lt
21. mber of encoder counts moved during the last 0 4 seconds Set the acceleration to a lower value such as SA10000 lt return gt and see the velocity increase and decrease over a longer period Set the velocity to various values and issue commands to move to various positions using either MA or MR commands Move the stage some distance away from the end say 100 000 counts and try this MR50000 WS 100 WA500 MR 50000 WS100 WA500 RP9 lt return gt The stage should cycle back and forth 50 000 counts with a delay of a half second at each end It should do this ten times once by command followed by nine repetitions PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 4 of 21 Motor controller 4ch User manual C 400 November 19 2002 Release 1 30 2002 by Pacific Laser Equipment Multi Axis Control The axis number will proceed whenever a specific axis needs to be moved or read Example 1MR50000 2MR 30000 3TP 4GH Default Values C 400 has been designed to be as easy to use as possible When shipped the C 400 comes with factory default settings These settings can be read and changed using the Read_C400 vi and the SET_C400 vi In most cases the factory default values will be appropriate for the application Limit Sensors During operation the limit sensors or switches are used to stop the motion at the end of the allowable travel range Only on
22. nd a comma and then type the command or command sequence just as you would if running it directly Examples MD1 MR50000 WS100 GH lt return gt Defines macro 1 Mb2 TT TP lt return gt Creates a macro command to Tell Target then Tell Position Defines macro 2 EM2 lt return gt Executes macro 2 Same as entering TT 7P lt return gt EMn Execute Macro Command n 1 lt n lt 16 This command is used to run a previously defined macro command Example EM3 lt return gt Execute macro 3 RM Reset Macro Used only to initialize the memory reserved for macro commands It clears the macro storage Example RM lt return gt Removes all stored macros Note This command needs 5 seconds for execution During that time no communication is possible UTILITY COMMANDS RT Reset Restarts controller as if from a power off condition All values are restored to their defaults EN Echo on Enables echoing of command characters as they are entered Each character received is echoed unchanged This is a very useful feature when the Suprmtr6 is being controlled from a terminal EF Echo off Disables echoing When control is from a computer program it is sometimes easier to program if there is no echo unless the program uses it for verification of successful transmission HE Help Reports all available commands PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Pag
23. nd acceleration will be controlled in accordance with the most recent settings of the controller parameters It is not necessary to set them up anew for each move The starter package comes with all connecting cables and software necessary for immediate operation Each axis has provision for two limit switches in addition to a differential quadrature encoder input with index capabilities For highest precision in a homing application motion is commanded until the reference switch is encountered then continues at a slower rate until the encoder index is found With this procedure the home position may be repeated to an accuracy of one encoder count or the ultimate accuracy of the system All limit and reference switch inputs are sensed through line receivers with 1 volt of hysteresis for noise rejection The encoder inputs use differential line receivers with 300 mV of hysteresis They may be used with single encoders as well A capture compare circuit is used to sense any change in the state of the limit and reference switches When any one of them changes a maskable interrupt is generated These are several additional sources of interrupt including excessive error encoder error index and absolute and relative position breakpoints PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 3 of 21 Motor controller 4ch User manual C 400 November 19 2002 Releas
24. of relative distance of n counts in the specified direction from the current motor position n may be either a positive or negative number The resulting absolute target position must be between and 1 073 741 823 Examples MR5000 lt return gt Motor moves 5 000 counts in positive direction MR 330 lt return gt Motor moves 330 counts in negative direction MR2000 WS100 MR 1200 lt return gt PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 2 of 21 Motor controller 4ch User manual C 400 November 19 2002 Release 1 30 2002 by Pacific Laser Equipment MF Motor OFF When this command is issued the motor is no longer held in position servocontrol is turned off and may be moved freely The MF command is used to prevent unwanted movement or to allow for manual positioning of the unit When manually positioned however the motor position is still monitored in the MF status and may be reported by the TP command The opposite command is MN Motor ON Use caution when turning the motor back on The target position remains the same as when the MF command was issued and the motor will try to return there unless the target position is redefined To set a manually selected position as the new target position before putting the motor back in the MN Motor ON state use the DH Define Home or AB Abort command as follows AB MN lt return gt DH MN lt
25. s are located inside the box When replacing please use slow blow 100mA AC Power Make sure that the AC power used is always 120V Test To test communication with the C 400 connect all cables and power up than send the TP command from any program capable to send ASCII commands via the COM port If the system is ready for operation the controller will respond with the encoder read out Trouble Shooting Problem 1 The controller communicates and reports position values TP but the connected stage or motor does not move Cause 1 The 12V could be missing Problem 2 Front panel LED is OFF Cause 1 The FUSE could be blown There could be other instances when a failure mode could appear but that can only be determined on a case by case basis 5 Command structure Over 40 commands are available for programming the C 400 Use these commands to control motion and to acquire reports regarding motion control parameters and status The command structure has been designed to minimize the effort required to use the C 400 Commands can be executed in various ways as Single Commands One function executed immediately as Compound Commands Multiple functions executed immediately in sequence as Macro Commands Command sequences stored for later execution PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 8 of 21 Motor controller 4ch U
26. ser manual C 400 November 19 2002 Release 1 30 2002 by Pacific Laser Equipment 5 1L Single Commands A single command is executed immediately after a carriage return is received and will be repeated each time a carriage return is received until a different command is entered Examples MR2000 lt return gt Move motor 2 000 steps relative to the present target MN lt return gt Set motor in ON state TP lt return gt Report tell position for motor MA20000 lt return gt Send motor to absolute position 20 000 Both uppercase and lowercase characters are valid and spaces are allowed 5 2 Compound Commands A compound command is a series of single commands separated by commas In this way it is possible to string together several commands before terminating them with a carriage return These multiple commands will then be executed sequentially The syntax for a compound command is CMD n CMD n lt return gt Example mr5000 ws100 wa500 ma12000 ws 100 wa800 tp lt return gt A compound command such as in the following example may be entered as one program line It instructs the motor to move 1 000 encoder counts in the positive direction wait in that position 500 milliseconds return to the original position wait 1 second and then repeat that sequence 5 times Example WR1000 WS100 WA500 MR 1000 WS100 WA1000 RP5 lt return gt Once this compound command is entered it remains in the buffer until replaced by anoth
27. tion Reports programmed acceleration value Command 7L lt return gt Report L 00001 70000 TF Tell Following error Reports the difference between the dynamic target and the actual position During motion it is normal for the actual position to lag behind the target position by some amount usually dependent on the programmed velocity If the velocity is higher than physically possible for the system or if an obstruction has been encountered the Following Error will increase If the obstruction is temporary the servo action will attempt to reduce the error to zero when the obstruction is removed If the condition is not temporary the error will increase until the programmed limit is reached Command TF lt return gt Report F 00000001 17 TD Tell deceleration Reports programmed SD values Command 7D lt return gt Report N 0000126317 PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 15 of 21 Motor controller 4ch User manual C 400 November 19 2002 Release 1 30 2002 by Pacific Laser Equipment MACRO COMMANDS MDn Macro Definition 1 lt n lt 16 This command is used to define a new macro command Defining more than one macro with the same value of n will simply result in the loss of all but the last macro so defined To define a macro choose the desired macro number in the allowable range enter MD followed by this number a
28. y one of them changes a maskable interrupt is generated These are several additional sources of interrupt including excessive error encoder error index and absolute and relative position breakpoints LM629 Data sd Data ca TA sata reset 7 Read only Read onl Interrupt register 2 Read only _ gt I Confeuration end supa uration and output 6 Read onl LM629 Commands Desired channel selected by E register bits 6 7 address 6 The C 400 controller uses National Semiconductor LM629 integrated circuits to perform the servo control functions If the user wishes to program them directly the programming is done exact ly as described in National s programming manual For those users wishing to use the C 400 in an interactive manual mode joystick operation is possible also as an add on option PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 5 of 21 Motor controller 4ch User manual C 400 November 19 2002 Release 1 30 2002 by Pacific Laser Equipment 2 Block diagrams 2 1 General diagram Power Supply a Power Motors E L A 2 2 Power supply block diagram 120V AC DC Voltage Switching PS 12V 12V 5V GND PLEquipment 3941S Bristol St Unit D 122 Santa Ana CA 92704 509 355 5155 Fax 509 355 5155 Email service plequipment com Page 6 of 21 Motor controller 4ch User manual C
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