FCR100 - Newport Corporation
Contents
1. OO 50 Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed Execution not allowed in NOT REFERENCED state Execution not allowed in DISABLE state Execution not allowed in READY state Execution not allowed in HOMING state Execution not allowed in MOVING state Set Get HOME search type Execute HOME search Set HOME search time out Set controller 1 HOME search velocity to 50 units s QO Newport Experience Solution 30 FCR100 Intelligent Stepper Motor Rotation Stage Execute HOME search Usage Not Ref Config Disable Ready Motion Syntax xxOR Parameters Description int Controller address Range 1103231 Units xx None Defaults xx Missing Error Out ofrange Error B nn Missing Error Out ofrange Error Description This command starts the execution of the HOME search according to the algorithm defined by the HT command When in NOT REFERENCED state for instance after system start any positioner must first be homed with the OR command before further motion commands can be executed The OR command is accepted only in NOT REFERENCED state and only when no hardware error 15 present except end of runs Refer to the TS command to get more information on the possible hardware errors Errors A Unknown message code or floating2. EDH0344En1020 10 15 Example Not Ref o xx xx int XX XX xx Missing Out of range TH Get set point position Config Disable Ready Motion Controller address 1 to 31 None Error B Error B The TH command returns the value of the set point or theoretical position This is the position where the positioner should be In MOVING state the set point position changes according to the calculation of the motion profiler In READY state the set point position is equal to the target position A B D ITH 1THO Unknown message code or floating point controller address Controller address not correct Execution not allowed Get current position Get set point position of controller 1 Controller returns set point position 0 units QS Newport Experience Solutions 46 FCR100 Intelligent Stepper Motor Rotation Stage Usage Syntax Parameters Description Range Units Defaults Description Errors Rel Commands Example QW Newport Experiences Solutions Not Ref xxTP xx int XX XX xx Missing Out of range TP Get current position Config Disable Ready Motion Controller address 1 to 31 None Error B Error B The TP command returns the value of the current position This is the position where the positioner actually is In MOVING state this value a
3. Not Ref Corresponds to the NOT REFERENCED state for details see state diagram section 4 1 Config Corresponds to the CONFIGURATION state Disable Corresponds to the DISABLE state Ready Corresponds to the READY state Motion Corresponds to the HOMING and MOVING states O Changes configuration parameters Those changes will be stored in the controller s memory with the PW1 command and remain available after switching off the controller L Changes working parameters only Those changes will get lost when switching off the controller e Accepted command Command is forbidden in this state will memorize an error Grey line Command passed without preceding controller number applies to all controllers e g MMO disables all controllers QW Newport Experiences Solutions 21 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage Usage Syntax Parameters Description Range Units Defaults Description Returns Errors Set Get acceleration Not Ref Config Disable Ready Motion E xxACnn or xx 10 Controller address nn float Acceleration value Xx 110321 nn gt 10 and lt 10 Xx None nn Preset units s xx Missing Error B Out ofrange Error B nn Missing Error C Out ofrange Error C In CONFIGURATION state this command sets the maximum acceleration value which can then be saved in the contro
4. D 1 1 it Driver fault Driver overheating Homing time out RMS current lim Positive end of run Negative end of run gt O z E 5 O e e Z Newport reserved MZ status NOTE Bit C1 MZ status is not an error It is reserved for Newport technicians to diagnose the mechanical zero sensor status during customer support and servicing Examples e Error map 0000 No errors Error map 0002 Positive end of run Error map 0048 Homing time out RMS current limit gt Newport EDH0344En1020 10 15 48 sn FCR100 Intelligent Stepper Motor Rotation Stage QW Newport Experiences Solutions Errors Rel Commands Example Controller states ef 0A NOT REFERENCED from RESET 0B NOT REFERENCED from HOMING 0 NOT REFERENCED from CONFIGURATION 00 NOT REFERENCED from DISABLE 0E NOT REFERENCED from READY NOT REFERENCED from MOVING 10 NOT REFERENCED NO PARAMETERS IN MEMORY 14 CONFIGURATION 1E HOMING 28 MOVING 32 READY from HOMING 33 READY from MOVING 34 READY from DISABLE DISABLE from READY 3D DISABLE from MOVING NOTE The positioner error gets updated periodically approx every 1 ms The TS command reads the positioner error and clears it at the same time same as what the command TE does with command errors So when launching the TS command
5. Execution not allowed in HOMING state M Execution not allowed in MOVING state Rel Commands PA PR Move absolute relative TH Get set point position TP Get current position Example ISE2 2 Prepare controller 1 to move to absolute position 2 2 units 2SE3 3 Prepare controller 2 to move to absolute position 3 3 units SE Allcontrollers start their programmed move if any EDH0344En1020 10 15 40 ME FCR100 Intelligent Stepper Motor Rotation Stage SL Set Get negative software limit Usage Not Ref Config Disable Ready Motion L Syntax xxSLnn or xxSL Parameters Description 11 Controller address nn float Negative software limit Range 1103231 nn gt 10 and lt 0 Units xx None nn Preset units Defaults Missing Error Out ofrange Error B nn Missing Error Outofrange Error C Description In CONFIGURATION state this command sets the negative software limit which can then be saved in the controller s non volatile memory using the PW command It is also the default value that will be used unless a different value 15 set in DISABLE or READY state In DISABLE or READY state this command allows setting a new working parameter for the negative software limit It must be lower than or equal to the set point position This value 15 not saved in the controller s memory and will be lost after reboot The software limits are used to r
6. FCR100 Intelligent Stepper Motor Rotation Stage Usage Syntax Parameters Description Range Units Defaults Description Errors Example QW Newport Experiences Solutions Not Ref xx ST int XX XX xx Missing Out of range ST Stop motion Config Disable Ready Motion E Controller address 0 to 31 None Change to 0 will forward this command to all controllers Error B The ST command is a safety feature It stops a move in progress by decelerating the positioner immediately with the acceleration defined by the AC command until it stops The xxST command with a preceding controller address stops a move in progress on controller xx The ST command without any preceding controller address stops the moves on ALL controllers Ae quod gt ST Unknown message code or floating point controller address Controller address not correct Execution not allowed Execution not allowed in NOT REFERENCED state Execution not allowed in CONFIGURATION state Execution not allowed in DISABLE state Execution not allowed in READY state Stop moves on all controllers 43 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage TB Get command error string Usage Not Ref Config Disable Ready Motion Syntax xxTBnn Parameters Description int Controller address Range 1103231 nn char
7. Not Ref Config Disable Ready Motion Syntax xxJRnn or xxJR Parameters Description int Controller address nn float Jerk time value Range 1103231 nn gt 0 001 and lt 10 Units xx None nn Seconds Defaults Missing Error Out ofrange Error nn Missing Error C Out ofrange Error C Description Jerk is the derivative of acceleration The jerk time defines the time to reach the needed acceleration A longer jerk time reduces stress to the mechanics and smoothes motion In CONFIGURATION state this command sets the value for the maximum jerk time which can then be saved in the controller s non volatile memory using the PW command It is also the default value that will be used unless a different value is set in DISABLE or READY state In DISABLE or READY state this command allows setting a new working parameter for the maximum Jerk time This value is not saved in the controller s memory and will be lost after reboot Returns Ifthe sign is used instead of nn this command returns the current programmed value for the state in which the controller is either CONFIGURATION or DISABLE READY Errors A Unknown message code or floating point controller address B Controller address not correct C Parameter missing or out of range D Execution impossible axis in movement H Execution not allowed in NOT REFERENCED state L Execution not a
8. Support Tel 800 222 6440 e mail tech newport com Service RMAs amp Returns Tel 800 222 6440 e mail service newport com Europe MICRO CONTROLE Spectra Physics S A S 9 rue du Bois Sauvage 91055 vry CEDEX France Sales Tel 33 0 1 60 91 68 68 e mail france newport com Technical Support e mail tech _europe newport com Service amp Returns Tel 33 0 2 38 40 51 55
9. The ID command sets the stage identifier in the form of a character string Any printable character can be used spaces are admissible only if the string 15 enclosed in quotes like this If not spaces and tabs are ignored In CONFIGURATION state this command sets a new value for the stage identifier which can then be saved in the device s non volatile memory with the PW command It is also the default value that will be used unless a different value 15 set in DISABLE or READY state In DISABLE or READY state this command allows setting a new working parameter for the stage identifier This value is not saved in the controller s memory and will be lost after reboot Returns Ifthe sign is used instead of nn this command returns the current identifier string for the state in which the controller 1s either CONFIGURATION or DISABLE READY Errors Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range A B C D Execution not allowed H Execution not allowed in NOT REFERENCED state l Execution not allowed in HOMING state M Execution not allowed in MOVING state Example 110 Get stage identifier for controller 1 URSIO0CC Set controller 1 s stage identifier to URS100CC QW Newport Experiences Solutions 27 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage Usage
10. for all stages GO Newport Experience EDH0344En1020 10 15 16 FCR100 Intelligent Stepper Motor Rotation Stage 4 0 Programming QW Newport Experiences Solutions 4 1 State Diagram For a safe and consistent operation the FC series stage uses 6 different operational states Not referenced Configuration Homing Ready Disable and Moving In each state only specific commands are accepted by the FC series stage Therefore it is important to understand the state diagram below and to know which commands and actions cause transitions between the different states Also see section 4 4 for command state information RS RS Reset controller address to 1 SE Not Referenced SGamma PW1 Pwo OR Configuration Disable 2 MM1 Done PA PR EAD Actions in each state when End of Runs is encountered NOT REFERENCED No action CONFIGURATION No action HOMING Only check at end of HOMING and then change to NOT REFERENCED state MOVING Abort motion and then changes to NOT REFERENCED state READY Changes to NOT REFERENCED state DISABLE Changes to NOT REFERENCED state 17 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage EDH0344En1020 10 15 After connecting the FC series stage to a power source the stage is in the NOT REFERENCED state and must be initialized first When initialization 15 suc
11. it is important to process the TS feedback accordingly A Unknown message code or floating point controller address B Controller address not correct TE Get last command error ITS Get error and state of controller 1 178000004 Controller returns no errors and state is NOT REFERENCED from reset 49 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage Usage Syntax Parameters Description Range Units Defaults Description Returns Errors VA Set Get velocity Not Ref Config Disable Ready Motion xxVAnn or xx 10 Controller address nn float Velocity value Xx 11031 nn gt 10 and lt 10 XX None nn Preset units s xx Missing Error B Out ofrange Error B nn Missing Error Outofrange Error C In CONFIGURATION state this command sets the maximum i e cruise velocity value which can then be saved in the controller s non volatile memory using the PW command This should be the maximum velocity that can be applied to the mechanical system It is also the default velocity that will be used for all moves unless a lower value is set in DISABLE or READY state In DISABLE or READY state this command sets the velocity used for all subsequent moves Its value can be up to the programmed value set in the CONFIGURATION state This value is not saved in the controller s memory and will be lost after reboot
12. lt 1 67 A 2 159 Design Details Manual Adjustment Via 2 mm Allen wrench imprint at the end of the worm Screw Cable Cables and power supply sold separately NOTE This product complies with the RoHS directive Restriction of Hazardous Substances QW Newport Experiences Solutions 3 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage 2 1 4 Dimensions 31 1 97 4 HOLES M6 THD 8 lt 50 DEPTH 39 10 MODEL SHOWN FCR100 DIMENSIONS IN INCHES AND MILLIMETERS lt lt SQR 453 115 gt lt 3 46 88 01 97 5100993 5047 08 2 4 HOLES 9 31 7 8 4 HOLES M6 THD ON SOR 1 97 50 lt 1 77 C BORED 0 45 11 5 DEPTH 31 8 45 ON SOR 3 97 100 8 2 HOLES M6 THD SPACING 2 95 75 DEPTH 31 8 2 1 5 ND Newport Experience Solutions EDH0344En1020 10 15 4 FCR100 Intelligent Stepper Motor Rotation Stage 2 1 6 Assemblies Below are a few assembly examples with FC linear and rotation stages The FC series mounting interfaces use common hole patterns eliminating the need for adapter plates Call for compatibility with other Newport stages 2 FCL stages in XY configuration and one FCR100 rotation stage 2 FCL stages in XZ configuration with an EQ120 bracket ND Newport Experience Solutiom 5 EDH0344En1020 10 15 FCR100 Intelligent Steppe
13. 000 gt 10 and 10 None None 1 1000 of unit Error B Error B Error C Error C Error C Error C FRM For compatibility No effect Always 128 steps FRS This command sets the displacement length per full step in 1 1000 of unit If the sign 15 used instead of mm or nn this command returns the current programmed value Pt m ug FRSIO Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed Execution not allowed in NOT REFERENCED state Execution not allowed in DISABLE state Execution not allowed in READY state Execution not allowed in HOMING state Execution not allowed in MOVING state Set controller 1 full step value to 10 milli units 25 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage Usage Syntax Parameters Description Range Units Defaults Description Returns Errors Rel Commands Example EDH0344En1020 10 15 Not Ref HT Set Get HOME search type Config Disable Ready Motion O _ _ _ xxHTnn or xxHT xx int nn int nn XX nn xx Missing Out of range nn Missing Out of range Controller address Home search type identifier 1 to 31 1 use current position as 2 use MZ switch mechanical zero to detect HOME position 4 use EoR switch negative end of ran
14. Error code refer to TE command Units xx None Defaults xx Missing Error Out ofrange Error B nn Missing Returns explanation of current error as a literal string Out ofrange Error C Description The TB command returns a literal character string that explains the meaning of the error code nn see TE command for complete list Errors A Unknown message code or floating point controller address B Controller address not correct C Parameter missing or out of range D Execution not allowed Rel Commands Get last command error Example ITB Get explanation to error code 1TB No error Controller returns means no error GO Newport Experience Solutions EDH0344En1020 10 15 44 FCR100 Intelligent Stepper Motor Rotation Stage Usage Syntax Parameters Description Range Units Defaults Description Errors Rel Commands Example QW Newport Experience Solutions TE Get last command error Not Ref Config Disable Ready Motion xx TE xx 10 Controller address XX 11031 XX None xx Missing Error B Out ofrange Error The TE command returns the currently recorded error When a command 15 not executable or fails an error is recorded This error can be read with the TE command After the execution of a TE command the error buffer is erased and another TE command will return which means No error When a new
15. FCR100 Intelligent Stepper Motor Rotation Stage gt eh 0 C 1 Es w see ee BW FER 00 ADE IN FRANCE ND User s Manual Newport Experience Solutions Precision Motion Guaranteed FCR100 Intelligent Stepper Motor Rotation Stage Warranty CAUTION Please return equipment in the original or equivalent packing Newport will not be responsible for damage incurred from inadequate packaging if the original packaging is not used EDH0344En1020 10 15 Newport Corporation warrants this product to be free from defects in material and workmanship for a period of 1 year from the date of shipment If found to be defective during the warranty period the product will either be repaired or replaced at Newport s discretion To exercise this warranty write or call your local Newport representative or contact Newport headquarters in Irvine California You will be given prompt assistance and return instructions Send the instrument transportation prepaid to the indicated service facility Repairs will be made and the instrument returned transportation prepaid Repaired products are warranted for the balance of the original warranty period or at least 90 days Limitation of Warranty This warranty does not apply to defects resulting from modification or misuse of any product or part CAUTION Warranty does not apply to damages result
16. If the sign is used instead of nn this command returns the current value for the state in which the controller is either CONFIGURATION or DISABLE READY A Unknown message code or floating point controller address B Controller address not correct C Parameter missing or out of range D Execution not allowed H Execution not allowed in NOT REFERENCED state L Execution not allowed in HOMING state M Execution not allowed in MOVING state Rel Commands AC Set Get acceleration JR Set Get jerk time Example IVASO Set controller velocity to 50 units s gt Newport EDH0344En1020 10 15 50 ME FCR100 Intelligent Stepper Motor Rotation Stage VE Get controller revision information Usage Not Ref Config Disable Ready Motion Syntax xxVE Parameters Description 11 Controller address nn string Action Range xx 1103231 Units xx None Defaults xx Missing Error B Out ofrange Error B Description This command returns the controller s firmware revision information Errors A Unknown message code or floating point controller address B Controller address not correct Example IVE Getcontroller 1 revision information IVE FC family controller 2 0 0 Controller returns revision number QW Newport Experiences Solutions S1 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Ro
17. NING The Power supply cable must remain fully disconnected from electrical outlet when you plug the USB RS422 1 8 USB adaptor cable to the PC When completed assemble the cover back into integrated motor controller housing To start using the FCR100 refer to the FC series controller GUI manual 13 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage 3 3 Initialization and Homing In the Initialization and Configuration area the first button Initialize executes homing and changes the controller state from Not Referenced to Ready Once it is in the Ready state the Disable or Enable buttons change the controller state to Disabled or Ready hitialization and Configuration hitialize Save Pos Current Position 0 000000 0 Motion Configuration Values Velocity 20 00 Minimum end of run Acceleration 160 00 Maximum end of run Rename 1 FG family controller 1 1 0 Initialized WARNING The FCR home routine does not behave the same way as other Newport rotation stages Please read this section For the different controller states refer to section 1 3 of the FC Controller GUI Manual For further details of the Main tab of the GUI refer to section 3 2 of the FC Controller GUI Manual Due to the unique design of the FCR100 the home process 15 not the same based on the last position be
18. ON state Range xx 1103231 nn 1 Go from NOT REFERENCED state to CONFIGURATION state 0 Go from CONFIGURATION state to NOT REFERENCED state Units xx None nn None Defaults xx Missing Error Out ofrange Error B nn Missing Error Out ofrange Error C Description PWI1 changes the controller s state from NOT REFERENCED to CONFIGURATION In CONFIGURATION state all parameter settings are saved in the controller s memory upon exiting this state and remain available after switching off the controller In addition some settings are only possible in CONFIGURATION state e g set drive voltage set Backlash compensation etc PWO checks all stage parameters and if they are acceptable saves them in the flash memory of the controller After that it changes the controller s state from CONFIGURATION to NOT REFERENCED The execution of a PWO command may take up to 5 seconds During that time the controller will not respond to any other command Returns Ifthe sign is used instead of nn this command returns whether we are or not in the CONFIGURATION state Errors Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range A B D Execution not allowed J Execution not allowed in DISABLE state K Execution not allowed in READY state L Execution not allowed in HOMING state M Execution not allowe
19. S Reset controller s address Usage Not Ref Config Disable Ready Motion O O O O O Syntax xxRS or RS Parameters Description int Controller address Range 0 1031 Units None Defaults xx Missing Change to 0 will forward this command to all controllers Out ofrange Error B Description The RS command resets the controller s address to 1 This address needs to be different for each FC series when connected on a RS 485 communication network Returns Errors A Unknown message code or floating point controller address B Controller address not correct D Execution not allowed Rel Commands 8 Set Get controller s RS 485 address Example RS Reset all controllers addresses to 1 GO Newport EDH0344En1020 10 15 38 ME FCR100 Intelligent Stepper Motor Rotation Stage Usage Syntax Parameters Description Range Units Defaults Description Returns Errors Rel Commands Example QW Newport Experiences Solutions SA Set Get controller s RS422 address Not Ref Config Disable Ready Motion O _ _ _ xxSAnn or xxSA xx int nn int nn nn xx Missing Out of range nn Missing Out of range Current controller address New controller address a k a RS422 address 1 1 to 31 None None Error B Error B Error Error C The SA command sets the controller s RS422 address also k
20. ase the command name is followed by the value represented here as or to query the current value in that case the command name is followed by When querying a value the controller responds with the command it received followed by the queried value Examples 1VA10 sets the velocity of the controller 1 to 10 units second and sends nothing back 1VA sends back the reply 1VA10 which means controller 1 s velocity is 10 units second Not every command can be executed in all states of the FC series and some commands have different meaning in different states It is therefore important to understand the state diagram of the controller see section 4 1 QS Newport Experience Solutions 20 FCR100 Intelligent Stepper Motor Rotation Stage JR MM Enter Leave DISABLE state Set Get HOME search velocity Execute HOME search Set Get HOME search time out M 0101010010 Ll Move absolute R E Move relative T Get estimated duration of a relative move PW Enter Leave CONFIGURATION state R Reset controller S e SR Set Get positive software limit TE Get last command error TS Get positioner error and controller state ZT e Get all axis parameters P P ee Ol O eee e e e eee O L 0 0 eee
21. ation Stage 1 0 Introduction This manual provides operating instructions for the FCR100 intelligent stepper motor rotation stage that you have purchased The FCR100 is a precision rotation stage with an integrated stepper motor controller The stage can be easily controlled from a PC using a downloadable graphical user interface GUI Communication with the FCR100 is achieved via an RS 422 serial link A USB to RS422 adaptor can be used requires Windows XP or Windows 7 operating system While the GUI enables basic motion advanced application programs can be developed via an ASCII command interface and a set of two letter mnemonic commands FCR100 rotation stage Experience Solution EDH0344En1020 10 15 1 FCR100 Intelligent Stepper Motor Rotation Stage 2 0 System Overview 2 1 General Description The FCR100 is a compact value engineered rotation stage with integrated stepper motor and controller By integrating the electronics into the stepper motor housing the Newport 1PP intelligent stepper motor simplifies the setup greatly eliminating the need for separate controller driver box or motor cables Building on the robust construction of crossed roller bearing and worm screw the FCR100 provides high motion sensitivity and position accuracy With the stepper motor directly attached to the worm screw position is attained by the number of commanded steps or micro steps without encoder feedback Up to 4 FC se
22. cessful the controller goes to the NOT REFERENCED state From the NOT REFERENCED state the controller can go to the CONFIGURATION state with the PW1 command In the CONFIGURATION state the FC series stage allows changing stage and motor configuration parameters The PWO command saves all changes to the controller s memory and returns the controller back to the NOT REFERENCED state In the READY state the motor is energized and ready to move During a move execution PA PR the controller is in the MOVING state and goes automatically back to the READY state when the move is completed When errors are generated in the READY state it changes the controller to the NOT REFERENCED state In the DISABLE state the motor is not energized and move commands cannot be accepted To go from the READY state to the DISABLE state and vice versa use the MM command To go from the READY state or the DISABLE state back to the NOT REFERENCED state for instance to make further parameter changes in the CONFIGURATION state you must reset the controller with the RS command CAUTION Changing stage and motor configuration parameters in the CONFIGURATION state is recommended only for knowledgeable person who understands the effect of the changes See PW command for details QW Newport Experience Solutions 18 FCR100 Intelligent Stepper Motor Rotation Stage 4 2 Command Syntax The FC series is command driven controller The general format
23. command error is generated before the previous command error is read the new command s error will overwrite the currently memorized error For a safe program flow it is recommended to always query the command error after each command execution A Unknown message code or floating point controller address B Controller address not correct D Execution not allowed TB Get command error string ITE Get last error memorized on controller 1 Controller returns ITE means no error List of errors and corresponding strings see TB command Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Command not allowed Home sequence already started Displacement out of limits Command not allowed in NOT REFERENCED state Command not allowed in CONFIGURATION state Command not allowed in DISABLE state Command not allowed in READY state Command not allowed in HOMING state Command not allowed in MOVING state Current position out of software limit Communication Time Out Error during EEPROM access Error during command execution aduz 45 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage Usage Syntax Parameters Description Range Units Defaults Description Errors Rel Commands
24. d in MOVING state Rel Commands MM Enter Leave DISABLE state Example IPWI Changes controller 1 to CONFIGURATION state NOTE The PW command is limited to 100 writes Unit failure due to excessive use of the PW command is not covered by the warranty The PW command is used to change the default configuration parameters that are stored in memory and not working parameters that may be changed on the fly GS Newport Experience Solutions EDH0344En1020 10 15 36 FCR100 Intelligent Stepper Motor Rotation Stage Usage Syntax Parameters Description Range Units Defaults Description Errors Example QW Newport Experiences Solutions Not Ref xxRS int xx Missing Out of range RS Reset controller Config Disable Ready Motion Controller address 1 to 31 None Error B Error B The RS command issues a hardware reset of the controller equivalent to a power cycle To go from DISABLE or READY state to CONFIGURATION state it is also needed to reset the controller with the RS command and then to change the controller s state with the PW1 command from NOT REFERENCED to CONFIGURATION Unknown message code or floating point controller address Controller address not correct Execution not allowed Reset controller 1 37 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage R
25. dicated for the mounting holes See section Dimensions Longer screws can damage the mechanics or cause a short circuit GO Newport Experience Solutions Vii EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage Cautions EDH0344En1020 10 15 CAUTION Do not place this stage in a hostile environment such as X Rays hard UV or in any vacuum environment CAUTION Do not place this stage in a location affected by dust oil fumes steam or high humidity This may cause an electric shock CAUTION Do not leave this stage in places subject to extremely high temperatures or low temperatures This may cause an electric shock Operating temperature 10 to 35 C Storage temperature 10 to 40 C in its original packaging CAUTION Do not move this stage if its motor power is on Make sure that cables are disconnected before moving the stage Failure to do so may damage the cable and cause an electrical shock CAUTION Be careful that the stage is not bumped when it is being carried This may cause it to malfunction CAUTION When handling this stage always unplug the equipment from the power source for safety CAUTION Contact your Newport service facility to request cleaning and specification control every year GS Newport Experience Solutions viii FCR100 Intelligent Stepper Motor Rotation Stage FCR100 Intelligent Stepper Motor Rot
26. e with the predefined acceleration and velocity to a new absolute position nn units away from the current absolute position The PR command gets only accepted in READY state AND when the distance of the positioner to the software limit in the same direction 15 longer than the commanded displacement The controller always rounds the new target position to the closest micro step position Returns Ifthe sign is used instead of nn this command returns the target absolute position value Errors gt Rel Commands PA Example EDH0344En1020 10 15 IPR2 2 Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed Displacement out of limits Execution not allowed in NOT REFERENCED state Execution not allowed in CONFIGURATION state Execution not allowed in DISABLE state Execution not allowed in HOMING state Execution not allowed in MOVING state Move absolute Get motion time for a relative move Get set point position Get current position Move positioner on controller 1 to a new position 2 2 units away from the current position QO Newport Experience Solutions 34 FCR100 Intelligent Stepper Motor Rotation Stage Usage Syntax Parameters Description Range Units Defaults Description Errors Rel Commands Example QW Newport Experiences Soluti
27. eclares that the machinery Description FCR100 e Function Intelligent Stepper Motor Rotation Stage e Models FCR100 the technical file of which was compiled by Mr Dominique DEVIDAL Quality Director MICRO CONTROLE Spectra Physics Zone Industrielle B P 29 F 45340 Beaune La Rolande France complies with all the relevant provisions of the Directive 2006 42 EC on machinery complies with all the relevant provisions of the Directive 2014 30 EU relating to electro magnetic compatibility was designed and built in accordance with the following harmonised standards NF EN 61326 1 2013 Electrical equipment for measurement control and laboratory use EMC requirements Part 1 General requirements NF EN 55011 2010 A1 2011 Class A was designed and built in accordance with the following other standards NF EN 61000 4 2 NF EN 61000 4 3 NF EN 61000 4 4 NF EN 61000 4 5 NF EN 61000 4 6 ORIGINAL DECLARATION Done in Beaune La Rolande on 26 June 2015 Dominique DEVIDAL Quality Director EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage Definitions and Symbols The following terms and symbols are used in this documentation and also appear on the product where safety related issues occur General Warning or Caution The exclamation symbol may appear in warning and caution tables in this document This symbol designates an area where personal injury or damage t
28. ee M ME 3 I T Yin OG E EE 4 NM esac ce ges ee Gass an S EAE N SS sss e asss 4 DNs ASSOMU ROT 5 2 1 7 FC PS40 Power 2 6 2 6 USB R5422 1 8 USB Adapter uu ee ee e easet 6 2 1 9 Daisy Chain Communication Cable 6 5 9 3 ONS RACK OU a a ae E 7 Dd TAT ACCES Mmm 8 PAP NMMNE RER 8 222 Meclhunical Specricatiols ASANA 9 2 2 3 Load Characteristics and SHLIM SS nd terme exp be 9 2 3 System Environmental Specifications 9 24 Connector Identification uo U Lun L a some 10 225 Communication SOLUEIBS 11 Sarte Re 12 3 1 Mounting and Initial Set D ce Rann 12 COn m 12 3 3 Initialization and Homing RRRRR RLRLR 14 D CAS D D eee eee eee 15 3 5 Multi Stage Configuration 16 AN eiu DS ss Tm 17 BA MS SAS 17 pP 19 QW Newport Experience Solutions iii EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage 4 3 Com
29. estrict the travel range of a positioner For FC series it is not possible to disable software limits For an almost infinite motion for instance with a FCR100 stage set the lowest possible value which is 999999930400 Returns Ifthe sign is used instead of nn this command returns the current programmed value Errors Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed in NOT REFERENCED state Execution not allowed in HOMING state A B C D Execution not allowed H L M Execution not allowed in MOVING state Rel Commands SR Set positive software limit Example 151 100 Set controller 1 negative software limit to 100 units NOTE For FCR100 the maximum allowed values for software limits are 2 x 1014 QW Newport Experiences Solutions 41 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage SR Set Get positive software limit Usage Not Ref Config Disable Ready Motion E L L Syntax xxSRnn or xxSR Parameters Description 11 Controller address nn float Positive software limit Range 1103231 nn gt 0and lt 10 Units xx None nn Preset units Defaults Missing Error Out ofrange Error B nn Missing Error Outofrange Error C Description In CONFIGURATION state this comma
30. fore the homing routine When the last position prior to homing 15 between 23 and 180 the stage will move directly towards the origin For example at 22 the stage will home in the positive direction CW straight to 0 If the stage is at 125 the stage will home in the negative direction CCW straight to 0 In both cases the stage will not cross the negative software limit However when the last position prior to homing 15 anywhere from 180 to 23 homing will move in the negative direction CCW and it will cross the negative software limit until it reaches the origin at 0 Note the actual range might be slightly different from 180 23 due to the mounting tolerance of origin switch WARNING In cases where interference or collision is an issue beyond the 23 software limit make sure that the last position of the FCR100 stage before homing is between 23 and 180 EDH0344En1020 10 15 14 bostes FCR100 Intelligent Stepper Motor Rotation Stage 3 4 Daisy Chaining Up to 4 FC series controllers can be networked through the internal RS422 communications link Before daisy chaining the controller address of each stage must be set separately via the USB and the GUI The FC controller that will be directly connected to the PC must have its controller address set to 1 and all subsequent stages must have a different controller address set between 2 and 4 Refer to the GUI manual or command in
31. ge to detect HOME position None None Error B Error B Error C Error C This command sets the type of HOME search used with the OR command NOTE The homing set on the positive end of run and hysteresis compensation are not compatible Any attempt to use both features together will make the stage fail If the sign 15 used instead of nn this command returns the current programmed value ZroACH OO m gt IHTI Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed Execution not allowed in NOT REFERENCED state Execution not allowed in DISABLE state Execution not allowed in READY state Execution not allowed in HOMING state Execution not allowed in MOVING state Set Get HOME search velocity Execute HOME search Set HOME search time out Set controller 1 HOME sequence to use current position QS Newport Experience Solutions 26 FCR100 Intelligent Stepper Motor Rotation Stage ID Set Get stage identifier Usage Not Ref Config Disable Ready Motion Syntax xxIDnn or xxID Parameters Description xx int Controller address nn string Stage identifier string Range 1103231 nn 1to31 ASCII characters Units xx None nn None Defaults xx Missing Error Out ofrange Error B nn Missing Error Outofrange Error C Description
32. gure Execute simultaneous started move 40 SL Set Get negative software limit 4 SR Set Get positive software limit 42 vi MEE OOO NN tcm 43 Get command error string 44 TE Get last command error 45 Get set point position 46 DOSTHO 47 TS Get positioner error and controller 48 VA Set Get velocity 50 VE Get controller revision information 51 ZT Get all configuration parameters 52 S0 MIMONI CORP EP PRE EET 53 MEE Iu TET 53 A MEM pir nana u Cc 53 sS fa 6 ROD 01 54 S RIE 55 Experience Solutions EDH0344En1020 10 15 iv FCR100 Intelligent Stepper Motor Rotation Stage EC Declaration of Conformity SP Coe PSO SLIP SLI SOI SISO lt gt 100 EC Declaration of Conformity following Annex II 1A of Directive 2006 42 EC on machinery The manufacturer MICRO CONTROLE Spectra Physics 9 rue du bois sauvage F 91055 Evry FRANCE Hereby d
33. h command must be separated from the next one by a carriage return or a line feed In case any error occurs the reported error will be recorded and can be checked using the TE command Please refer to the command set in section 4 4 for details 4 3 Command Execution Time The FC series controller interprets commands continuously as they are received The typical execution time for a tell position command nTP is about 10 ms Here command execution time means the between sending a command and receiving an answer It is important to note that a move command that may lasts for several seconds will not suspend the controller from further command execution So for an efficient process flow with many move commands it is recommended to use the PT command get time for a relative move and to query the controller status TS command or the current position TP command before any further motion command is sent QW Newport Experiences Solutions 19 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage EDH0344En1020 10 15 4 4 Command Set This section describes the supported two letter ASCII commands used to configure and operate the FC series The general command format 15 Command format nn Optional or required controller address AA Command name xx Optional or required value or to query current value Most commands can be used to set a value in that c
34. h value Range 1103231 nn gt 0and lt 10 Units xx None nn Preset units Defaults Missing Error Out ofrange Error B nn Missing Error Out ofrange Error C Description The BA command sets the backlash compensation value This is the value that the controller moves the motor in addition to the commanded distance with any move that reverses the direction of motion without changing the current position value TP command The BA command helps compensating for repeatable mechanical defects that appear when reversing the direction of motion for instance mechanical wear The value 0 disables this function This feature can be only used when the hysteresis compensation BH is disabled When a value different from 0 is set the travel range of the stage is decreased by the same amount Returns Ifthe sign is used instead of nn this command returns the current programmed value Errors A Unknown message code or floating point controller address B Controller address not correct C Parameter missing or out of range D Execution not allowed H Execution not allowed in NOT REFERENCED state J Execution not allowed in DISABLE state K Execution not allowed in READY state L Execution not allowed in HOMING state M Execution not allowed in MOVING state Rel Commands Set hysteresis compensation Example 1BA0 005 controller 1 backlash compensation
35. ing from e Incorrect usage Driven load greater than maximum specified load Stage speed higher than specified Improper grounding Connectors must be properly secured When the load on the stage represents an electrical risk it must be connected to ground Excessive or improper cantilever loads e Modification of the stage any part thereof This warranty 15 in lieu of all other warranties expressed or implied including any implied warranty of merchantability or fitness for a particular use Newport Corporation shall not be liable for any indirect special or consequential damages No part of this manual may be reproduced or copied without the prior written approval of Newport Corporation This manual has been provided for information only and product specifications are subject to change without notice Any changes will be reflected in future printings QS Newport ve Experience Solutions FCR100 Intelligent Stepper Motor Rotation Stage Table of Contents A are ii EC Declaration ol V DS PIONS and den eee EER vi E vil GO ICT UU TS Vill IF IMEEM M 1 PEINE dux CE VU Gm 2 2M NEEC I CM Bst gio OR 2 PAR COR Ec 2 2 12 C uuu ll saskakasaquanakakaqukqaasahusphaykaqkakasquy 3 2a DE cnt eee eee ee ne eee ee nee e
36. ller s non volatile memory using the PW command This is the maximum acceleration that can be applied to the mechanical system It is also the default acceleration that will be used for all moves unless a lower value is set in DISABLE or READY state In DISABLE or READY state this command sets the acceleration used for all subsequent moves Its value can be up to the programmed value in CONFIGURATION state This value is not saved in the controller s memory and will be lost after reboot If the sign is used instead of nn this command returns the current value for the state in which the controller is either CONFIGURATION DISABLE READY A Unknown message code or floating point controller address B Controller address not correct C Parameter missing or out of range D Execution not allowed H Execution not allowed in NOT REFERENCED state L Execution not allowed in HOMING state M Execution not allowed in MOVING state Rel Commands JR Set Get jerk time VA Set Get velocity Example 1 500 controller 1 acceleration to 500 units s Controller returns 14C500 GO Newport EDH0344En1020 10 15 22 ME FCR100 Intelligent Stepper Motor Rotation Stage Set Get backlash compensation Usage Not Ref Config Disable Ready Motion O _ Syntax xxBAnn or xxBA Parameters Description 11 Controller address nn float Backlas
37. llowed in HOMING state M Execution not allowed in MOVING state Rel Commands AC Set Get acceleration VA Set Get velocity Example 1JRO OS Set controller 1 jerk time to 0 05 seconds GO Newport EDH0344En1020 10 15 28 D JR Set Get jerk time FCR100 Intelligent Stepper Motor Rotation Stage Usage Syntax Parameters Description Range Units Defaults Description Returns Errors Rel Commands Example QW Newport Experiences Solutions MM Enter Leave DISABLE state Not Ref Config Disable Ready Motion xxMMnn or xxMM xx 10 Controller address nn int Whether to enter 1 or leave 0 the DISABLE state XX 0 031 nn 0 changes state from READY to DISABLE 1 changes state from DISABLE to READY XX None nn None xx Missing Change to 0 will forward this command to all controllers Out ofrange Error B nn Missing Error Out ofrange Error When the MM command is sent without preceding controller number or the controller number 15 0 the MM command 15 executed on all controllers MMO changes the controller s state from READY to DISABLE In DISABLE state the control loop is open and the motor is not powered MM 1 changes the controller s state from DISABLE to READY The controller s set point position 15 set equal to its current position and the control loop gets closed depending on the closed loop state Any resid
38. lways changes In READY state this value should be equal or very close to the set point and target position Together with the TS command the TP command helps evaluating whether a motion has completed B D TH TS ITP ITPO Unknown message code or floating point controller address Controller address not correct Execution not allowed Get set point position Get positioner error and controller state Get current position of controller 1 Controller returns actual position 0 units 47 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage TS Get positioner error and controller state Usage Not Ref Config Disable Ready Motion Syntax xxTS Parameters Description int Controller address Range 1103231 Units xx None nn None Defaults xx Missing Error Out ofrange Error Description The TS command returns the positioner error and the current controller state Returns The TS command returns six characters 1TSabcdef The first 4 characters abcd represent the positioner error as hexadecimal number The last two characters ef represent the controller state as hexadecimal number Error code abcd Convert each hexadecimal to a binary 1111 1110 1101 1100 1011 1010 1001 1000 0111 0110 0101 0100 0011 0010 0001 0000 E each bit represents one possible error exception made of bit C1 C B C
39. mand Execution TP0m8 u rti in pP ana ERE ner tente en 19 E Mp l RTT 20 GEL acceleration aa PL Erste Pea bes a o a be aep ca Eb a Goss 22 BA Set Get backlash compensation 29 BH Set Get hysteresis compensation 24 FR Set Get stepper motor configuration 25 HT Set Get HOME search 26 ID Set Getstage u uu d s tapes ecd v ct 27 ET eee ES 28 MM Enter Leave DISABLE state 29 OH Set Get HOME search velocltty 30 Execute HOME search 31 Set Get HOME search time out 32 PA Move absolute iii 33 PIR MOV 34 PT Get motion time for a relative move 35 PW Enter Leave CONFIGURATION state 36 R5 Resotconiiolloe 37 RS Reset controller s address 38 SA Set Get controller s RS422 address 39 SE Confi
40. nd sets the positive software limit which can than be saved in the controller s non volatile memory using the PW command It is also the default value that will be used unless a different value 15 set in DISABLE or READY state In DISABLE or READY state this command allows setting a new working parameter for the positive software limit It must be greater or equal to the set point position This value is not saved in the controller s memory and will be lost after reboot The software limits are used to restrict the travel range of a positioner For FC series it is not possible to disable software limits For an almost infinite motion for instance with a FCR100 stage set the highest possible value which is 999999930400 Returns Ifthe sign is used instead of nn this command returns the current programmed value Errors Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed in NOT REFERENCED state Execution not allowed in HOMING state A B C D Execution not allowed H L M not allowed in MOVING state Rel Commands SL Set negative software limit Example 15 100 Set controller 1 positive software positive to 100 units NOTE For FCR100 the maximum allowed values for software limits are 2 x 1014 QS Newport Experience Solutions EDH0344En1020 10 15 42
41. nown as the axis number This address needs to be different for each FC series when connected on a RS422 communication network If the sign is used instead of nn this command returns the current programmed value A B C D H J K L M RS 1SA3 Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed Execution not allowed in NOT REFERENCED state Execution not allowed in DISABLE state Execution not allowed in READY state Execution not allowed in HOMING state Execution not allowed in MOVING state Reset controller s address Set controller s RS422 address to 3 39 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage SE Configure Execute simultaneous started move Usage Syntax Parameters Description Range Units Defaults Description Returns Errors Not Ref Config Disable Ready Motion xxSEnn xxSE or SE xx 10 Controller address nn float New target position Xx 0 031 nn gt SLand lt SR XX None nn Preset units xx Missing Change to 0 will forward this command to all controllers Out of range Error nn Missing Error Out ofrange Error The SE command allows starting a move on different controllers at the same time The command xxSEnn sets a new target position for the controller nn Bu
42. o the equipment is possible The following are definitions of the Warnings Cautions and Notes that may be used in this manual to call attention to important information regarding personal safety safety and preservation of the equipment or important tips WARNING Warning indicates a potentially dangerous situation which can result in bodily harm or death CAUTION Caution indicates a potentially hazardous situation which can result in damage to product or equipment NOTE Note indicates additional information that must be considered by the user or operator European Union CE Mark The presence of the CE Mark on Newport Corporation equipment means that it has been designed tested and certified as complying with all applicable European Union CE regulations and recommendations Warnings and Cautions ATTENTION This stage is a Class A device In a residential environment this device can cause electromagnetic interference In this case suitable measures must be taken by the user QO Newport Experience Solutions EDH0344En1020 10 15 vi FCR100 Intelligent Stepper Motor Rotation Stage Warnings WARNING The rotation of objects of all types carries potential risks for operators Ensure the protection of operators by prohibiting access to the dangerous area and by informing the personnel of the potential risks involved WARNING Do not use this stage when its motor is emitting smoke o
43. of a command is a two letter ASCII word preceded and followed by parameters specific to the command mj nn Controller address or Command format nothing if the issued command addresses all controllers AA Command name XX Parameter value 42 to query the current value or nothing if the command takes no parameter Both upper and lower case characters are accepted Depending on the command it can have an optional or required prefix nn for the controller address and or a suffix xx value or no suffix at all Blank spaces Blanks are allowed and ignored in any position including inside a numerical value unless enclosed within quotes The following two commands are equivalent but the first example might be confusing 2P A1 43 6 2PA1 436 Decimal separator A dot must be used as decimal separator for all numerical values Command terminator Commands are executed as either of the command terminator or Lr carriage return ASCII 13 or line feed ASCII 10 15 received The controller will analyze the received string If the command is valid and its parameters are in the specified range it will be executed Otherwise it will memorize an error After the command parameters are identified all remaining characters in the input string until the first command terminator if any will be ignored Commands from the PC to the FC series may still be concatenated in a single string but eac
44. ol None End of line terminator Communication standard RS 422 4 wire full duplex without handshaking 120 termination resistor on receiver channel QW Newport Experiences Solutions 11 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage 3 0 Getting Started 3 1 Mounting and Initial Setup To achieve the guaranteed specifications stages must be fixed on a plane surface with a flatness of 5 um CABLE FC STAGE POWER SUPPLY USB RS422 1 8 USB ADAPTER FC CB1 DAISY CHAIN COMMUNICATION CABLE WARNING The FC series via threaded hole M4 must be grounded to avoid electrical disturbances generated by ground loops 3 2 Connection WARNING Do not connect or disconnect cables to FC series stage while power is applied Follow the steps described below for the cable connections Remove the cover from integrated motor controller housing by loosening the two screws Refer to the Chapter 2 1 and Chapter 2 4 for the description of cables and connectors EDH0344En1020 10 15 12 FCR100 Intelligent Stepper Motor Rotation Stage Make proper connections to RS422 connector and 24 VDC power connector using the USB RS422 1 8 USB adapter and the FC PS40 cable respectively The second RS422 connector is used only for daisy chaining Connect the USB RS422 1 8 USB to a PC first Then connect the FC PS40 power supply to an electrical outlet WAR
45. ons PT Get motion time for a relative move Not Ref xxPTnn xx int nn float nn XX nn XX Missing Out of range nn Missing Out of range Config Disable Ready Motion Controller address Displacement 1 to 31 gt 10 and lt 1012 None Preset units Error B Error B Error C Error C The PT commands helps evaluating move times for an efficient program flow When receiving the PT command the controller computes and returns the time in seconds necessary to execute a relative move of displacement nn with the current working parameters velocity acceleration etc The controller does not execute any displacement IPT2 2 1 0 25 Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed Execution not allowed in NOT REFERENCED state Execution not allowed in CONFIGURATION state Move absolute Move relative Get set point position Get current position Get time to move positioner on controller 1 by 2 2 units Controller returns 0 25 seconds 35 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage PW Enter Leave CONFIGURATION state Usage Not Ref Config Disable Ready Motion B Syntax xxPWnn or xxPW Parameters Description 10 Controller address nn int Whether to enter 1 or leave 0 the CONFIGURATI
46. other substances RECOMMENDATION It is recommended to return your stage to Newport s After Sales Service after every 18 months of use for lubrication and inspection If your FC stage is mounted on a workstation and cannot be easily removed please contact Newport s After Sales Service for further instructions Repair CAUTION Never attempt to disassemble any part of the stage unless it is described in this manual Disassembly of components unless instructed by Newport may lead to failure or malfunction of the stage If you observe any malfunction in your stage please contact us immediately to arrange a repair service CAUTION Any attempt to disassemble or repair the stage without authorization will void your warranty 53 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage 5 3 Troubleshooting A list of the most common problems and their corrective actions is provided in the table below Use this as a reference but remember that problems may be related to other operator errors and may be resolved by other simple solutions Problem Error Message Corrective Actions Please verify the stage 1s powered Power cord not plugged in Plug the power cord in the appropriate then relaunch the user interface outlet Verify the 3 pin connector is seated properly Power supply cable was connected to outlet The power supply cable must remain before the USB cable was connected to PC fully disconnec
47. point controller address B Controller address not correct C Parameter missing or out of range D Execution not allowed E home sequence already started I Execution not allowed in CONFIGURATION state J Execution not allowed in DISABLE state K Execution not allowed in READY state L Execution not allowed in HOMING state M Execution not allowed in MOVING state Rel Commands Set HOME search type OH Set HOME search velocity OT Set HOME search time out Example IOR Execute HOME search with controller 1 GO Newport Experiences Solutions 31 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage Usage Syntax Parameters Description Range Units Defaults Description Returns Errors Rel Commands Example EDH0344En1020 10 15 Not Ref OT Set Get HOME search time out Config Disable Ready Motion O _ _ _ xxOTnn or xxOT xx int nn float nn nn xx Missing Out of range nn Missing Out of range This command sets the time out value for the HOME search When the HOME search does not finish successfully before this delay elapses the HOME search is aborted and an error 15 recorded Controller address HOME time out 1 to 31 gt 1 and lt 1000 None Seconds Error B Error B Error C Error C If the sign is used instead of nn this command returns the cu
48. r Motor Rotation Stage 2 1 7 FC PS40 Power Supply NOTE Each FC series stage requires a FC PS40 power supply Box Dim L x D x H 125 x 50 x 32 mm Specifications AC Input 100 240 VAC 50 60 Hz 1 A DC Output 24 V 1 67 40 W max Cable Length 1 75 m between the power supply box and the 1PP driver board connector 2 1 8 USB RS422 1 8 USB Adapter Cable Length 1 8 m 2 1 9 Daisy Chain Communication Cable Cable Length Im EDH0344En1020 10 15 6 FCR100 Intelligent Stepper Motor Rotation Stage 2 1 10 EQ120 Bracket INTERFACE PLATE 4 HOLES 9 28 7 Mum ON SQR 3 97 100 8 35 4 HOLES M4 THD ON 93 62 92 DEPTH 31 8 02 36 60 1 97 5 HOLES M5 THD ON 05 39 137 N DEPTH 47 12 125 pp P 2x4 HOLES M6 THD DEPTH 47 12 DIMENSIONS IN INCHES AND MILLIMETERS i 1 3 94 100 35 _ 3 94 100 4 HOLES M6 THD ON SOR 3 94 100 DEPTH 47 12 o I 3 94 3 POSITIONS 100 4 80 122 10 31 262 15 83 402 Y 4 39 111 5 6 14 156 lt 3 94 100 gt ND Newport Experience Solutiom 7 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage 2 2 2 2 1 EDH0344En1020 10 15 Characteristics Definition
49. r is unusually hot to the touch or is emitting any unusual odor or noise or is in any other abnormal state Stop using the stage immediately switch off the motor power by disconnecting the power supply After checking that smoke is no longer being emitted contact your Newport service facility and request repairs Never attempt to repair the stage yourself as this can be dangerous WARNING Make sure that this stage is not exposed to moisture and that liquid does not get into the stage Nevertheless if any liquid has entered the stage switch off the motor power by disconnecting the power supply Contact your Newport service facility and request repairs WARNING Do not insert or drop objects into this stage this may cause an electric shock or lock the drive Do not use this stage if any foreign objects have entered the stage Switch off the motor power by disconnecting the power supply Contact your Newport service facility for repairs WARNING Do not place this stage in unstable locations such as on a wobbly table or sloping surface where it may fall or tip over and cause injury If this stage has been dropped or the case has been damaged switch off the motor power by disconnecting the power supply Contact your Newport service facility and request repairs WARNING Do not attempt to modify this stage this may cause an electric shock or downgrade its performance WARNING Do not exceed the usable depth in
50. ric center of a rotation stage from the rotation axis in the plane defined by bearings Wobble Tilt of rotation axis during rotation of a stage measured on a reference surface The testing of on axis accuracy repeatability and reversal error are made systematically with test equipment in a controlled room 20 1 C The test consists of 4 cycles in each direction with 21 data points over the travel resulting in a total 164 data points QS Newport Experience Solutions FCR100 Intelligent Stepper Motor Rotation Stage Guaranteed Specifications Guaranteed maximum performance values are verified per Newport s 167 metrology test procedure For more information please consult the metrology tutorial section in the Newport catalog or at www newport com 2 2 2 Mechanical Specifications Travel Range 360 continuous Minimum Incremental Motion 0 00025 Uni directional Repeatability 0 002 or 0 001 Bi directional Repeatability Guaranteed 0 012 or 0 006 Absolute Accuracy Guaranteed 0 04 or 0 02 1 Shown are peak to peak guaranteed specifications or half the value as sometimes shown The typical specifications are about 2X better than the guaranteed values WARNING To achieve the garanteed specifications stated stages must be fixed to a plane surface with a flatness of 5 um or better 2 2 3 Load Characteristics and Stiffness Q Off center load Q x Cz 1 D 30 D Cantile
51. ries units can be daisy chained and controlled by a single GUI via USB USB RS422 1 8 and direct RS 422 daisy chaining cable FC CB1 2 1 1 Package Contents e 100 Intelligent Stepper Motor Rotation Stage e Stage test report The following parts are to be ordered seperately FC PS40 FC Stage Power Supply Cable Length 1 75 m USB RS422 1 8 USB Adapter Cable Length 1 8 m e FC CBI Daisy Chain Communication Cable Cable Length 1 m FC PS40 FC STAGE USB RS422 1 8 POWER SUPPLY USB ADAPTER FC CB1 DAISY CHAIN COMMUNICATION CABLE QO Newport Experience Solution EDH0344En1020 10 15 2 FCR100 Intelligent Stepper Motor Rotation Stage 2 1 2 Controller Specifications General description Single Axis Intelligent Stepper Motor Control capability Stepper motors open loop Output power 24 VDC peak 2 5 A peak PWM amplifier Control loop PI control of motor phase current with programmable idle state 2 kHz servo rate Backlash compensation Point to point motion with S gamma profile and jerk time control Computer interface USB 5 V USB lt 0 5 Windows Compatible Programming 40 intuitive 2 letter ASCII commands Command set includes software limits user units synchronized motion start stop all Communication rate 115 200 baud serial link over USB Internal safety features End of range checks power limit checks watchdog timer Consumption 24 V FC PS40
52. rrent programmed value Pt gt 10 2 2 Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed Execution not allowed in NOT REFERENCED state Execution not allowed in DISABLE state Execution not allowed in READY state Execution not allowed in HOMING state Execution not allowed in MOVING state Set HOME search type Set HOME search velocity Execute HOME search Set controller 1 HOME time out to 2 2 seconds QS Newport Experience Solution 32 FCR100 Intelligent Stepper Motor Rotation Stage Usage Not Ref Move absolute Config Disable Ready Motion Syntax xxPAnn or xxPA Parameters Description xx nn Range int float nn Units xx nn Defaults xx Missing Out of range nn Missing Out of range Controller address New absolute position 1 to 31 gt SL and lt SR None Preset units Error B Error B Error Error Description The PA command initiates an absolute move When received the positioner will move with the predefined acceleration and velocity to the new absolute position specified by nn The PA command 15 only accepted in READY state AND when the new absolute position 15 higher or equal to the negative software limit SL AND lower or equal to the positive software limit SR The controller always ro
53. s Specifications of our products are established in reference to ISO 230 standard part Determination of accuracy and repeatability of positioning numerically controlled axes This standard gives the definition of position uncertainty which depends on the 3 following parameters Absolute Accuracy Difference between ideal position and real position On Axis Accuracy Difference between ideal position and real position after the compensation of linear errors Linear errors include cosine errors inaccuracy of screw or linear scale pitch angular deviation at the measuring point Abbe error and thermal expansion effects All Newport motion electronics can compensate for linear errors The relation between absolute accuracy and on axis accuracy 15 as follows Absolute Accuracy On Axis Accuracy Correction Factor x Travel Repeatability Ability of a system to achieve a commanded position over many attempts Reversal Value Hysteresis Difference between actual position values obtained for a given target position when approached from opposite directions Minimum Incremental Motion MIM or Sensitivity The smallest increment of motion a device is capable of delivering consistently and reliably Resolution The smallest increment that a motion device can theoretically move and or detect Resolution is not achievable whereas MIM is the real output of a motion system Eccentricity Displacement of the geomet
54. steresis compensation are not compatible Any attempt to use both features together will make the stage fail If the sign is used instead of nn this command returns the current programmed value A Unknown message code or floating point controller address B Controller address not correct C Parameter missing or out of range D Execution not allowed H Execution not allowed in NOT REFERENCED state J Execution not allowed in DISABLE state K Execution not allowed in READY state L Execution not allowed in HOMING state M Execution not allowed in MOVING state Rel Commands BA Set backlash compensation Example 1BH0 015 Set controller 1 backlash compensation to 0 015 units CY Newport EDH0344En1020 10 15 24 7 FCR100 Intelligent Stepper Motor Rotation Stage Usage Syntax Parameters Description Range Units Defaults Description Returns Errors Example QW Newport Experiences Solutions FR Set Get stepper motor configuration Not Ref Config Disable Ready Motion O _ _ _ xxFRSnn xxF RM or xxFRS xx int Mmm int Snn float XX mm nn XX Mmm Snn xx Missing Out of range mm Missing Out of range nn Missing Out of range Controller address Amount of micro steps per full step Full step displacement length in 1 1000 of unit 1 to 31 gt 0 and x 2
55. t contrarily to the PA PR commands the move is not executed immediately but only after receipt of an SE command without preceding controller number nor position value When receiving the 2nd SE command all controllers start moving to their target position The xxSEnn command is only accepted in READY state AND when the new target position 15 higher or equal to the negative software limit SL AND lower or equal to the positive software limit SR The controller always rounds the new target position to the closest micro step position The SE command should not be confused with a synchronized move With a synchronized move all positioners start moving simultaneously AND complete their moves at the same time The SE command starts a move on all controllers at the same time but each positioner moves with its individually defined velocity and acceleration Consequently the different positioners do NOT complete their moves at the same time If the sign is used instead of nn this command returns the target position value set by the SE command which may not be the target position set by the PA PR commands A Unknown message code or floating point controller address B Controller address not correct C Parameter missing or out of range D Execution not allowed H Execution not allowed in NOT REFERENCED state I Execution not allowed in CONFIGURATION state J Execution not allowed in DISABLE state L
56. tation Stage ZT Get all configuration parameters Usage Not Ref Config Disable Ready Motion Syntax xxZT Parameters Description int Controller address Range 1103231 Units xx None Defaults xx Missing Error Out ofrange Error B Description The ZT command returns the list of all current configuration parameters The ZT command allows a quick review of all current stage parameter and simplifies the configuration of Newport stages for instance by copying all the returned values into a configuration file which can be later fed back to the stage by simply pasting its contents in the terminal emulator when the stage needs to be quickly reconfigured Errors A Unknown message code or floating point controller address B Controller address not correct Example IZT Get controller 1 configuration data IPW 1AC320 000000 1BA0 000000 1VA80 000000 IPWO GO Newport EDH0344En1020 10 15 52 D FCR100 Intelligent Stepper Motor Rotation Stage 5 0 Maintenance QW Newport Experiences Solutions 5 1 5 2 Maintenance The FC series stages require no particular maintenance and there are no user serviceable parts or user adjustments to be made However as with other precision mechanical stages care must be taken for handling operation and storage CAUTION FCR100 stages must be used or stocked in a clean environment to avoid dust humidity solvents or
57. ted from the outlet when the USB cable is connected to the PC Unplug both the USB cable and the power supply cable Then make the USB connection first Bad connection Check the integrity of cables and make sure each connector is fully secured Access to com port is denied Com port of the PC may be already used by Make sure to terminate all other programs another program ie LabVIEW driver before launching the GUI Applet launching unsuccessful When you are not the Administrator of the Obtain the full Admin right in the PC Or Access to the log file denied PC Window 7 disables writing in the simply copy the Motion Control folder Program Files folder from Program Files to My Documents folder QW Newport Experience Solutions EDH0344En1020 10 15 54 FCR100 Intelligent Stepper Motor Rotation Stage Service Form Your Local Representative Tel Fax Name Return authorization Please obtain prior to return of item Company Address Date Country Phone Number P O Number Fax Number Item s Being Returned Model Serial Description Reasons of return of goods please list any specific problems QO Newport EDH0344En1020 10 15 55 Newport Visit Newport Online at WWW newport com North America amp Asia Newport Corporation 179 Deere Ave Irvine CA 92606 USA Sales Tel 800 222 6440 e mail sales newport com Technical
58. terface manual for instructions to change the controller address FC CB1 DAISY CHAIN COMMUNICATION CAB USB RS422 1 8 USB ADAPTER Once the controller address of each stage is set unplug all the power cables and disconnect the USB cable from all the stages except for the FC controller that has its address set to 1 Use the daisy chain cables to connect each controller For stages 2 thru 4 1 does not matter whether you use the upper or lower RS422 connector to daisy chain e Only the FC controller with address 1 should be connected to the PC e All other FC controllers must be daisy chained Address 1 Address 2 FCLxxx FCLxxx or FCR100 or FCR100 USB RS422 1 8 FC PS40 _ FC PS40 4 3 Of POBIO Address 2 FCLxxx or FCR100 USB gt lt 5422 FC PS40 FC PS40 ter Each stage from the chain must have a different address from 1 to 4 default is 1 NOTE Another mutli axis option is to run multiple GUI s each with an FCR100 or daisy chained FCR100 s ND Newport Experience 15 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage 3 5 Multi Stage Configuration Another way to control multiple stages is opening multiple GUI s for every FC stage Each of the FC stages has to be discovered independently USB HUB PS40 FC PS40 nx GUI occurrence launched Multiple Com Ports FC PS40 FC PS40 FC PS40 e Address 1 default
59. to 0 005 units QW Newport Experiences Solutions 23 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage Usage Syntax Parameters Description Range Units Defaults Description Returns Errors BH Set Get hysteresis compensation Not Ref Config Disable Ready Motion O xxBHnn or xxBH xx 10 Controller address nn float Hysteresis value Xx 110321 nn gt 0and lt 10 Xx None nn Preset units xx Missing Error Out ofrange Error B Floating point Error A nn Missing Error Out ofrange Error C The BH command sets the hysteresis compensation value When set to a value different than zero the controller will issue for each move in the positive direction a move of the commanded distance plus the hysteresis compensation value and then a second move of the hysteresis compensation value in the negative direction This motion ensures that a final position gets always approached from the same direction and distance and helps compensating for non repeatable mechanical defects like hysteresis or mechanical stiffness variations The value 0 disables this function The BH command can not be used when the backlash compensation is enabled BA command When a value different from 0 15 set the travel range of the stage 15 decreased by the same amount in the positive direction NOTE The homing set on the positive end of run and hy
60. ual error is cleared and the motor is powered If the sign is used instead of nn this command returns the current state Refer to the TS command section for the list of controller states Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed in NOT REFERENCED state Execution not allowed in CONFIGURATION state Execution not allowed in HOMING state Execution not allowed in MOVING state PW Enter leave CONFIGURATION state A B C D Execution not allowed H I L M MMO Allcontrollers go to DISABLE state 29 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage Usage Syntax Parameters Description Range Units Defaults Description Returns Errors Rel Commands Example EDH0344En1020 10 15 OH Set Get HOME search velocity Not Ref Config Disable Ready Motion O xxOHnn or xxOH xx 10 Controller address nn float search velocity XX 11031 nn gt 10 and lt 1012 XX None nn Preset units s xx Missing Error B Out ofrange Error B nn Missing Error C Out ofrange Error C This command sets the maximum velocity used by the controller for the HOME search If the sign is used instead of nn this command returns the current programmed value
61. unds the new target position to the closest micro step position Returns Ifthe sign is used instead of nn this command returns the target absolute position value Errors gt Rel Commands PR Example QW Newport Experiences Solutions 2 2 Unknown message code or floating point controller address Controller address not correct Parameter missing or out of range Execution not allowed Target position out of limits Execution not allowed in NOT REFERENCED state Execution not allowed in CONFIGURATION state Execution not allowed in DISABLE state Execution not allowed in HOMING state Execution not allowed in MOVING state Move relative Get motion time for a relative move Get set point position Get current position Move positioner on controller 1 to absolute position 2 2 units 33 EDH0344En1020 10 15 FCR100 Intelligent Stepper Motor Rotation Stage Usage Not Ref PR Move relative Config Disable Ready Motion D Syntax xxPRnn or xxPR Parameters Description int nn Range xx float nn Units xx nn Defaults xx Missing Out of range nn Missing Out of range Controller address Displacement 1 to 31 gt SL TP and SR TP None Preset units Error B Error B Error C Error C Description The PR command initiates a relative move When received the positioner will mov
62. ver distance in mm 2 3 System Environmental Specifications Operating temperature 5 C to 40 C Operating humidity 20 to 85 relative humidity non condensing Location Indoor use only ND Newport Expenence Salvtions 9 EDH0344En1020 10 1 5 FCR100 Intelligent Stepper Motor Rotation Stage 2 4 Connector Identification FC CB1 DAISY CHAIN COMMUNICATION CAB USB RS422 1 8 USB ADAPTER Each FC series stage includes two RS422 communication connectors and a 24 V DC input connector RS422 connector is connected to either PC with USB RS422 1 8 cable or to RS422 connector of another FC series stage by FC CB1 Two RS422 connectors are interchangeable either of the two connectors can be used for PC connection or the input output for daisy chaining connection RS422 COMMUNICATION CONNECTOR 71 24 V DC POWER SUPPLY CONNECTOR 71 ATION UUININLUIUn 2 RS422 2 6 Pin RS422 communication connectors connect to USB RS422 1 8 or to FC CB1 cable PINOUT x PINOUT 2 GND N C 3 Tx JST PAP 06V S JST PAP 03V S 4 CONNECTORS CONNECTOR 2 24V Y 3 GND 6 Rx Experience Solution EDH0344En1020 10 15 10 FCR100 Intelligent Stepper Motor Rotation Stage 2 5 Communication Settings Communication parameters are preset in the FC series controller and do not require any configuration Bits per second 115 200 Data bits Parity Stop bits Flow contr
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