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XCD FW ver 1.5 UM

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1. 4 dead zone maximum DZMAX 6 dead zone minimum DZMIN 6 friction negative FRN 5 friction positive 5 velocity VEL aiz owca OCS 4 zero feed forward ZFF 6 parenthesis Z 44 POS 43 5 e DL ees 53 Position WE 32 position COMpare adasia oc AA 54 wa osi dO KO AEO b EEG 54 increment aaa nennen 54 ie ee E M REPERI 54 position distance 5 43 pseudo variable AIN protection asia 36 blackout 7 DZMAX blackout 36 address 37 41 direction 36 40 last Se 36 program status 35 PWM 36 40 72 safety disable zai owa 35 safety inverse 35 safety state P di 35 SPI input integer aa R 36 O A A 36 UART address 37 41 XMS checksum asa ia GEE 36 XMS length a AAAA 36 pseudo variables a3 GWC tases 34 R Read 29 read version reply format PEE 42 reply format general 41 read versio
2. adit Re Ate te Bl ZA 5 4 5 Safe Time Measuring ER XE ADR 5 5 Script Examples s UR ESO ROREM Ra eec Eee d 5 5 1 XMS Script for a Linear 5 5 2 XMS Script for a Rotary Application 4 voe eR RR RR 6 Communication Examples 6 1 Explanation of Command Response Sequence 62 R9232 examples e seas b P e arse FEY gelo OR RUNE AA 6 2 1 Move motor to position 2 5 millimeters 6 2 2 Set motion velocity 70 6 2 3 Read feedback position 454 635 IIG xampleS rer aeren wee Fir cate E a Megane 6 3 1 Move motor to position 2 5 millimeters 6 3 2 Set motion velocity 70 mtm sec ecu e ORT 6 3 3 Read feedback position 222 c ok rr 9 ERE P We CHAPTER 1 INTRODUCTION This manual provides information for developing and using Nanomotion s XCD Software to control Nanomotion motors with the XCD Controller The manual is divided into the following sections Overview of Nanomotion XCD Software XCD Commander user interface that provides access to program parameters and values to allow tuning the servo loop system and developing unique motion control systems e XMS software information this section includes a description of the
3. Command prefix Command prefix depends on the communication channel Command prefix is the same for all commands Command body Command body does not depend on the communication channel Command body is specific for each command Controller s reply has similar parts see Table 3 Table 2 Controller s Command Structure Description Part Description Reply prefix Reply prefix depends on the communication channel Reply prefix is the same for all commands Reply body Reply body does not depend on the communication cannel Reply body is specific for each command 4 4 PREFIXES 4 4 1 UART RS232 Command prefix and reply prefix are identical and consist of 4 bytes Table 3 UART Command Reply Prefixes Structure Description offset bytes Content 0 1 Constant 0xE4 228 1 1 Constant 0xA5 165 2 1 Destination address 3 1 Length of command reply body in bytes XCD0458002 00 Rev 02 25 Command Body 4 4 2 4 5 4 5 1 IIC The following table shows the Command prefix consisting of 2 bytes Table 4 Command Prefix Structure Description Byte Size in offset bytes 0 1 Destination address write address 1 1 Length of command body in bytes The following table shows the Reply prefix consisting of 2 bytes Table 5 Reply Prefix Structure Description Byte Size in offset b
4. XCD0458002 00 Rev 02 36 4 5 4 Command Body Table 9 Pseudo Variables with Corresponding 4 Bytes in Controller s Reply Pseudo Variable Comments 990 991 UART address IIC address Controller address for UART communication A number in the range 0 to 255 The default value is zero If the controller address is zero the controller accepts any destination address If the destination address is zero broadcasting controller accepts the command irrespective of controller address If both controller and destination addresses are non zero the controller answers only if the destination address matches the controller address Controller address for IIC communication An even number in range from 2 to 254 The default value is 164 0xA4 If the destination address is non zero the controller accepts the command only if the destination address matches the controller address If the destination address is zero broadcasting controller accepts the command irrespective of controller address CONTROLLER CONFIGURATION XMS command config and host command Configure 32 allow changing different controller parameters To reveal actual configuration settings the host should use the Report command Both the script and the host commands supply two parameters the first parameter defines a configuration code and the second provides a XCD0458002 00 Rev 02 37 Command Body
5. 32 37 explanation d oSA 63 report IIELD zako Ani 31 save parameters o osaka zt 28 set address 29 iei eee rrr 45 syntax CONTRA OOO 47 delay eR 47 disable ettet AAA 46 XCD0458002 00 Rev 02 vau 46 gs 47 NOME er 46 47 46 MOVE 46 MOJE Te 46 ODE I OP PR 46 PAUSE RR 47 DP 47 SOU 46 WNII ni ito im Oa 47 velocity l00p wacka RAN WAG 28 Command response sequence explanation 63 communication faja 114 69 24 example HC SaaS do 68 65 NOSE PROC 24 8 compare operations 44 CONN O es da 23 configuration codes et ONION 38 A AGA 38 config SP interface save seo AA 38 IIC address wada ebbe stata 41 10 direction oO AGE 40 DOWER SAVE 40 PWM limit 40 safety disable 40 safety ITIVel SB 40 Servo configuration ssauvsascvvieceresavevneenesvass 40 servo configuration 40 S
6. NANOMOTION A Johnson Electric Company XCD Software Version 1 5 0 7 User Manual XCD0458002 00 Rev 02 March 2014 Nanomotion Ltd POB 623 Yokneam 20692 Israel Tel 972 73 2498000 Fax 972 73 2498099 Web Site www nanomotion com E mail nano nanomotion com Copyright Notice Copyright 2012 by Nanomotion Ltd All rights reserved worldwide No part of this publication may be reproduced modified transmitted transcribed stored in retrieval system or translated into any human or computer language in any form or by any means electronic mechanical magnetic chemical manual or otherwise without the express written permission of Nanomotion Ltd Mordot HaCarmel Industrial Park Yokneam 20692 Israel This document contains proprietary information and shall be respected as a proprietary document with permission for review and usage given only to the rightful owner of the equipment to which this document is associated Limited Warranty Nanomotion Ltd hereinafter NM warrants the product other than software manufactured by it to be free from defects in material and workmanship for a period of time of one year except those parts normally considered as consumable expendable components such as motor conditioning brushes The warranty commences thirty 30 days from the date of shipment NM warrants those parts replaced under warranty for a period equal to the remaining warranty coverage of the original part N
7. Table 1 Parameter Value Unit Delay from encoder pulse to output compare pulse 0 1 usec Minimal width of compare pulse 0 067 usec Maximal width of compare pulse 273 6 usec Maximal rate of compare pulses 20 kHz Minimal period of the compare pulses minimal time between 50 usec adjacent pulses 5 4 3 POSITION COMPARE EXAMPLE The following XMS fragment shows possible use of ppi command Table 2 Command Description PPW 0 001 Set pulse width 1 microsecond 00458002 00 Rev 02 55 Position Compare Table 2 Command Description move 2 1 Move to position 2 1 mm ppi 2 2 0 002 201 Request 201 pulses starting at position 2 2 mm with increment 2 um move 2 7 Move to position 2 7 mm The following diagram shows the result Motor position compare pulses 1201 pulses ad Figure 3 Motor position compare example 5 4 4 TIME VARIABLE The Controller provides high resolution time service through the variable TIME This variable provides time in milliseconds elapsed since the Controller start up or since the last executed command set TIME 0 The resolution of time counting is 50 usec therefore the variable may read fractional values such as 2345 05 Time counting has the following limitations e After about two days of uninterrupted counting TIME variable rolls down to zero and starts new counting cycle XCD0458002 00 Rev 02 56 XMS Script Examples e After about 12 minutes of
8. end greater than 0 5 degree disable When the PE is less than 0 5 stop the loop because the hard stop has been found and disable motor Find the Position Index and set the Index Position to Home offset VO nmove 360 set S_IND 0 while S_IND 0 end kill delay 100 set FPOS FPOS POSI VO For VO 0 set the index position to 0 position Find Home offset nmove 360 XCD0458002 00 Rev 02 60 XMS Script Examples Rotary Application with Hard stop Motion Program Example Command Description while PE gt 0 5 end disable V0 FPOS 185 This value is the distance of the Index from the middle of the stage set FPOS 5 Set the negative hardstop position to 5 degrees VEL 120 set the velocity to 120 deg sec V2 0 is the maximum positive position error when the reference velocity is in the constant velocity range V3 0 is the minimum position error when the reference velocity is in the constant velocity range V4 0 is the maximum positive PWM DOUT V5 0 is the minimum negative PWM DOUT Finds maximum and minimum position error and maximum and minimum DOUT over the total stage travel during a four hour period V19 TIME start time while TIME V19 lt 4 3600000 nmove 360 execute the following lines when the current time minus start time is less than 4 hours delay 2 while RVE
9. 2 COMMUNICATION ADDRESS Each controller stores its communication address which is a number within the range of 0 254 Factory default is zero The user can change controller s address by using the command Set Address 16 A user defined address can be stored in controller s flash memory by using command Save 13 This user defined address is retrieved at power up Each host command includes destination address The destination address must be in a range of 1 254 The controller accepts host s command and responds to it only if controller s address matches host s command destination address Zero destination address defines broadcasting i e any connected controller accepts and responds to the command 4 3 COMMUNICATION PROTOCOL The controller is a communication client and plays a passive role Other side customer processor or PC is a communication host and plays an active role The communication is performed in a ping pong manner Each communication session includes two events The host initiates communication by sending a command The controller sends reply in many cases the reply is simply a prompt which reports whether the command is accepted or rejected The host commands and the controller replies are similar in all supported communication channels XCD0458002 00 Rev 02 24 Prefixes Each host command consists of the following parts Table 1 Host s Command Structure Description Part Description
10. 5 Control Algorithm 2 2 2 2 2 3 ZERO FEED FORWARD ZFF MECHANISM The Zero feed forward mechanism improves the motors settling time This is done by stopping the Velocity Feed Forward VFF reducing the speed at which the motor approaches the Target Position As shown in the block diagram VFF provides a value derived from the position profile The ZFF parameter is set to a value of between 30 and 50 microns from the target position The value of ZFF is dependent on the moving mass For a larger mass ZFF should be increased Position Position VFF Mechanical braking time Figure 4 Motor braking on approach to Target Position DEAD ZONE MECHANISM The Dead Zone mechanism takes advantage of the motor s intrinsic friction to prevent jitter and improve the settling time The Dead Zone is defined by two areas on either side of the motor Dead Zone Minimum DZMIN a range around the Target Position that is the desired final position of the motor Dead Zone Maximum DZMAX defines the maximum allowable final position of the motor XCD0458002 00 Rev 02 6 Control Algorithm Target Position DZMAX Position Figure 5 Dead Zone Mechanism DZMIN is the distance from the Target Position at which the Dead Zone mechanism drops the drive command to 0 At this point the motor s intrinsic friction applies mechanical braking to the motor After the motor enters DZMIN the Controller stop
11. 5 453 653 5 616 980 5 714 833 111597 5 640 063 6 247 338 6 244 076 6 747 391 6 661 153 69838991 3 6 384 515 7 119 477 7 075 211 69932359 5 1186063 7 211 929 69941195 5 1577961 4813708 6 879 085 6 979 936 7 439 652 7061158 1800356 1800356 1800356 2007 533057 pending 2011 093431 pending 7 876 509 10 2007 7009928 XCD0458002 00 Rev 02 iii pending 200780019448 6 7713361 9 pending 12 294 926 pending GB2008000004178 pending GB2009000003796 pending 12 398 216 pending GB2446428 12 517 261 b pending 08702695 1 pending 10 2009 7017629 pending 12 524 164 pending 12 581 194 pending Revision History The following table shows the last three revisions to this document XCD0458002 00 Rev 02 Doc PE ECO Rev Date Description 727 March 2014 Initial release of FW version 1 5 0 7 1 Table of Contents Introduction 1 1 Conventions used this 1 1 2 Related Products uersu mt panes edna 2 Overview of Servo Loops 2 1 Poston POME x orcs oceans REI IE EE EUER EE eae dA 4 2 2 Control toki Stew zak a A Pi ee ete s Kets 5 2 2 1 Offset Mechanism ute S Gel WA RM EUR 5 2 2 2 Zero Feed Forward ZFF 6 2 2 3 Dead Zone Mechanism odl nice are
12. 54 Position Compare 5 4 2 POSITION COMPARE OPERATION Being activated with either XMS or Host command the Position Compare function remains active until the requested number of pulse is produced If a new ppi or Host 33 command is executed while a previous Position Compare is still active the previous command is canceled immediately and the new command starts operating If the new command is issued with no parameters the previous function is canceled but no new function is activated Once a command activates Position Compare function no pulse is produced immediately but the Controller begins comparing feedback position with start value The first pulse is generated once the compare result changes from not equal to equal The pulse width is defined by PPW value pulse width in milliseconds The Controller adjusts pulse width at the time of function activation therefore all pulses requested in a function have the same width Assigning a new value to PPW has no effect on already active Position Compare function but will affect the forthcoming commands Once a position compare occurs the Controller produces the pulse and verifies the remaining number of pulses If all requested pulses have been produced the Controller deactivates the function avoiding further pulse generation Otherwise the Controller adds increment to the current compare value and continues comparing Position Compare Timing
13. Protection Corresponding 16 bit values Bit 0 AINO Bit 1 AIN1 and so on up to Bit15 AIN15 If AIN within the limits the bit reads zero if violation occurs the bit reads one 921 924 SPI input integer These four pseudo variables provide access to four 16 bit integers that are read through SPI interface Commands config 301 302 read four 16 bit values from SPI interface XMS program uses getvar function to access the values 925 926 SPI Input Real These two pseudo variables provide access to two 32 bit Real numbers that are read through SPI interface Commands config 301 302 read four 16 bit values from SPI interface XMS program uses getvar function to access the values If getvar parameter is 925 the result is the first pair of 16 bit values interpreted as one 32 bit real number If getvar parameter is 926 the result is the second pair of 16 bit values interpreted as one 32 bit real number 950 XMS checksum The return is a 32 bit integer checksum of XMS program in the controller memory calculated according to Adler 32 algorithm 951 XMS Length The return is a 32 bit integer length of XMS program in the controller memory in bytes 960 Last error The return is a real value of the last error in the controller XMS program reads the value using getvar function XMS program running in non stop mode can use the value to check if a motion has terminated successfully
14. Resolution 1 low 0 high 18 Inverse feedback direction 19 Inverse drive output 902 Safety Disable The value is a bitmask only the following bits are meaningful 0 Negative Limit Switch 1 disabled 0 enabled 1 Positive Limit Switch 1 disabled 0 enabled 2 Emergency 1 disabled 0 enabled 3 Motor Not Connected 1 disabled 0 enabled 903 Safety Inverse The value is a bitmask only the following bits are meaningful 0 Negative Limit Switch 1 inverse O normal 1 Positive Limit Switch 1 inverse 0 normal 2 Emergency 1 inverse 0 normal 905 IO direction Second parameter is a bitmask Bit 0 of the bit mask defines behavior of IO_0 bit1 IO 1 and so on up to IO 7 Zero bit defines IO as input non zero bit defines IO as output Specific XCD hardware defines initial assignment of inputs and outputs and ability of IO reconfiguration Request for IO configuration not supported in specific hardware is ignored 907 PWM limit Second parameter specifies absolute PWM limit in percents For most XCD products default value is 100 The value restricts PWM output DOUT value in all controller modes If DOL value is below 100 the PWM output is restricted to the lower of two limits XCD0458002 00 Rev 02 40 Reply Body Table 10 Configuration Codes and Configuration Value Description Code Value The value specifies control
15. ae 6 XCD Commander 3 1 Overview of XCD Commander 8 3 2 Work Flow with XCD 9 3 3 Installing ACD Commandeh eae Rest ae ees 9 3 4 Quick Start Launching XCD 12 3 5 Tuning of the XCD System Servo 15 3 6 Working with XMS Scripis s vus ma Psp dete FR pc doa 18 3 0217 Editing a SEMPRE as 6 oath oa ce tu Tab No d ite DERE 18 3 7 Executing an AMS Script ss ure eee Rx RE ERR APE eee 19 3 8 Managing Flash Data sat sa rn E umm REG A PER ud 20 3 9 BITOI MOSSSUDS 2 2 eu ce eed wie Wi xU dna Ge ees 22 Host Communication Protocol 4 1 Communication 24 4 2 Communication 5 24 4 3 Communication 24 4 4 7 1 2 5 aan ZE Vista dus Shawnee 25 441 UART RS232 zs o op RRS TN EE PER 25 LM MU es MEC 26 4 5 Command Aere edd e de A MGR 26 4 51 General Format vau duong eet PA E Ret os 26 4 5 2 Commands ge REEL UE E Der tS 27 4 533 PSEUGOPVANABIE
16. configuration value The following table lists available configuration codes and their corresponding configuration value description Table 10 Configuration Codes and Configuration Value Description Code 80 Calibration The controller executes a series of back and force motions at different PWM frequencies Then the controller selects PWM frequency that provides maximum motor velocity Additionally to code 80 the command specifies up to four parameters Calibration algorithm currently ignored PWM level 96 optional default 5096 Time of one move in milliseconds optional default 10 Required move in mm optional default 0 01 the function fails if all moves appear less than the value 300 SPI interface Parameters Key 300 Master 1 the Controller is SPI master 0 the Controller is SPI slave Clocking 0 output data on the rising edge latch data on the falling edge 1 output data half cycle before the rising edge latch data on the rising edge 2 output data on the falling edge latch data on the rising edge 3 output data half cycle before the falling edge latch data on the falling edge Pins bitwise variable specifying which pins are assigned to SPI Non zero bit assigned a pin to SPI function zero bit doesn t change previous pin assignment Bit 0 SOMI pin GPIO17 Bit 1 SIMO pin GPIO16 Bit 2 SPISTE CS pin GPIO19 The function
17. identified by the ID argument 4 5 3 PSEUDO VARIABLES Pseudo variables have IDs which are different from any XMS variable Therefore pseudo variables are not XMS variables and cannot be used in the XMS script The only command that accepts pseudo variables is Report 26 In the parameters of the Report command the pseudo variable IDs can be used in any combination with the XMS variables IDs Corresponding 4 bytes in the controller reply are filled with special content not necessary in Real format XCD0458002 00 Rev 02 33 Command Body The following table shows available pseudo variables along with the corresponding 4 bytes in controller s reply The 4 Bytes in the reply contain special content and may not be in Real format Table 9 Pseudo Variables with Corresponding 4 Bytes in Controller s Reply ID Pseudo Variable Comments Required Motion Parameters 900 Status Corresponding 4 bytes in controller s reply contain a bit mask with the following bits 0 Script Run flag 1 script is running O not running 1 5 QUEUE flag 2 5 MOVE flag 3 5 BUSY flag 4 7 reserved 8 Open Loop flag 1 motor PWM is enabled O dis abled 9 Velocity Loop flag 1 velocity loop is enabled O dis abled 10 Position Loop flag 1 position loop is enabled O disabled 11 reserved 12 BiQuad filter enabled 13 Second Biquad filter enable 1 2 Biquad en
18. parameters and allowed values Communication Protocol 1 1 CONVENTIONS USED IN THIS MANUAL Throughout this manual commands are shown in BOLD and parameter values are shown in italics NOTE Notes provide additional information that is not included in the normal text flow CAUTION Caution provides information about actions that will adversely affect system performance Best Known Methods Provides additional detailed information about operations and methods BKM XCD0458002 00 Rev 02 1 Related Products Danger Indicates operations or activities that may cause damage to equipment or injury to personnel 1 2 RELATED PRODUCTS The following table lists Nanomotion products which may have this software version Refer to your hardware product user manual to verify installed software version Product Part Number XCD HR1 Controller Driver XCD HR1 BD 04 XCD HR2 Controller Driver XCD HR2 BD 04 XCD HR4 Controller Driver XCD HR4 BD 04 XCD HR8 Controller Drive XCD HR8 BD 04 XCD HR16 Controller Drive XCD HR8 BD 04 XCD Component IC000028 00458002 00 Rev 02 2 CHAPTER 2 OVERVIEW OF SERVO LOOPS Nanomotion s XCD Controller Driver boards supply dynamic servo control to ensure accurate position changes The motor control circuit consists of three major building blocks Linear or rotary stage mounted on a Platfor
19. uninterrupted counting the resolution of TIME begins to gradually deteriorate Command set TIME 0 resets the Time value to zero and restarts counting To use full resolution the command should be executed in the application periodically so that using of TIME occurs not later than 12 minutes past the last set TIME 0 5 4 5 SAFE TIME MEASURING The following example shows how to safely use TIME variable for measuring motion time The XMS program repeats motion 100 times measures full motion time up to the motor physically enters DZMIN interval and stores minimum motion time in V3 and maximum motion time in V4 Example of TIME Variable for Measuring Motion Time Command Description V3 10000 Initialize V3 with big value V4 0 Initialize V4 with small value for V19 0 to 99 Repeat 100 times move 5 Move to initial point while 5 BUSY end Wait for physical motion end set TIME 0 Reset TIME move 15 Move while 5 BUSY end Wait for physical motion end V0 TIME Latch elapsed time if VO lt V3 Update minimum time V3 V0 End if VO gt V4 Update maximum time V4 V0 end move 5 Return to initial point end Repeat 5 5 XMS SCRIPT EXAMPLES This section provides example XMS scripts for both linear and rotary applications 00458002 00 Rev 02 57 XMS Script Examples 5 5 1 XMS SCRIPT FOR A LINEAR APPLICATION The following linear motion program executes a set of motion
20. variables the XCD Commander is formatted according to the ENR value e DZMIN Normal mode 2 ENR 0 02 micron 10 ENR 0 1 micron If the required Drive Mode is Linear 5 set DZMIN to 0 DZMAX to 1 ENR and to zero XCD0458002 00 Rev 02 15 Tuning of the XCD System Servo Loop ZFF 0 03 0 05 30 50 micron FRP 60 of value recorded in paragraph 3 4 step 5 default value is 10 FRN 60 of value recorded in paragraph 3 4 step 7 default value is 10 SLN 0 disables negative software limit SLP 0 disables positive software limit PEL 0 disables critical position error e TEL O disables Temperature Error Limit MTL 20000 Sets Motion Time Limit to 20 sec A value of 0 disables the Motion Time Limit parameter e e The tuning values entered in step 3 are for the purpose of tuning the stage only After tuning is completed the user should adjust these values according the application s requirements 4 Select SERVO LOOP PARAMETER tab and set the following parame ters e Biquad 1 Selected Type Low Pass Bandwidth Hz 700 Damping Ratio 0 7 KP 20 e KV 0 1 e KI 300 e LI 90 5 Open the CONFIGURE SERVO LOOP window 6 Ensure that the status indicators at the bottom of the window are all green If not reset the related logic selections in the dropdown menus in the top porti
21. Comments 0 OxE4 228 Constant OxE4 228 OxA5 165 Constant 5 165 2 0x00 0 Destination address 3 0x02 2 Length of the reply body 4 0x03 3 Last command code 5 0x01 1 Acknowledge command accepted 6 2 3 READ FEEDBACK POSITION The Host sends the following sequence of bytes Table 8 Byte Offset Byte Value Comments 0 0xE4 228 Constant 0xE4 228 1 OxA5 165 Constant 5 165 2 0x00 0 Destination address 3 0x03 3 Length of the command body 4 Ox1A 26 Command REPORT 5 0x09 9 ID of FPOS variable 6 0x00 0 The Controller responds with sending actual position FPOS value assume actual position is 3 11 mm Table 9 2 Byte Value Comments 0 OxE4 228 Constant OxE4 228 1 OxA5 165 Constant 5 165 2 Ox1A 26 Last command code 3 0x01 1 Acknowledge command accepted 4 Ox3D 61 3 11 Real format XCD0458002 00 Rev 02 67 examples Table 9 Byte Offset Byte Value Comments 5 10 6 0x47 71 7 0 40 64 6 3 EXAMPLES The examples below show IIC byte sequences for few typical commands All examples imply default controller address 4 If actual controller address was changed the destination and controller address fields should be changed accordingly 6 3 1 MOVE MOTOR TO POSITION 2 5 MILLIMETERS The Host sends the following sequence of b
22. D Name Comments 54 PPW Position compare pulse width in milliseconds Table 22 Servo Loop and Drive Configuration ID Name Comments 13 KP Position loop gain 14 KV Velocity loop gain 16 LI Velocity loop integrator limit 17 BGA1 First Bi Quad filter parameters 18 BQA2 19 BQBO 20 1 21 2 67 2 1 Second B Quad filter parameters 68 BQ2A2 69 BQ2B2 70 BQ2B2 71 BQ2B2 22 ENR Encoder resolution millimeters per one encoder count 23 MFREQ _ Motor frequency PWM frequency 24 SPRD Servo loop sampling period milliseconds 40 DZMIN Dead zone min Nanomotion proprietary algorithm 41 DZMAX Dead zone max Nanomotion proprietary algorithm 42 ZFF Zero feed forward Nanomotion proprietary algorithm 43 FRP Friction in positive direction 44 FRN Friction in negative direction 45 DOUT Instant drive output of maximal output 67 B2GA1 Second Biquad parameter 68 B2QA2 Second Biquad parameter 69 B2QB0 Second Biquad parameter 70 B2QB1 Second Biquad parameter 71 B2QB2 Second Biquad parameter XCD0458002 00 Rev 02 49 XCD Motion Script XMS Description Table 23 Safety ID Name Comments 39 DOL Drive output limit of maximal output 53 DOFFS Drive output offset of maximal output 47 SLP Software limit positive 48 SLN Software limit negative 49 PEL Position error limit 51 MTL Motion Time limit Table 24 Analog Inputs Outputs I
23. D Name Comments 30 33 AINO Analog inputs AINS The analog input voltage V in the range of 0 to 3 3 volts is converted to AIN value in the range of 100 to 100 The AIN value is calculated based on the formula AIN 100 V 1 65 1 65 The analog input voltage V in the range of 0 to 3 3 volts is converted to AIN value in the range of 100 to 100 The AIN value is calculated based on the formula AIN 100 V 1 65 1 65 55 66 AIN4 Analog inputs AIN15 34 37 AOUTO Analog output AOUT3 The analog output value in the range of 100 to 100 is converted to an output voltage V in the range of 0 to 3 3 volts The AOUT voltage is calculated based on the formula V AOUT 1 65 100 1 65 8 Analog Inputs are not supported in all SW versions or Driver cards b Refer to the user manual for your Driver card XCD0458002 00 Rev 02 50 XCD Motion Script XMS Description Table 25 User Variables ID Name Comments 1000 VO V19 User variables 1019 Table 26 Flags accept values 0 or 1 only ID Name Comments 2000 2007 0 Digital inputs outputs O 7 7 2008 5 The motion queue is full While the motion queue is full 5 is 1 the nmove command is disabled and returns error 2009 5 MOVE The motion is in progress The flag toggles to 1 at motion start e g once move command executes The flag toggles to 0 at motion end once RPOS
24. Disk Publisher Unknown Publisher Install Don t Install While applications can be useful they can potentially harm your computer If you do not trust the source do not install this software More Information Figure 2 Application Install Security Warning Window The installation process window shows install progress When the installation finishes the XCD Commander GUI opens If the XCD Commander GUI does not open select Start gt Programs gt Nanomotion gt XCD NanoCommander to open the application 3 If a Communication failure warning appears click In the Communication pane set the Address field to the correct Communication Protocol type This is required because address formatting is different for different protocols Nanomotion evaluation kits typically use RS232 communication BKM When using an connector select the controller s IIC address When connecting with UART RS232 select 0 Set the following parameters in the Host computer s COM Port settings Baud Rate 115200 Number of Data Bits 8 e Parity None Number of Stop bits 1 Flow Control None 00458002 00 Rev 02 10 Installing XCD Commander 5 In the Communication pane Port field select the port con nected to the Controller driver from the dropdown menu Code 1 0 HR Normal mode AB4 Figure 3 Commander Main Window 6 To confirm successfu
25. L lt VEL end while in the acceleration stage RVEL lt VEL the loop will continue while RVEL VEL if PE gt V2 V2 PE end if PE lt V3 V3 PE end if DOUT lt V4 V4 DOUT end Measures the maximum and minimum position error and the DOUT in the constant velocity range while S_BUSY end delay 1000 nmove 0 delay 2 XCD0458002 00 Rev 02 61 XMS Script Examples Rotary Application with Hard stop Motion Program Example Command Description while RVEL gt VEL end while in the acceleration stage RVEL gt VEL the loop will continue while RVEL VEL if PE gt V2 V2 PE end if PE lt V3 V3 PE end if DOUT gt V5 V5 DOUT end Measures the maximum and minimum position error and the DOUT in the constant velocity range while S BUSY end delay 1000 end XCD0458002 00 Rev 02 62 CHAPTER 6 COMMUNICATION EXAMPLES 6 1 This section provides examples of command and response sequences and Byte EXPLANATION OF COMMAND RESPONSE SEQUENCE This example shows the sequence for the REPORT Ox1A 26 command with the variable STATUS 0x384 900 The REPORT command can include up to ten variables Each variable is identified by four Bytes In the command and reply examples below the Bytes are shown in the order they are transmitted via RS232 E4 A5 A4 03 1A 84 03 prefix body Figure 1 Byte Sequence for REPORT STATUS Command Th
26. M s sole and exclusive obligation under this warranty provision shall be to repair or at its sole option exchange defective products or the relevant part or component but only if i the Purchaser reports the defect to NM in writing and provides a description of the defective product and complete information about the manner of its discovery within ten 10 days of its discovery ii NM has the opportunity to investigate the reported defect and to determine that the defect arises from faulty material parts or workmanship and iii the Purchaser returns the affected product to a location designated by NM These provisions constitute the exclusive remedy of the Purchaser for product defects or any other claim of liability in connection with the purchase or use of NM products This warranty policy applies only to NM products purchased directly from NM or from an authorized NM distributor or representative This warranty shall not apply to i products repaired or altered by anyone other than those authorized by NM ii products subjected to negligence accidents or damage by circumstances beyond NM control iii product subjected to improper operation or maintenance i e operation not in accordance with NM Installation Manuals and or instructions or for use other than the original purpose for which the product was designed to be used NM shall not in any event have obligations or liabilities to the Purchaser or any other party for loss of profi
27. PI interface CO 38 SPI transfer integer 39 SPI transfer real 39 UART address edo 41 D Disable aaa OWA E R 29 DOUT MIES ai 44 71 E tenui Scan on GEO 29 encoder Index 53 F flags ODU EG OOO R O a 51 S HOME e 51 IND z GA EA 51 SNIP OS wo OR A 51 S puc 51 SZ QUEUE eeu A Az 51 floating point values 43 FPOS Re 43 function absolute sarah GO AAAA 44 COSINE w R 45 6 EE 45 SINE qe TE 44 square root 44 ngent ai AG EE 45 FVEL UNS katte hea rm 43 G get configuration revision 32 GEWAAI 33 H asini 28 NOME conuat itat Diem Gina 32 aperi M wa 32 POSIN E 5 52 RUN 32 host command Configure al GG tH a desi iet es 37 XCD0458002 00 Rev 02 Kila 3l L literal constant 44 literal constants 43 little endian 2 63 logic operations seo cR eric vire GE 44 M Monitor eee aaa aaa aaa eene 30 Monitor address 31 MOVE a aaa acz CO 27 ODEMICO GE AE 28 parameter acceleration
28. Reply body structure description for the Read version command Table 12 Reply Body Structure Description for the Read Version Command Byte Offset Byte Size Content 0 1 Command code copied from replied command 1 1 Result 1 Command accepted 2 Command rejected 2 4 Version 6 4 Serial number 10 2 Application code Total 12 Report 26 The requested XMS variable is reported in 4 byte Real format complying with IEEE 754 The requested pseudo variable is reported in 4 byte special format see section 5 5 3 The following table provides the Reply body structure description for the Report command Table 13 Reply Body Structure Description for the Report Command i Byte Size Content 0 1 Command code copied from the replied command 1 1 Result 1 Command accepted 2 Command rejected 2 4 Variable 1 in Real format 6 4 Variable 2 in Real format if requested 38 4 Variable 10 in Real format if requested Total 6 42 00458002 00 Rev 02 42 XCD Motion Script XMS Description 4 7 4 7 1 4 7 2 1 XCD MOTION SCRIPT XMS DESCRIPTION NUMBERS Floating Point Values All numbers in XMS program are floating point values complying with the IEEE 754 definition of single precision arithmetic The values range is from 3 4 1038 to 3 4 1038 approximately All calculations are performed using single pr
29. S 21 2 atc cette t AMY 33 4 5 4 Controller Configuration wee ORAS 37 46 Reply BOY weeded RUNS 41 4 6 1 General Formate 5 2 242 diene Sere oh xe 3T IR EE x 41 4 6 2 Reply Body for Specific Commands 42 47 XCD Motion Script XMS 43 27 1 sodes PAS RR ee eae eS 43 2 772 CUES ee fae d Ei a 43 4 7 37 EXDIGSEIODS toil owo OWO WRZE PA d O ee toe ae t 44 4 7 4 Built in Functions 2 0 ee 44 4 7 5 COMMANDS wad Sus Soe Vos Sol ie R ates act 45 4 76 e wee eee ele eg atu her 47 Table of Contents 5 XMS Special Functions and Examples 5 1 Stage Location Information 20000047 TER af Rudd 5 2 Position Latch arid Encoder Index eR ERE E SES aa et 5 3 XMS Example ete pua qued Seats 54 Position C MPATE TA seda o don aere an mb eb Oen s edle S 5 4 1 Position Compare ActivatioDi s SW RE REED E aa 5 4 2 Position Compare Operation 5 4 3 Position Compare Example wo essa e Rr me yx arie 5 4 4 TIME Variable e oer gs dr
30. S variable XCD0458002 00 Rev 02 69 examples Table 14 Byte Offset Byte Value Comments 4 0x00 0 The Controller responds with sending actual position FPOS value assume actual position is 3 11 mm Table 15 ons Byte Value Comments 0 5 165 Destination address plus one sent by the host 1 0x06 6 Length of the reply body 2 Ox1A 26 Last command code 3 0x01 1 Acknowledge command accepted 4 Ox3D 61 3 11 Real format 5 Ox0A 10 6 0x47 71 7 0x40 64 XCD0458002 00 Rev 02 70 I NDEX A ACC WIRE 43 address communication 2 2 2 0 24 AINO 44 AOUT1 44 arimetic operations 44 ASSIN ERES 27 7 command 2 2 27 ASSIGN 27 assign TOELO adna OC A AGA 27 body format wasi w 26 T NECEM 33 disable 29 29 get configuration revision 32 alt SWO Z 33 NOME 1 taa O AE tea re 28 eem 31 30 monitor address 3l MOVE Unna 27 open l00p uui case i 28 position pulse incremental 34 25 read version 29 report
31. S232 communication is zero 6 2 1 MOVE MOTOR TO POSITION 2 5 MILLIMETERS The Host sends the following sequence of bytes Table 4 Byte Offset Byte Value Comments 0 OxE4 228 Constant OxE4 228 OxA5 165 Constant 5 165 2 0x00 0 Destination address 3 0x05 5 Length of the command body 4 0x01 1 Command MOVE 5 0x00 0 2 5 Real format XCD0458002 00 Rev 02 65 RS232 examples Table 4 Byte Offset Byte Value Comments 6 0x00 0 7 0x20 32 8 0x40 64 The Controller responds with acknowledge Table 5 M Byte Value Comments 0 0xE4 228 Constant 0xE4 228 1 OxA5 165 Constant 5 165 2 0x00 0 Destination address 3 0x02 2 Length of the reply body 4 0x01 1 Last command code 5 0x01 1 Acknowledge command accepted 6 2 2 SET MOTION VELOCITY 70 MM SEC The Host sends the following sequence of bytes Table 6 SES Byte Value Comments 0 OxE4 228 Constant 0xE4 228 1 OxA5 165 Constant 5 165 2 0x00 0 Destination address 3 0x07 7 Length of the command body 4 0x03 3 Command ASSIGN 5 0x01 1 ID of VEL variable 6 0x00 0 7 0x00 0 70 Real format 8 0x00 0 9 0x8C 140 10 0x42 66 XCD0458002 00 Rev 02 66 RS232 examples The Controller responds with acknowledge Table 7 A Byte Value
32. a loop are repeated variable initial to final Specified number of times The loop header defines the loop step variable one of user variables VO V19 initial value of the loop variable final value of the loop variable and step Loop command n A variable is incremented by step on each repetition en while expression commands end WHILE loop The commands within a loop are repeated while expression yields non zero value config code value Configure the controller The command provides configuration of the controller See section 5 5 4 for more details pause Pause program execution The command effectively provides breakpoint functionality When the command is encountered the program stops execution and waits for host commands Use the command for program debugging with XCD NanoCommander ppi start increment count Start position compare pulse generation incremental start specifies the first position once the motor feedback compares to start the controller generates the first pulse increment specifies the distance between pulses in mm the next position for compare is set as previous position plus increment The value is either positive or negative count specifies the number of pulses if count is one single pulse at start point is produced See Position Compare section 6 1 4 for details VARIABLES All variable names in the XMS program are predefined i e the user can use o
33. able If the second argument is omitted the function returns current value of the variable If the second argument is in range from 0 to 31 the function returns 0 or 1 according to the corresponding bit in the variable 4 7 5 COMMANDS Command is the major building block of a motion program Table 16 includes syntax definition statements The statements are structured as follows bold text specifies literal terms which appear in the script exactly as specified e Italic specifies syntax units explained in the right column Every syntax unit belongs to one of the following groups variable one of the variable names expression arithmetical logical expression command any sequence of the controller commands For example in definition move absolute_position absolute_position is an expression that generates variety of possible lines for example move 750 move TPOS 225 move V19 300 600 Definition variable expression generates assignment commands for example V9 V9 1 VEL V10 10 The following table describes the XMS command syntax Table 16 Command Syntax Description Command Syntax Comments variable expression Assignment Right part expression is calculated and its result is assigned to variable in the left XCD0458002 00 Rev 02 45 XCD Motion Script XMS Description Table 16 Command Syntax Description Command Syntax Comments move position Move to a
34. abled 0 2ndBiquad disabled 14 non stop mode 1 enabled 0 disabled In non stop node motor error does not stop program execution The program continues running motion result can be tested with pseudo variable 96 15 reserved 16 Low Resolution flag 17 HR motor flag always 0 18 Inverse Feedback 19 Inverse Drive Output 20 Simulation mode 21 23 reserved 24 Logical Motion flag internal 25 Hold Position flag internal 26 flag internal 27 31 reserved XCD0458002 00 Rev 02 34 Command Body Table 9 Pseudo Variables with Corresponding 4 Bytes in Controller s Reply Pseudo Variable Comments 901 902 Program Status Safety Disable Corresponding 4 bytes in controller s reply are interpreted as follows Bits 0 15 Currently executed program line Bits 16 31 Status values 0 program was not executed 1 execution is in progress 2 program finished successfully 3 program was terminated by a user 100 and above error code program failed Corresponding 4 bytes in the controller reply contain a bit mask with the following bits Bit 0 Negative Limit Bit 1 Positive Limit Bit 2 Emergency Stop Bit 3 Motor Not Connected 0 indicates enabled safety signal 1 indicates disabled safety signal Default setting is all faults enabled 903 Safety Inverse Corresponding 4 bytes in controller s reply contain a bit mask with the f
35. achieves TPOS 2010 S BUSY Servo loop is busy The flag is 1 while the servo loop is active After the move nmove command the flags toggles to 1 synchronously with S_MOVE but toggles to 0 zero usually later than S MOVE once the FPOS enters DZMIN interval around TPOS 2011 S_IND Index position latched The flag indicates if the encoder index was encountered and POSI variable latched valid index position See section 7 2 for details 2012 S HOME Homing is successful The flag is 0 after controller power up The controller toggles the flag to 1 after a successful Home operation The flag indicates that absolute feedback position is available The flag also can be assigned either in XMS script or by host command Assign 3 2013 S INPOS In position flag The flag toggles to 1 after a successful motion termination position error PE enters DZMIN around the target position Blackout time has elapsed default 6 msec The flag toggles to O when when a motion starts position error PE is forced out of DZMAX interval XCD0458002 00 Rev 02 51 CHAPTER 5 XMS SPECIAL FUNCTIONS AND EXAMPLES This section contains XMS special functions and examples of XMS operations 5 1 STAGE LOCATION INFORMATION XCD Controller does not have Stage location information The XCD Encoder provides velocity and direction information but does not provide information about absolute position In order for the Controlle
36. always assigns clock pin GPIO18 to SPI Bits number of bits in one word from 1 to 16 Rate clock frequency in kHz E g for 1 MHz rate parameter is 1000 XCD0458002 00 Rev 02 38 Command Body Table 10 Configuration Codes and Configuration Value Description Code Value 301 SPI transfer Real The controller reads data from and sends one or two real numbers to SPI channel Additionally to code 301 the command specifies up to three parameters Wait number of input values to wait for V1 first number to send V2 second number to send optional The controller sends real number as two 16 bit integers If Value2 parameter is omitted only one real number is sent Before sending the controller reads four 16 bit numbers from SPI interface and stores them internally XMS program can access them using getvar function and pseudo variables 921 926 Parameter Wait modifies behavior as follows If Wait is zero the function is not waiting and reads dummy data even if no data was received If Wait is from 1 to 4 the function waits until the specified number of 16 bit words is actually received 302 SPI transfer Integer The controller reads data from and sends up to four integer numbers to SPI channel Additionally to code 302 the command specifies up to five parameters Wait number of input values to wait for V1 first number to send V2 second number to send op
37. arenthesis specifies the size WA in bytes for each parameter Table 8 Commands Table Command Code Parameters Format Comments Move 1 position Real 4 Move to absolute position position defines new target position in mm Assign Int16 2 variable value ID 2 Assignment The value is Int16 4 assigned to the variable Assign 3 variable value ID 2 Assignment The value is Real 4 assigned to the variable XCD0458002 00 Rev 02 27 Command Body Table 8 Commands Table Command Code Parameters Format Comments Home 4 method Int 1 Initiate a Homing operation origin opt Real 4 The command contains the homing method point of velocity1 opt Real 4 as uda origin and optional velocity velocitye opi Redi 4 origin optional defines the position at the home point If no value is entered the system assumes zero as the origin velocityl optional defines the first stage velocity velocity 2 optional defines the second stage velocity If omitted the system takes the velocity1 value Velocity Loop 6 velocity Real Execute velocity loop control The velocity parameter defines the required velocity for the stage linear or rotary units per sec NOTE To avoid jerky movements when changing velocity make changes in small increments Open loop 7 command Real 4 Execute open loop control Parameter command defines c
38. bsolute position position is an expression that defines a new target position If command enable was not executed before command move also enables the servo loop After motion execution the servo loop remains enabled and the motor keeps final position nmove position kill Non waiting move to absolute position The command is equivalent to move but the program does not wait for motion end and continues executing the next command in parallel and asynchronously to motion progress To synchronize again to motion execution the program should wait for motion termination using an empty loop such as while S_MOVE end Kill motion Current motion is terminated and the controller enables deceleration using KDEC parameter enable Enable servo loop While servo loop is enabled the motor actively keeps current position and fixes deviation provided by an external force Command enable is equivalent to command move FPOS disable Disable the servo loop While the servo loop is disabled the motor doesn t resist actively to external force However the piezo motor provides relatively high passive force that in many cases is sufficient to keep the position home method position velocity 1 velocity2 Homing method selects one of the standard homing methods see section 7 1 for more details position optional is an expression that sets position value in the home point If omitted zero is taken velocity1 is an expressio
39. cript The XCD Motion Program is a scripting language that gives the user the ability to customize and control Nanomotion motors XMS uses both standard commands and variables to control motor position stops speed and loading User interface Provides a number of actions downloading and executing a motion program from the Host to the Controller access the Controller s flash memory to tune the servo loop parameters editing of motion control programs written in XMS saving programs from the Controller s flash memory to the Host for reuse on other Controllers XCD0458002 00 Rev 02 Work Flow with XCD Commander 3 2 3 3 WORK FLOW WITH XCD COMMANDER the XCD Commander is typically used to tune the motion control system The Commander is supplied with example XMS scripts that can serve as a starting point for program development If a script is developed from scratch it must be saved with the extension lt fileName gt xms After development open the file in the XCD Commander to verify the script The file is opened with the parts of the script color coded The next step is to check the operation of the script on the system by clicking Download and Execute This downloads the script to the Controller s RAM and simulates a power on to start the program Tune the servo loop w Write XMS script w Verify script syntax Execute script lt Edit Motor operation
40. d to tune the servo loop Noisy motion unstable movement intolerable overshoot position error other undesirable motor action XCD0458002 00 Rev 02 14 Tuning of the XCD System Servo Loop 3 5 TUNING OF THE XCD SYSTEM SERVO LOOP After installing XCD Commander it is necessary to tune the connected servo loop This operation sets the drive and feedback loop gain to ensure smooth motor operation This procedure provides tuning instructions for a linear stage Procedures for tuning a rotary stage will be added in a later revision of this document 1 Inthe Commander main window click CONFIGURE SERVO LOOP and select the Drive Mode BKM Normal mode is recommended for most applications Linear mode may be useful for some applications with extreme requirements However Linear mode increases power consumption and motor wear 2 In the Commander main window click TUNE SERVO Loop and select the Configuration tab 3 Set the parameters as follows Press Enter after entering data in fields ENR Encoder Resolution units appropriate for application millimeters degrees radii etc For example Linear applications If the encoder resolution is listed as 1000 counts per mm enter 0 001 in the ENR field Rotary applications f the encoder resolution is listed as 4096 counts per revolution enter 360 4096 0 08789 degrees per count in the ENR field Display of position related
41. e Command prefix contains four Bytes The first two are constant values The third Byte is the address of the Controller and the fourth Byte is the length of the Command body in this case three Bytes The fourth position in the sequence begins the Command body and defines the Command In this case REPORT 26 The next Bytes define the variables for the Command In this example the Variable code is 900 0x384 and requires two Bytes defined by the fifth and sixth positions Because the Bytes that define the Variable are transmitted as little endian the LSB 0x84 appears first in the stream and the MSB 0x03 appears second Table 1 Command Prefix and Body Contents Byte Byte Value Offset Hex decimal 0 0xE4 228 Constant 0xE4 228 Comments OxA5 165 Constant 5 165 OxA4 164 Destination address 0x03 3 Length of the command body Ox1A 26 Command REPORT A N 0x84 132 LSB of variable STATUS 900 0x03 3 MSB of variable STATUS 900 XCD0458002 00 Rev 02 63 Explanation of Command Response Sequence The Reply also contains a prefix and body E4 A5 00 06 1A 01 OD 17 09 01 prefix body Figure 2 Byte Sequence of REPORT STATUS Reply The Reply prefix contains four Bytes The first two are constant values The third Byte is the destination address the Host that send the Command The fourth Byte is the length of the reply The Reply body begins at By
42. e correctly The program XCD0458002 00 Rev 02 59 XMS Script Examples locates the stage s hard stops identifies the index and then runs a four hour conditioning program Rotary Application with Hard stop Motion Program Example Command Description Il Program HR2 motor Rotary Stage encoder renishaw 1184000 counts rev scale in deg setting motor controller configuration config 900 0x00091000 inverse output bit19 High res bit 16 0 enable biquad bit 12 setting controller motor parameters home zero 0 5mm from HS ENR 360 1184000 define user units in degrees V0 0 user variable for Home offset DZMIN ENR DZMIN is set equal to Encoder resolution DZMAX 15 ENR DZMAX is set to 15 times the Encoder resolution PEL 5 Sets maximum position error to 5 degrees ZFF 0 003 Zero Feed Forward is set to 0 003 degrees FRN 10 Negative Friction is set to 10 FRP 10 Positive Friction is set to 10 MTL 60000 Maximum Time Limit is set to 60 seconds KP 300 KV 0 5 KI 300 LI 60 VEL 40 Velocity is set to 40 deg sec ACC 500 Acceleration is set to 500 deg second KDEC 1000 Kill deceleration at 1000 deg sec Find the negative hard stop nmove 500 move in a negative direction to a position that is larger than the hard stop In this case while PE gt 0 5 The loop continues as long as the position error PE is
43. e the program select Program gt Save or Save As 3 7 EXECUTING AN XMS SCRIPT To execute an XMS script 1 In the Motion Program pane click Browse 2 Browse to the folder containing XMS scripts and select a script 3 The selected script s full path is displayed in the Motion Program field XCD0458002 00 Rev 02 19 Managing Flash Data U XCD Commander 1 5 on 77 4T IyANOMOTION A Johnson Electric Company Communication Pot Controller not detected Address 0 Motion Program C Users melvin Desktop XCD NanoCommander Figure 6 Commander user interface 4 To stop the script click STOP The Stop amp DISABLE button stops the script execution and disables the motor 3 8 MANAGING FLASH DATA The XMS program and parameters reside in the Controller s RAM Changes that were made during editing will be lost on power down They must be saved either to the Controller s Flash memory an XMS file or as an 519 the S19 file can be loaded directly to the memory of multiple controllers After executing the program the program s parameters are displayed in the Configure Servo Loop and Tune Servo Loop dialogs These parameters can 00458002 00 Rev 02 20 Managing Flash Data be edited to improve and fine tune the motor s operation After editing these parameters the program can be rerun to test the changes Editing of the program cannot be done while the mot
44. ecision floating numbers Literal Constants In the XMS program literal constant can appear in different formats The format of the literal constant has no affect on its internal presentation the controller converts each constant to a floating point number before using it in calculations Table 14 Literal Constants Formats in XMS Format Examples Integer 1 20 1078 Real 0 1 20 35 0 000009 Scientific 1e 5 2 3e10 Hexadecimal 0x07FF 0x1E23 UNITS The controller supports predefined measuring units for physical values For example position or distance in XMS program is always specified in millimeters Table 15 Measuring Units for Physical Values in XMS Example of Value Variables Measuring Unit Position POS 5 Millimeter mm distance FPOS TPOS Velocity VEL RVEL Millimeter per second mm sec FVEL Acceleration ACC Millimeter per second per second mm sec2 XCD0458002 00 Rev 02 43 XCD Motion Script XMS Description 4 7 3 4 7 4 Table 15 Measuring Units for Physical Values in XMS Example of Value Variables Measuring Unit Time TIME Millisecond msec Scaled values AINO AOUT1 Percents of maximum DOUT EXPRESSIONS Expression is a formula calculating numerical value In its simplest form the expression consists of a single variable or literal constant General expression may include t
45. ed for editing existing XMS scripts By using one of the supplied sample scripts the user can experiment with the system develop a unique script 1 In the Motion Program pane click BROWSE 2 Browse to the folder containing XMS scripts and select a script and click OPEN 3 The path to the script appears in the Motion Program field 4 Click 5 The Script edit panel opens Commands and parameters are color coded 00458002 00 Rev 02 18 Executing an XMS Script A CNUsersimelviniDesktopVXCD NanoCommanderXCDH_1 xms 8 5 Program Edit Tools Help 10 9099 while 1 home 50 for Vi 0 to 5 for 0 0 5 VEL 10 V0 35 Ffar UVn2zn ra 2 Download amp Execute 150 Cold Figure 5 XMS edit window 6 Click VERIFY to check script syntax If there are errors in the script syntax an error message appears and the line with the error is highlighted 7 Edit the script as required The editor verifies the script syntax An error message is displayed with the line number of the error and marks the error in the script If no error is found no message is displayed 8 To test the script click DOWNLOAD amp EXECUTE button to execute the script The script is loaded to the Controller s RAM and a power on condition is simulated to start the motor The button name changes to STOP The Line field indicates the currently running script line 9 To sav
46. ement can A be extreme until properly tuned 2 Launch XCD Commander 3 Click CONFIGURE SERVO LOOP 4 In the lower pane of the Configure Servo Loop window ensure that the four indicators are green The following figure shows a Positive Limit showing red in the upper panel of the window Change the configuration from Active Low to Active High to clear the problem XCD0458002 00 Rev 02 12 Quick Start Launching XCD Commander Configuration Inverse Drive Output Inverse Feedback Drive Mode Negative limit Positive limit Emergency Motor disconnected Current Position 20 0006 Figure 4 Example of incorrect limit switch configuration 5 Enter the ENR value ENR is the encoder s resolution For example Linear applications If the encoder resolution is listed as 1000 counts per mm enter 0 001 in the ENR field Rotary applications If the encoder resolution is listed as 4096 counts per revolution enter 360 4096 0 08789 degrees per count in the ENR field The maximum encoder frequency is 15M counts stage velocity encoder resolution lt 15M 6 In the OPEN LOOP COMMAND pane move the slider slowly right positive PWM signal When the motor begins to move stop and record the value shown in the OPEN LOOP COMMAND field XCD0458002 00 Rev 02 13 Quick Start Launching XCD Commander If the motor movement is in the opposite direction as shown by a negative number
47. erate the first pulse increment specifies the distance between pulses in mm The next position for compare is set as previous position plus increment The value is either positive or negative count specifies the number o pulses If count is single pulse at start point is produced The controller returns the revision string defined in the configuration file up to 30 characters Indication of Configuration string in the Info window of XCD Commander XCD0458002 00 Rev 02 32 Command Body Table 8 Commands Table Command Code Parameters Format Comments I config config PWMvalue PWMwidth Threshold Real Real Real Activates calibration The following parameters can be added PWMvalue specifies PWM level in percent of the maximum If omitted default value of 5096 is used PWMwidth specifies time in milliseconds of PWM pulse Between PWM pulses pause is PWMwidth 2 If omitted default value is 10 msec Threshold specifies minimum motion in millimeters if maximum motion at any frequency exceeds the Threshold the operation considered successful otherwise an error is reported If omitted default value is 0 01 mm The operation uses internal frequency table with frequencies from 153 kHz to 165 kHz Stepping between frequencies is 2 kHz getvar 960 ID Bit optional Real Real Returns information about the Variable
48. ev 02 58 XMS Script Examples 5 5 2 Linear Motion Program Example Command Description for VO 1 to 8 Inner FOR loop executes 8 times loop variable V1 changes from 1 to 8 move Move to relative position increments 0 5 1 1 5 etc RPOS 0 5 V0 delay 100 Delay for 100 milliseconds End End of inner FOR loop Variable step Comment backward for VO 1 to 8 Inner FOR loop executes 8 times loop variable V1 changes from 1 to 8 move RPOS Move to relative position increments 0 5 1 1 5 etc 0 5 v0 delay 100 Delay for 100 milliseconds end End of inner FOR loop end End of outer FOR loop Positioning to random points Comment for V1 0 to 200 FOR loop executes 201 times loop variable V1 changes from 0 to 200 random number generator 11 bits V10zV10 99341 V10 V1080x07FF Comment At each cycle generate a random number between 0 and 2048 Symbol 4 designates logical AND Literal 7 is hexadecimal constant equal to decimal 2047 V10 is random number in the range of 0 to 2048 Comment move 18 V10 2048 Move to random absolute position in the range from 0 to 18 mm delay 100 Delay for 100 milliseconds end End of FOR loop End End of WHILE loop XMS SCRIPT FOR A ROTARY APPLICATION The following motion program performs a series of tests on a rotary stage with hard stops to determine the stage s ability to operat
49. h 103 Hardware limit switch 104 Emergency 105 Motor not connected 106 Encoder Error Two encoder signals show wrong phasing The error may occur due to improper installation of the encoder or because or too fast motion 115 Motion Timeout A motion continues more than MTL milliseconds 120 Operation Failure Special operation homing or calibration failed 121 AIN protection mechanism Overvoltage on power transistors 122 AIN protection mechanism Overcurrent in supply circuit Limits 0 8 A Dwell 1 ms 123 AIN protection mechanism Voltage out of range Limits 21 5 26 5 V Dwell 1 ms 202 The error may occur if non waiting operations nmove nhome are used in XMS script The error occurs in attempt to command a motion while one motion is executed and another one is waiting in motion queue 204 Mathematical Error Error occurred in expression calculation E g function argument is out range 301 Unsupported Method Unsupported method in special operation homing or calibration is requested XCD0458002 00 Rev 02 22 Error Messages Table 3 1 Error Codes Error Code Error Description 302 Timeout Timeout in special operation homing or calibration occurred XCD0458002 00 Rev 02 23 CHAPTER 4 HOST COMMUNICATION PROTOCOL 4 1 COMMUNICATION CHANNELS Communication with the host computer is provided through the following physical channels e UART 5232 115000 baud e 2Cup to 400 kHz 4
50. he following elements Variables such as VEL V10 IN_0 Literal constants such as 10 0 0001 OxOFFF e Parenthesis and e Arithmetic operations Compare operations equal lt gt non equal lt less lt less or equal gt greater gt greater or equal e Logical operations 6 and or exclusive BUILT IN FUNCTIONS XMS language provides several built in functions that can be used in expressions along with variables and constants Few examples of using standard functions in expressions V6 sqrt V4 V44 V5 V5 while abs PE 0 1 if getvar 960 gt 100 Here is a list of built in functions e abs calculates absolute value of an argument The argument can be any number e sqrt calculates square root of an argument The argument can be any zero or positive number e calculates sine of an argument The argument specifies angle in radians The argument can be any number XCD0458002 00 Rev 02 44 XCD Motion Script XMS Description cos calculates cosine of an argument The argument specifies angle in radians The argument can be any number e calculates tangent of an argument The argument specifies angle in radians The argument can be any number e getvar returns value of a variable or a bit from a variable The function accepts one or two arguments The first argument specifies ID of a variable The second argument specifies bit in the vari
51. in the CURRENT POSITION field select or deselect I NVERSE DRIVE OUTPUT and recheck motor action The slide displacement is proportional to the PWM duty cycle In the Info pane check that the Controller is in Normal mode In this mode the motor shows a sensible Dead Zone and normally starts moving at 15 30 of PWM duty cycle If the motor hasn t moved at 50 of PWM do not continue The motor apparently has a problem that must be corrected 7 Continue in the positive direction and record the value shown in the CURRENT POSITION where the motor stops 8 Move the slider slowly left negative PWM signal and when the motor begins to move record the value in the field 9 Continue in the negative direction and record the value shown in the CURRENT POSITION where the motor stops 10 Click TUNE SERVO Loop button in the Commander main window 11 In the lower pane of the Tune Servo Loop dialog enter values for Position 1 and Position 2 obtained in steps 7 and 9 The values should be at least 1 mm off the hard stops noted in the above steps 12 BACK FORCE WITH DELAY enter 500 milliseconds 13 Click PosiTI ON 1 and ensure that the motor moves to that posi tion 14 Click PosiTI 2 and ensure that the motor moves to that posi tion 1511 movement in both directions is ok click BACK FORCE WITH DELAY The motor will begin moving between Position 1 and Position 2 Any of the following indicate a nee
52. ive direction while S_IND 0 Wait for index pulse end kill Kill motion while S BUSY 0 Wait for motion termination end set FPOS FPOS Set axis origin to index position POSI POSITION COMPARE Position Compare function produces pulses on a Controller output once the motor feedback position compares to a predefined value The function is supported in hardware related delay is about 0 1 microseconds Therefore the pulse can be used for operating devices synchronously to motor position e g for taking video frames POSITION COMPARE ACTIVATION The function is activated with either XMS command ppi or Host command Position Pulse Incremental 33 In both cases up to three parameters are specified Start specifies the first position once the motor feedback compares to start the Controller generates the first pulse increment specifies the distance between pulses in mm the next position for compare is set as previous position plus increment The increment is rounded to integer number of encoder pulses e count specifies number of pulses if count is one single pulse at start point is produced Some of the parameters can be omitted If increment and count are omitted the Controller produces only one pulse once the motor achieves start position If all parameters are omitted no pulses are produced The function without parameters effectively cancels currently active Position Compare function XCD0458002 00 Rev 02
53. l communication click Info The Info field displays the Controller and application information Controller version and build Controller serial number Code Controller Driver type and mode Ensure that the Controller version is the same as the XCD Commander version A shown in the window header For example Controller version 1 5 0 5 and XCD Commander 1 5 00458002 00 Rev 02 11 Quick Start Launching XCD Commander 7 The XCD Commander application is ready for use To uninstall XCD Commander application use the Control Panel Program Remove feature 3 4 QUICK START LAUNCHING XCD COMMANDER The XCD Software package has a folder with Nanomotion developed motion control programs These programs provide recommended motor controls that can be used as is or modified to meet specific user application requirements The programs include basic servo loop tuning parameters These parameters should be tested to ensure they provide optimal performance Changes to fields and selection boxes in the Configure Servo Loop and Tune Servo Loop dialogs are passed to the Controller s RAM when the field selection changes 1 Connect the system components If using a Nanomotion Evaluation kit connect the following components Motor to Controller Encoder to Controller Controller to the Host computer Controller to external power supply Ensure that the stage is securely mounted to the workbench Stage mov
54. ler address for UART communication and can be any number in range from 0 to 255 The default value is zero if the controller address is zero the controller accepts any destination address If the destination address is zero broadcasting controller accepts the command irrespective of controller address If both controller and destination addresses are non zero the controller answers only if the destination address matches the controller address 990 UART address 991 address The value specifies controller address for 2 communication use only even numbers in range from 2 to 254 The default value is 164 0xA4 If the destination address is non zero the controller accepts the command only if the destination address matches the controller address If the destination address is zero broadcasting controller accepts the command irrespective of controller address 4 6 REPLY BODY 4 6 1 GENERAL FORMAT The Reply body is a sequence of bytes in the following order Table 11 Reply Body Structure Description hee Byte Size Content 0 1 Command code copied from replied command 1 1 Result 1 Command accepted 2 Command rejected 2 Up to 48 Extension Total 2 50 For most commands the controller sends back only two bytes omitting the extension XCD0458002 00 Rev 02 41 Reply Body 4 6 2 REPLY BODY FOR SPECIFIC COMMANDS Read Version 19 See Table 13 for
55. lick BACK FORCE WITH DELAY to start the back and forth move ment 19 Ensure that the stage moves smoothly in both directions The motor should move between the two entered positions in a smooth repetitive action 20 While the motor is moving increase KV until an audible sound appears Each increase should be twice the previous increment The noise will typically be heard at the extremes of the stage movement 21 Return the KV value to the last value before the noise began 22 Raise the KV value very gradually 1mm increments 23 Divide the value where the noise starts again by 2 and enter as KV The stage runs smoothly with no audible noise 24 Reset KP to 200 If the stage physically oscillates low frequency movement reduce KP to 100 XCD0458002 00 Rev 02 17 Working with XMS Scripts 25 Stop the motor movement 26 the Commander s main window select MANAGE FLASH DATA and click RAM gt Flash to save the tuning settings 3 6 WORKING WITH XMS SCRIPTS The user can develop a motion control program from scratch or run a Nanomotion sample script that provides a starting point for program development The sample scripts are in the evaluation kit software package folder titled Scripts The folder contains two XMS scripts e lt productName gt _DEMO_KIT_Cond xms sets general defaults e lt productName gt _DEMO_KIT_Steps xms sets defaults for step operation 3 6 1 EDITING A SCRIPT The edit function can be us
56. m e HR series or Edge motor Encoder e XCD Controller Driver Remote computer to host the XCD Commander The Controller provides a PWM signal to an AC converter The output AC is applied to the motor driving the stage As the stage moves the encoder sends position information to the Controller The Controller matches the current position against a calculated expected position and corrects the PWM drive signal to correct motor speed Servo Configuration Motor Encoder and Tuning Controller Command Stage linear rotary XCD Controller Drive Position Feedback Figure 1 Servo Loop Block Diagram XCD0458002 00 Rev 02 3 Position Profile 2 1 POSITION PROFILE When the Controller receives a MOVE command it calculates a position signal profile that defines the expected stage positions at 50 usec intervals The profile includes three phases Acceleration ACC e Constant velocity VEL e Deceleration ACC Position RPOS The ACC parameter is a lt userUnit gt sec2 value used for both acceleration and deceleration Note that for a linear stage the value is mm sec2 and for a rotary stage it is degree sec During acceleration ACC the Controller supplies a signal that increases motor speed After the motor reaches the configured velocity VEL the Controller maintains velocity by changing the drive command As the stage approaches the target position the Controller begins to reduce the drive command P
57. n command 42 REPO 31 32 RPOS UNS OG GRE 43 RVEL UNITS oO O OEG 43 S Save parameters 28 servo loop ro AAA 15 Set address oro ipi nadie vb ted Ru bd 29 coge TEE 53 system USE i sd ge da Rad 48 T M eM 56 MIE A haka ia 44 TPOS WILEY 43 0 UNIES 43 acceleration 43 position distance Wa 43 XCD0458002 00 Rev 02 POS 43 RPOS 43 TPOS 43 scaled value UN ar EE WE 44 AOUT koko i m oh 44 DOUT rr 44 time AAAA 44 velocity DEL dza kick A 43 RVEL 43 VEL 43 vana bles oeste tun taf 44 NUMDErS ie mH 44 SYSTEM tA 48 VEL dicem 43 velocity l00p e M 28 X XCD Commander error messages 22 cafe NERONE 20 installation ooo PE bri e 9 interface MER 8 W rk 9 XCD Motion Script dac 8 i e 8 command M 51 example 53 script Od RARE 18 dad P 19 73 XCD0458002 00 Rev 02 74
58. n that defines velocity at the first stage of homing procedure If omitted VEL value is taken velocity2 is an expression that defines velocity at the second stage of homing procedure If omitted velocity1 value is taken openloop command Open loop The controller switches to open loop operation command is an expression that defines drive output value set variable expression Set special variable The command resembles assignment but unlike regular assignment causes special actions The command applies to limited set of variables that are read only and cannot be addressed in regular assignment Only the following variables can be specified in the command set FPOS Defines a new motor position set TIME 0 The command resets TIME to zero and restarts counting Right side value is ignored counting restarts from zero e set S_ IND 0 The command resets S IND to zero and restarts position23 latch function XCD0458002 00 Rev 02 46 XCD Motion Script XMS Description 4 7 6 Table 16 Command Syntax Description Command Syntax Comments delay time Delay time is an expression that defines the delay time in milliseconds if expression Conditional statement If the expression yields a non zero commands1 value commands1 are executed else commands2 are else executed The lt else command2 gt close can be omitted commands2 end for FOR loop The commands within
59. nly these predefined variable names The XMS variables are subdivided into two classes 00458002 00 Rev 02 47 XCD Motion Script XMS Description e System variables each system variable has predefined meaning for example eVEL required motion velocity FPOS feedback position User variables with predefined names VO V1 V2 V19 A user variable has no predefined meaning and can store any number required in a program Table 17 Required Motion Parameters XCD0458002 00 Rev 02 ID Name Comments 1 VEL Velocity 2 ACC Acceleration 4 KDEC Kill deceleration used in fault conditions e g if limit switch is activated Table 18 Instant Reference Motion Variables ID Name Comments 5 TPOS Target position 6 RPOS Reference position 7 RVEL Reference velocity 8 RACC Reference acceleration Table 19 Instant Feedback Motion Variables ID Name Comments 9 FPOS Feedback position 10 FVEL Feedback velocity 12 PE Position error 52 POSI Position latched on index pulse See section 7 2 for details Table 20 Time variable ID Name Comments 38 TIME Elapsed time in milliseconds See section 7 1 for details 48 XCD Motion Script XMS Description Table 21 Position Compare Variable I
60. ollowing bits Bit 0 Negative Limit Bit 1 Positive Limit Bit 2 Emergency Stop 0 indicates that the safety signal is enabled 1 indicates that the safety signal is disabled Default setting is all signals are enabled 904 XCD0458002 00 Rev 02 Safety State Corresponding 4 bytes in controller s reply contain a bit mask with the following bits Bit 0 Negative Limit Bit 1 Positive Limit Bit 2 Emergency Stop Bit 3 Motor Not Connected The result shows a raw state of the safety inputs 0 corresponds to low voltage level 1 corresponds to high voltage level 35 Command Body Table 9 Pseudo Variables with Corresponding 4 Bytes in Controller s Reply Pseudo Variable Comments 905 IO direction Corresponding 4 bytes in controller s reply contains a bit mask Bit 0 of the bit mask defines behavior of IO_0 bit1 IO 1 and so on up to IO 7 If a bit is zero corresponding IO is input if a bit is one corresponding IO is output 906 DZMIN Blackout Shows the blackout time as a number between 1 and 256 Each number is an increment of 0 05 msec For example 20 1 msec 907 PWM Limit The return is a real value of absolute PWM limit in percent For most XCD products the value is 100 The value restricts PWM output DOUT value in all controller modes If DOL value is below 100 the PWM output is restricted to the lower of two limits 908 AIN
61. ommand value in percent from 100 to 100 Save 13 addr 90 Inte 1 Save parameter values into parameters 0 5 nt8 1 flash memory At the next start up the controller reads the parameters from the flash and starts with the stored parameters instead of default values The parameters are required to prevent unintentional use of the command Addr specifies communication address of the controller The second parameter is constant 90 0 5 XCD0458002 00 Rev 02 28 Command Body Table 8 Commands Table Command Code Parameters Format Comments Set address 16 addr 90 Inte 1 Change communication 0 5 Int8 1 address newaddr Int8 1 The first two parameters are required to prevent unintentional use of the command addr specifies the current communication address of the controller The second parameter is constant 90 0x5A newaddr specifies a new communication address of the controller Enable 17 Enable servo loop While servo loop is enabled the motor actively keeps current position and fixes deviation provided by an external force Disable 18 Disable servo loop While servo loop is disabled the motor passively resists to an external force However the piezo motor provides a relatively high passive force that in many cases is sufficient to keep the position Read version 19 Read version The command requests information about c
62. on of the window For example if the Positive Limit indicator is red select Active High in the Positive Limit Switch dropdown 7 Manually position the stage to its midpoint 8 Move the Open loop command slider towards 100 and verify that the Current Position shows a positive value counts posi tive If the value was negative select the option box for Inverse Drive Output press ENTER and recheck the action XCD0458002 00 Rev 02 16 Tuning of the XCD System Servo Loop Standard orientation of the motor is when looking at the stage and the Drive Strip is visible motor movement to the right is positive and movement to the left is negative 9 Close the Configure Servo loop and open Tune Servo Loop 10 In the lower section of the window select the Motion Parameter tab and set the parameters VEL to 50 mm sec ACC to 1000 mm sec2 11 Manually move the stage in a positive direction until you feel the HW physical limit 12 Enter a value that is 1mm less than the HW physical limit in the Move to Position 1 field 13 Manually move the stage in the negative direction until you feel the HW physical limit 14 Enter a value that is 1mm less than the HW physical limit in the Move to Position 2 field 15 Click MOVE TO POSITION 1 and verify that the stage moves to that position 16 Click MOVE To POSITION 2 and verify that the stage moves to that position 17 Enter 500 in the Back Force with Delay field 18 C
63. ontroller firmware See section 5 6 2 for format of controller s reply XCD0458002 00 Rev 02 29 Command Body Table 8 Commands Table Command Code Parameters Format Comments Monitor 20 channel Inte 1 Monitor variable Being variable scale 2 commanded the controller in each cycle converts the Real 4 variable using the scale and passes it to analog output channel defines analog output to use 0 AOUTO 1 AOUTI variable specifies variable to monitor scale defines a conversion factor In each cycle the Controller retrieves the value of the variable multiplies it by the scale and assigns a voltage between 0 and 3 3 V V Var scale 1 65 100 1 65 While active the analog output is disconnected from the corresponding AOUT variable To stop monitoring apply Monitor Address 21 with all zeros in parameters XCD0458002 00 Rev 02 30 Command Body Table 8 Commands Table Command Code Parameters Format Comments Monitor address channel address scale Inte 1 Int16 2 Real 4 Monitor variable Being commanded the controller in each cycle converts the specified RAM address using the scale and passes it to analog output Channel defines analog output to use 0 AOUTO 1 1 Address specifies variable to monitor Scale defines a conversion factor In each cycle the Controlle
64. or is operating Parameter edits are copied to the Controller s RAM and affect the motor s current operation 1 In the Commander s Setup pane click MANAGE FLASH DATA Figure 7 Manage Flash Data dialog The dialog has three tabs that display the contents of the Flash memory Each tab displays the contents of both the Controller s Flash and RAM Configuration Flash Variables Program shows Program size and checksum in the Flash drive and RAM The Encoder Compensation tab provides the ability to import or export an encoder compensation value Save and upload data as follows RAM gt FLASH saves the Controller s RAM to its Flash memory The process overwrites the contents of the Flash memory FLASH gt RAM copies the contents of the Flash memory to RAM This returns the RAM to its previous state FLASH gt FILE saves the Controller s Flash data to a S19 file on the Host computer FILE FLASH Copies an S19 file from the Host computer to the Controller s Flash memory XCD0458002 00 Rev 02 21 Error Messages 3 9 ERROR MESSAGES When the Controller driver detects an error the following actions take place An error code appears on the screen currently running XMS program is aborted and motor action is stopped Table 3 1 Error Codes Error Error Description Code 101 Position error 102 Software limit switc
65. osition Velocity acceleration Constant deceleration time Velocity Figure 2 Position and Velocity Profile changes over time XCD0458002 00 Rev 02 4 Control Algorithm 2 2 CONTROL ALGORITHM The XCD Controllers are based on a standard PIV position velocity loop controller with a non linear mechanism The Controller uses several mechanisms to control movement of the stage e Offset mechanism Zero FeedForward mechanism Dead Zone mechanism d dt VFF ZFF 4 mechanism Drive Limit DOL Position Profiler s POS VEL p gt SOF gt Ki gt f ACC DEC gt PWM Offset mechanism FVEL Open loop 01 command ae Open loop control DZMIN DZMAX mechanism 5 from encoder Figure 3 Controller Block Diagram The discussions in the following sections refer to this diagram 2 2 1 OFFSET MECHANISM The ofiset mechanism provides an initial starting value to overcome the natural friction of the motor by initializing the integrator The offset value is set using two parameters Friction Positive FRP compensates for friction in a positive direction Friction Negative compensates for friction in a negative direction These parameters are set at between 50 100 of the value required to cause the motor to move This is determined during the initial tuning of the servo loop XCD0458002 00 Rev 02
66. parameters correct Save final program to Flash Figure 1 Basic Work Flow If discrepancies are found in motor operation or there is a need to fine tune parts of the program specific commands can be applied and their response monitored The parameters that require modification can be edited and the program rerun All modifications of the program are implemented in the Controller s RAM These changes are not saved unless they are saved to the Controller s Flash memory After development and testing are complete the final program is saved to the Controller s Flash From here the program can be moved to a file lt fileName gt S19 on the Host computer This file can be copied to other Controllers INSTALLING XCD COMMANDER XCD Commander is on a USB drive or CD that is supplied with the Controller driver The Host computer OS must be Microsoft Windows XP or Windows 7 XCD0458002 00 Rev 02 9 Installing XCD Commander 1 The XCD Software is delivered on either USB flash drive or CD The XCD Commander will automatically launch In case the installation does not launch navigate to the installation program USB or CD and double click on the setup exe file 2 If Security Warning notice opens click INSTALL Publisher cannot be verified Are you sure you want to install this application Name XCD NanoCommander From Hover over the string below to see the full domain C tmp Installation
67. r position in variable POSI The related delay is at nanosecond level and provides one encoder count resolution of the latched position I Negative Power Positive hard stop position hard stop __ __ o Figure 2 Home and Position Latch Position latch function operates with two XMS variables e POSI real variable S IND flag S IND is zero after Controller start up Positive pulse on the latch input toggles 5 IND to one and latches current encoder position in variable POSI value one in 5 IND indicates that the latch input was activated and the value of POSI is valid As long 5 IND remains one the next activation of the latch input will not be acted on To repeat a position latch function reset 5 IND to zero 5 IND 0 5 3 XMS EXAMPLE The following XMS example implements a sequence of actions similar to home 60 0 10 command given the position latch input is connected to encoder index output Example for Home 60 0 10 Implementation Command Description VEL 10 Move at velocity 10 mm sec nmove 10000 Infinite move in negative direction XCD0458002 00 Rev 02 53 Position Compare 5 4 5 4 1 Example for Home 60 0 10 Implementation Command Description while PE gt 1 Check if the motor stuck at negative hard stop end disable Stop motion immediately set S_IND 0 Reset S_IND to zero activate position latching nmove 10000 Infinite move in posit
68. r retrieves the value of the address multiplies it by the scale and assigns a voltage between 0 and 3 3 V V Var scale 1 65 100 1 65 While active the analog output is disconnected from the corresponding AOUT variable To stop monitoring apply Monitor Address 21 with all zeros in parameters Kill 23 Kill motion Current motion is terminated and the controller provides deceleration using KDEC parameter Report I nt16 varl var2 opt var10 opt Int16 2 Int16 2 Int16 2 The command requests current variable values From 1 to 10 variables can be requested in one command Additionally to XMS variables the command accepts IDs of pseudo variables XCD0458002 00 Rev 02 31 Command Body Table 8 Commands Table Command Code Parameters Format Comments Report 26 varl var2 opt var10 opt ID 2 ID 2 ID 2 Report variable values The command requests current variable values From 1 to 10 variables can be requested in one command Additionally to XMS variables the command accepts IDs of pseudo variables Position Pulse Incremental Get Configuration Revision 55 start increment count Real 4 Real 4 Int32 Start position compare pulse generation incremental start specifies the first position once the motor feedback compares to t star the Controller gen
69. r to determine the location of the Stage it must run a HOME command The command has one required parameter and three optional parameters HOME method position velocity 1 velocity2 method required parameter that defines the Homing method 50 home on the negative hard stop 51 home on the positive hard stop 60 Homing on the negative hard stop and index pulse 61 Homing on the positive hard stop and index pulse position sets position value at the home point The default value is zero e velocity1 defines the velocity during the first stage of the homing procedure The default value is VEL e velocity2 defines the velocity during the second stage of the homing procedure The default value is velocity1 In the following image the HOME method is 50 Home on negative hard stop If the position is not included in the command the position is marked as O This Home position will be used in all motor movements from this point forward Negative Power on Positive hard stop position hard stop Figure 1 Homing on the Negative hard stop XCD0458002 00 Rev 02 52 Position Latch and Encoder Index 5 2 POSITION LATCH AND ENCODER INDEX The encoder provides special input for position latch This input should be connected to encoder index output The function is used internally in Home functions based on encoder index Positive pulse on the input causes immediate latching of the current encode
70. s Each motion is positioned to a point in the range of 0 to 20 mm Linear Motion Program Example Command Description V10 999 Seed of random number generator assigned to variable V10 while 1 WHILE loop executes forever as condition expression is always non zero home 50 Homing method 50 to the left hard stop for V120 to 5 FOR loop executes 6 times loop variable V1 changes from 0 to 5 Force back Comment move for VO 0 to 5 Inner FOR loop executes 6 times loop variable VO changes from 0 to 5 VEL 10 V0 35 Set a required motion velocity Velocity starts from 10 mm sec then rises to 45 80 115 150 and finally reaches 185 mm sec Incremental move forward move 5 Move to absolute position 5 mm move15 Mowe to absolute position 5 mm end End of inner FOR loop move 0 Move to absolute position 0 mm Comment for V0 0 to 3 Inner FOR loop executes 4 times loop variable V1 changes from 0 to 5 move RPOS 4 Move to relative position increment 4 mm delay 100 Delay for 100 milliseconds End End of inner FOR loop Incremental move backward Comment for VO 0 to Inner FOR loop executes 4 times loop variable V1 changes from 0 to 5 move 5 4 Move to relative position increment 4 mm delay 100 Delay for 100 milliseconds End End of inner FOR loop Variable step Comment forward XCD0458002 00 R
71. s monitoring the motor s position referred to as Blackout The default blackout time is 0 05 msec _DZMIN Blackout page 36 After Blackout is lifted the Controller checks PE If absolute value of PE is greater than DZMAX the Controller applies a signal to return the motor toward the Target Position servoing again 00458002 00 Rev 02 7 CHAPTER 3 XCD COMMANDER The XCD Commander is an application that resides on an external Host computer and provides monitoring of the operation of the user developed motor control program XCD Commander gives the user the ability to Configure and tune the XCD Controller Motion system Edit and save XMS scripts Evaluate and troubleshoot motion control program operation Edit program parameters Save the final motion control program on the XCD Controller Save the final program to file on the Host and save from the Host to other Controllers 3 1 OVERVIEW OF XCD COMMANDER The XCD Commander is a user interface that provides access to all operations involved in developing testing and using XMS scripts as well as monitoring Controller and motor states The interface provides the following Communication between XCD Commander and the XCD Controller Driver is based on a Host Client relationship XCD Commander resides on the Host remote computer and the XCD Controller Driver is the Client Communication is over either a UART cable or IIC of up to 400 kHz XCD Motion Program XMS S
72. te offset 4 This position is the code of the command being replied to Byte offset 5 indicates if the Command was accepted Byte offsets 6 thru 9 provide the 31 bits available in the STATUS reply Table 2 Byte Value Gama 0 0xE4 228 Constant 0xE4 228 1 OxA5 165 Constant 5 165 2 0x00 0 Destination address 3 0x06 6 Length of the reply body 4 Ox1A Last command code 5 0 01 1 Command accepted 6 OxOD Bits 0 7 7 0x17 Bits 8 15 8 0x09 Bits 16 23 9 0x01 Bits 24 31 The 31 bits of the STATUS variable reply Byte offsets 6 9 are shown below Table 3 Function Script Run flag S QUEUE flag S MOVE flag 5 BUSY flag 1 N reserved A N Open Loop flag Velocity Loop flag XCD0458002 00 Rev 02 64 RS232 examples Table 3 Bit Function 10 Position Loop flag 11 reserved 12 BiQuad filter enabled 13 Second BiQuad filter enable 14 non stop mode 15 reserved 16 Low Resolution flag 17 HR motor flag always 0 18 Inverse Feedback 19 Inverse Drive Output 20 Simulation mode 21 23 reserved 24 Logical Motion flag internal 25 Hold Position flag internal 26 Kill flag internal 27 31 reserved 6 2 RS232 EXAMPLES The examples below show RS232 byte sequences for few typical commands Destination and controller address for R
73. tional V3 third number to send optional V4 fourth number to send optional The controller sends each number as 16 bit integer If some parameters are omitted only the specified numbers are sent Before sending the controller reads four 16 bit numbers from SPI interface and stores them internally XMS program can access them using getvar function and pseudo variables 921 926 Parameter Wait modifies behavior as follows If Wait is zero the function is not waiting and reads dummy data even if no data was received If Wait is from 1 to 4 the function waits until the specified number of 16 bit words is actually received XCD0458002 00 Rev 02 39 Command Body Table 10 Configuration Codes and Configuration Value Description Code Value 400 Power save The controller enters a power save mode with consumption 20 mA In power save mode the controller does not execute any function most interfaces are disabled except the encoder interface and UART interface The controller continues counting encoder counts The first character sent through UART interface wakes up the controller 900 Servo Configuration The value is a bitmask only the following bits are meaningful 12 BiQuad 1 enabled O disabled 13 Second BiQuad 1 enabled 0 disabled 14 Non stop mode 0 XMS program stops if motion error occurs 1 XMS program continues running if motion error occurs 16 PWM
74. ts loss of use or incidental increased cost of operation or delays in operation special or consequential damages whether based on contract tort including negligence strict liability XCD0458002 00 Rev 02 ii or any other theory or form of action even if NM has been advised of the possibility thereof arising out of or in connection with the manufacture sale delivery use repair or performance of the NM products Without limiting the generality of the preceding sentence NM shall not be liable to the Purchaser for personal injury or property damages Patents Nanomotion products are covered under or more patents registered or applied for For a list of applicable patents refer to the appendix of this document or to the Nanomotion website Customer Service Website www nanomotion com Contact your local distributor or email Nanomotion Ltd Technical Support Department at techsupport nanomotion com with detailed problem description additions corrections or suggestions Nanomotion Ltd Worldwide Headquarters Mordot HaCarmel Industrial Park HaYetsira Street PO Box 623 Yokneam 20692 Tel 972 73 249 8000 Fax 972 73 249 8099 Email nano nanomotion com Nanomotion Inc US Headquarters 1 Comac Loop Suite 14B2 Ronkonkoma NY 11779 Tel 1 800 8216266 Fax 1 631 5851947 Email nanoUS nanomotion com Patent Information The following patents apply to or relate to the products and information in this user manual
75. ytes Table 10 a Byte Value Comments 0 OxA4 164 Destination address 1 0x05 5 Length of the command body 2 0x01 1 Command MOVE 3 0x00 0 2 5 Real format 4 0x00 0 5 0x20 32 6 0x40 64 The Controller responds with acknowledge Table 11 2 Byte Value Comments 0 OxA5 165 Destination address plus one sent by the host 1 0x02 2 Length of the reply body 2 0x01 1 Last command code 3 0x01 1 Acknowledge command accepted XCD0458002 00 Rev 02 68 examples 6 3 2 6 3 3 SET MOTION VELOCITY 70 MM SEC The Host sends the following sequence of bytes Table 12 ez Byte Value Comments 0 OxA4 164 Destination address 1 0x07 7 Length of the command body 2 0x03 3 Command ASSIGN 3 0x01 1 ID of VEL variable 4 0x00 0 5 0x00 0 70 Real format 6 0x00 0 7 0x8C 140 8 0x42 66 The Controller responds with acknowledge Table 13 2 Byte Value Comments 0 OxA5 165 Destination address plus one sent by the host 1 0x02 2 Length of the reply body 2 0x03 3 Last command code 3 0x01 1 Acknowledge command accepted READ FEEDBACK POSITION The Host sends the following sequence of bytes Table 14 ona Byte Value Comments 0 OxA4 164 Destination address 1 0x03 3 Length of the command body 2 Ox1A 26 Command REPORT 3 0x09 9 ID of FPO
76. ytes 0 1 Destination address plus read address This byte is sent by the host 1 1 Length of reply body in bytes This byte is sent by the controller COMMAND BODY GENERAL FORMAT Command body is a sequence of bytes in the following order Table 6 Command Body Structure Description Byte offset Byte size Content 0 1 Command code 1 Up to 49 Parameters If acommand requires no parameters the whole command body includes only one byte the command code In most commands the command code is followed by parameters Each parameter occupies one or several bytes Delimiting bytes are omitted between the command code and parameters or between the parameters XCD0458002 00 Rev 02 26 Command Body Each parameter is a numerical value Each command requires a specific format for each of its parameters All formats are binary the least significant byte appears first The following formats are used Table 7 Command Parameters Formats Format T by Int8 1 128 to 127 Int16 2 32768 to 32767 Real 4 3 4 1038 to 3 4 1038 approximately complying with IEEE 754 ID 2 0 to 65535 Some commands require a parameter that specifies a controller variable The variable is referenced by its numerical ID See section 6 1 4 for variable IDs Table 17 4 5 2 COMMANDS TABLE 8 In the Format column the number in p

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