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MMC-100 S e r i e s Modular Motion Control System Revision: 2.00 Effective: 6/01/2012 Table of Contents 1. Introduction Product Description Features Package Contents Quick
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MMC-100 S e r i e s Modular Motion Control System Revision: 2.00 Effective: 6/01/2012 Table of Contents 1. Introduction Product Description Features Package Contents Quick Start Guide Quick Start Guide Overview Quick Start MMC-100 Motion Controller Platform Using the MMC-100 Motion Controller Platform Technical Information MMC-100 Specifications Serial Port Setup RJ11 RS485 Bus Operation Axis Addressing Feedback Control HOM, MLN, and MLP s Line Syntax Line Format Global s Multiple s Synchronous Move Program Mode Terminating Characters Summary of s Descriptions Error Messages Appendix Encoder Input Pin-out Motor Input Pin-out Pin Din IO connector RS-485 Intermodular Connector Cable Pin-out Index Description Page Description Page ACC Acceleration 16 POS Position 56 AMX Maximum Allowable Acceleration 17 REZ Set Resolution 57 ANR Set Axis Number 18 RST Perform Soft Reset 58 CER Clear Errors 19 RUN Start Synchronous move 59 DAT Dump Trace Data 20 SAV Save Axis Settings 60 DBD Closed Loop Deadband 21 STA Status Byte 61 DEC Deceleration 22 STP Stop Motion 62 DEF Restore Factory Defaults 23 SVP Save Startup Position 63 EAD Set Analog or Digital Encoder 24 SYN Sync 64 ENC Select Encoder Resolution 25 TLN Negative Soft Limit Position 65 END End Program Recording 26 TLP Positive Soft Limit Position 66 EPL Encoder Polarity 27 TRA Perform Trace 67 ERA Erase Program 28 VEL Velocity 68 ERR Read and Clear Errors 29 VER Firmware Version 69 EST Emergency Stop 30 VMX Max. Allowable Velocity 70 EXC Execute Program 31 VRT Encoder Velocity 71 FBK Set Open or Closed Loop Mode 32 WST Wait For Stop 72 FMR Upload Firmware 33 WSY Wait For Sync 73 HCG Home Configuration 34 WTM Wait For Time Period 74 HOM Home 35 ZRO Zero Position 75 IOD IO Pin Definition 36 ZZZ Take Axis Offline 76 IOF IO Function 37 JAC Jog Acceleration and Deceleration 38 JOG Jog Mode 39 LCG Limit Configuration 40 LDR Limit Switch Direction 41 LST Program List 42 LPL Limit Switch Polarity 43 MLN Move to Negative Limit 44 MLP Move to Positive Limit 45 MOT Toggle Motor On/Off 46 MPL Motor Polarity 47 MSA Synchronous Move Absolute 48 MSR Synchronous Move Relative 49 MVA Move Absolute 50 MVR Move Relative 51 PGL Loop Program 52 PGM Begin Program Recording 53 PGS Run Program At Start-Up 54 PID Set Feedback Constants 1. Introduction 1.1 Product Description The MMC-100 is a high performance integrated piezo motor controller/driver designed to be used as a standalone single axis unit, or stacked as a compact multi-axis module. The MMC-100 is capable of driving a piezo motor with a resolution as fine as 1 nm in open loop (motor dependent). The closed loop resolution is dependent on the resolution of the encoder (typically 5 nm). 1. LED Error Indicator 1 a. Red An error has occurred 2. LED Addressing Indicator 2 a. Red Stage is Unaddressed b. Green Stage has an address and is ready 3. Encoder Input, Male D-Sub 9 Pin Connector 4. Motor/Axis Output, Female D-Sub 9-Pin Connector 5. Power Supply, +5VDC, Regulated 6. RS485 Intermodular Connector 7. USB Connector 8. I/O Connector 1-3 1.2 Features Integrated controller/driver for MICRONIX USA stick-slip piezo motors Compact, modular design allows for bench-top or standard 2U height rack mounting Configurable as a standalone unit or stackable up to 99 axes Open loop/closed loop operation Open loop resolution of less than 1 nm Closed loop resolution dependent on the encoder (typically 5 nm) A quad B encoder feedback USB interface (one interface for up to 99 axes) Windows GUI, and LabVIEW VI 1.3 Package Contents If product is damaged or there are missing components, contact MICRONIX USA immediately. Do not discard product packaging in case of return shipment. Package Contents: MMC-100 Controller Quick Start Guide Supplemental CD Power Supply USB Cable 2. Quick Start Guide 2.1 Quick Start Guide Overview The following Quick Start Guide is intended to provide a basic set-up of the MMC-100 in the least amount of time. The following paragraphs will provide a walkthrough of the steps needed to set-up the controller and verify that the system is working correctly. 1. Install Drivers a. To ensure correct communication between the module and PC, install the proper drivers onto the communicating computer prior to connecting the MMC-100. b. The drivers may be found on the supplemental installation CD or can be downloaded from: 2. Connect Motion Devices a. A single MMC-100 controller is capable of driving one piezo motor in either open or closed loop. b. Connect the male D-sub 9-pin piezo motor cable to the Motor/Axis Input (as shown in the Product Description). c. If applicable, connect the female D-sub 9-pin closed loop feedback cable to the Encoder Input. 2-4 3. Connect Module/Stack to PC a. Use the supplied Mini USB to USB cable to connect the MMC-100 controller to the communicating PC. Only one USB cable is required per module/stack. 4. Power Up Controller a. Connect the controller to a 5V, regulated power supply with the correct amperage rating. b. Each MMC-100 requires 1A. If powering a stack; add up the amperage requirements of the individual controllers to determine the necessary power supply for the stack. 5. Check COM Port a. It is necessary to note the COM Port assigned to the MMC-100 when connecting to a PC. i. In Windows Vista Open the Device Manager: 1 Windows Logo (in the bottom left corner by default) 2 Control Panel 3 Device Manager ii. In Window XP Open Device Manager: 1 Start (in the bottom left corner by default) 2 Control Panel 3 System 4 select the Hardware tab 5 Click the device manager button iii. In Windows 7 Open the Device Manager: b. After powering up the controller (Step 4), note the USB Serial Port assigned. See the figure below showing a snapshot of the Device Manager window: Connected MMC-100 is assigned to COM4 6. Continue to Quick Start MMC-100 Motion Controller Platform a. The following section will help you get running with the MMC-100 Motion Controller Platform program. 2-5 2.2 Quick Start MMC-100 Motion Controller Platform The following Quick Start Guide is intended to provide a basic set-up of the MMC-100 MCP program. The following paragraphs will provide a walkthrough of the steps needed to install the program and verify that the system is working correctly. 1. Pre-Installation a. This guide assumes you have already run through the previous Quick Start guide and that the controller is on and connected to a Com port on your computer. Please verify that this is true. b. You will need the.net Framework 4.0. If you are unsure if you have the.net Framework 4.0 follow these steps. i. Open the start menu (windows icon if using Vista). ii. Open the Control Panel iii. Open Add or Remove Programs ( Programs and Features if using Vista) iv. Scroll through the list and find Microsoft.NET Framework If it is 4.0 skip to step-2. Otherwise continue with step c. c. To install the.net Framework 4.0 you will need a connection to the internet. i. Navigate to this site: 1-5ff b0e5-b386f32c0992&displaylang=en ii. Download and run the web installer iii. At the conclusion of this install you will be asked to restart your computer. Do this now. 2. Install a. To install the MMC-100 motion controller platform double click the setup.exe file on the supplied CD and follow the on screen instructions. 3. Run a. The installer placed a start menu short-cut to the MMC-100 MCP program. Make sure that your MMC-100 is connected to your computer, powered on, and connected to a valid COM port as discussed in section 2.1 b. Open the start menu (or windows icon for vista) c. Open the all programs tab d. Open the MICRONIX USA folder e. Run the MMC-100 MCP program 2-6 2.3 Using the MMC-100 Motion Controller Platform In the Quick Start Guide Overview you connected your MMC-100 to your computer. In the Quick Start MMC-100 Motion Controller Platform you installed and ran the MMC-100 MCP software. This section will describe the capabilities of the MMC-100 MCP program and give you a brief understanding of how to use it. 1. Port Control The picture below depicts the program when the Port has been opened a. Select the COM port associated with your MMC-100 as discussed in section 2.1, step 5. b. Click the Open Port button to connect to the MMC-100 i. This button should change giving you the option to close the port 2-7 c. The Port field should change to indicate the Port is Open and the terminal should populate with some information about the system and then turn blank. You are now ready to start moving a stage with your MMC-100. For more information about this program see the MMC-100 MCP program guide. 2. More information more information about the MMC-100 MCP can be found in the MMC- 100 MCP program guide. 3. Technical Information 3.1 MMC-100 Specifications Description Axes 1 (stackable up to 99 axes) Motor Type Stick-slip piezo motors Interface USB 2.0 compliant s ASCII s Trajectory Mode Trapezoidal velocity profile Servo Clock 10 khz Trajectory Update 1 khz Power Supply Regulated 5V DC (1A per module/axis*) Enclosure Dimensions 145 x 85 x 25 Software Interface MMC-100 MCP, LabVIEW VI s *A single power supply may be used per stack. Each module/axis requires 1A, therefore add up Individual module amperages to determine the power supply amperage requirement. 3.2 Serial Port Setup If the MMC-100 is not automatically recognized by your computer, you will have to first install the FTDI interface drivers before communicating with the controller. The drivers are supplied on the supplemental CD under the folder MMC-100 Drivers or can be downloaded from: Below are the virtual RS-232 configuration settings necessary for correct communication setup: Software Setting Data Bits 8 Stop Bits 1 Parity No Handshake No Baud rate 3.3 RJ11 RS485 Bus The RS485 Intermodular RJ11 connector connects directly to the same Serial bus as the FTDI interface above. The RS485 line needs a terminating resistor of 22kΩ or higher. This connector can be used to communicate with the MMC-100 in the place of the USB connection. For more on the RS-485 Intermodular RJ11 connector see the Appendix Operation 4.1 Axis Addressing Auto Addressing is the default method of assigning axis numbers on start up. Controllers are automatically assigned axis numbers on every power up, starting with axis 1 and increasing consecutively until reaching axis 99. Manual axis numbers may be assigned to a unique controller using the ANR. This overrides Auto Addressing, as the controller stores the axis number until reassigned or reset back to Auto Addressing. In the case of having a mix of manually assigned and auto addressed controllers, the Auto Addressed axis numbers increase consecutively after each manually assigned axis in the stack. For example; in a stack of 5 controllers with the third controller manually assigned to axis 10, the axis numbers will read: 1, 2, 10, 11, 12 If two controllers are accidentally assigned the same axis number, use a global command to reset all controllers back to Auto Addressing. The figures shown below illustrate axis numbers for a 5 module stack with Auto Addressing assigned. Axis 1 is noted and shown in grey. Horizontal stack (rear view) With power inputs along bottom, Axis 1 is on the far left. Vertical stack (rear view) With power inputs along left hand side, Axis 1 is on the very top. 4-9 4.2 Feedback Control The MMC-100 has four different movement modes of operation. When executing a move command, the controller will drive a stage differently when set to different modes. The FBK command is used to switch between these modes. The first mode (nfbk0) is a traditional Open Loop. It follows a standard trapezoidal velocity characteristic. It bases the transition between acceleration, constant velocity and deceleration on the resolution settings (nrezx) or the distance it travels in one pulse. This is entirely theoretical and does not guarantee a set trajectory or end point. The second mode (nfbk1) is also open loop, however this one does not follow the standard trapezoidal velocity set by the user. Instead, it rounds off the velocity to an even number of servo clocks per transition. This causes the motor to sound much cleaner than the previous mode. However it does sacrifice accuracy. The third mode (nfbk2) is a version of closed loop; meaning it takes position data from an attached encoder and uses it to ensure that it stops at the desired position. In this mode the controller runs in the second open loop mode (nfbk1) until it reaches the deceleration point. At this point it constantly reads from encoder and corrects its position to arrive at the correct position. This, unlike the first two modes can guarantee position within the specified deadband (DBN ). However, this mode cannot guarantee a known trajectory. The fourth mode (nfbk3) is a more traditional closed loop. The controller will constantly try to achieve an ideal trapezoidal velocity characteristic. Like the previous mode it too can guarantee position final within the specified deadband. 4.3 HOM, MLN, and MLP The HOM, MLN and MLP commands all require the attached stage to have an encoder. The HOM command will move negative direction by default. This can be changed using the HCG command. If the stage is above the index, it will move until it reaches the index then move a predetermined distance out of the index in the negative direction. The stage will then travel in the positive direction at a slower speed stopping at the edge of the index. If the stage is below the index it will move until it reaches a hard limit or the maximum travel. It then reverses direction and proceeds until it reaches the index. It will then travel a predetermined distance out of the index in the negative direction and finally travel toward the index at a slower velocity finally resting on the edge of the index. The HOM command will always home to the negative side of the limit. 4-10 5. s 5.1 Line Syntax There are three components to every command prompt. The first is the Axis Number which designates which controller, or axis, will receive the command. If the Axis Number is 0, then the command will be sent globally to all connected controllers. It is possible to connect up to 99 controllers; therefore the Axis Number will be an integer value from 0 through 99. The second component is the, which is always comprised of three letters. Each command is outlined, along with its corresponding parameters, in the Description section 5.9 of this manual. The third and final component is the. This portion is command dependent, meaning that the parameter value will change depending on the specific requirements of the. Where applicable, a question mark (?) may be substituted to initiate a read operation which will return information regarding the particular command. There may be up to three separate parameters for a particular command, each parameter value is separated by a comma (,). All white space (blank spaces) are ignored in the command format. The following are examples of equivalent commands: 4TRM13,45 4 TRM 13, Line Format s are first executed in the order that they are input, then line by line. This means that two commands on the same line are executed significantly closer to each other than if they were on two separate lines. Each command is separated by a semicolon (;) and every command line ends in a terminator (EX: carriage return). The following is an example of a command line entry: 1MVR16;3MVR12 Axis 1, Move 16 mm [16 degrees]; Axis 3, Move 12 mm [12 degrees] Using multiple commands on the same command line allows for synchronization of different commands to different axes. Up to 8 commands are allowed per command line. 5-11 Only one read operation is allowed per line. The controller will not send information unless requested to do so by a read operation. 5.3 Global s Some commands have the option of being called globally. This means that you can send the same command to all available axes. To do this, replace the axis number of a global command with a 0. For example; 0ACC 50 will set the acceleration of all available axes to 50 mm/s 2 [degrees/s 2 ]. 5.4 Multiple s When dealing with a command that has multiple parameters, it is possible to change a single parameter by omitting numbers for the parameters that will remain unchanged. For example; 4PID,,3 will only change the third parameter to a new value, Synchronous Move It is possible to execute multiple motions at the same time by setting up and executing a synchronous move. To set up a synchronous move, use the MSA and MSR commands. These commands can be written on the same command line (up to 8 allowed) or on separate lines followed by a line terminator. To execute the move, use the RUN command on the proceeding command line followed by a line terminator. For example; 1MSA4;2MSA4;3MSA4 Axis 1, Move 4mm; Axis 2, Move 4mm; Axis 3 Move 4mm 0RUN Run Synchronous Move Or 1MSA4 Axis 1, Move 4mm 2MSA4 Axis 2, Move 4mm 3MSA4 Axis 3 Move 4mm 0RUN Run Synchronous Move 5.6 Internal Programming A program may be used to save time when repeatedly using a sequence of commands. Each controller or axis must be programmed individually; however, multiple controllers may execute the same program at the same time. A list of available program numbers may be viewed with the PGM? command. Existing program numbers cannot be overridden unless previously erased using the ERA command. To record a program sequence, enter the PGM command on a unique line followed by a line terminator. End a program sequence by entering the END command on a unique line followed by a line terminator. When you want to execute this program, use the EXC command. See the Summary of s page for a list of program compatible commands and more information about the PGM, END and EXC commands. 5-12 5.7 Terminating Characters When communicating with the controller, it is necessary to note the terminating characters involved in transmitting and receiving data. To send data to the controller, enter the desired commands in the command line followed by the new line and carriage return terminating characters [\n\r], or just the carriage return terminating character [\r]. When receiving, each line of data will be followed by the new line terminating character [\n] and the final line will end in the new line and carriage return terminating characters [\n\r]. The ASCII value for new line [\n] is 0X0A and for carriage return [\r] is 0X0D. The following is an example of data transmission: 1VEL0.005 \n\r Axis 1, Set velocity to.005 mm/s [degrees/s 2 ] [New line, Carriage Return] 5-13 5.8 Summary of s Description During Motion Real-time Program Global Page ACC Acceleration 16 AMX Maximum Allowable Acceleration 17 ANR Set Axis Number 18 CER Clear Errors 19 DAT Dump Trace Data 20 DBD Closed Loop Deadband 21 DEC Deceleration 22 DEF Restore Factory Defaults 23 EAD Set Analog or Digital Encoder 24 ENC Select Encoder Resolution 25 END End Program Recording 26 EPL Encoder Polarity 27 ERA Erase Program 28 ERR Read and Clear Errors 29 EST Emergency Stop 30 EXC Execute Program 31 FBK Set Open or Closed Loop Mode 32 FMR Upload Firmware 33 HCG Home Configuration 34 HOM Home 35 IOD IO Pin Definition 36 IOF IO Function 37 JAC Jog Acceleration and Deceleration 38 JOG Jog Mode 39 LDR Limit Switch Direction 40 LCG Limit Configuration 41 LST Program List 42 LPL Limit Switch Polarity 43 MLN Move to Negative Limit 44 MLP Move to Positive Limit 45 MOT Toggle Motor On/Off 46 MPL Motor Polarity 47 MSA Synchronous Move Absolute 48 MSR Synchronous Move Relative 49 MVA Move Absolute 50 MVR Move Relative 51 PGL Loop Program 52 PGM Begin Program Recording Continued Description During Real-time Program Global Motion PGS Run Program At Start-Up 54 PID Set Feedback Constants 55 POS Position 56 REZ Set Resolution 57 RST Perform Soft Reset 58 RUN Start Synchronous move 59 SAV Save Axis Settings 60 STA Status Byte 61 STP Stop Motion 62 SVP Save Startup Position 63 SYN Sync 64 TLN Negative Soft
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