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ESP301 - Newport Corporation

1. 8 Q 9 9 Pin D Sub 9 Pin D Sub Male Connector Female Connector on Controller Side on Computer Side Figure C 2 Conductor pin to pin RS 232C interface cable C 1 8 USB Interface Connector 4 Pin Type B The RS 232C interface uses a 9 pin sub F connector The back panel connector pin out is shown in Figure C 3 Pin No Description 1 N C 2 Data 3 Data 4 Ground Figure C 3 RS 232C Connector Pin Out C 1 9 USB Interface Cable Figure C 4 shows a simple straight through pin to pin cable with 4 conductors that can be used to connect to a standard 4 pin USB Type A host The ESP301 has a Type B USB connector Pin No Name Pin No 1 VCC 1 2 D ss weeenen 2 3 Dt weeee nee 3 4 GND 4 Figure C 4 Conductor pin to pin USB interface cable GD Newport Experience Solutions Page C 7 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver C 1 10 Motor Interlock Connector BNC This connector is provided for the wiring of one or more remote MOTOR ON OFF It will have the same effect as the front panel MOTOR ON OFF button The switch has to be normally closed for operation If more than o
2. Number ASCII Binary decimal Code Code 129 10000001 130 10000010 131 10000011 132 10000100 133 10000101 134 10000110 135 10000111 136 10001000 137 10001001 138 10001010 139 10001011 140 10001100 141 10001101 142 10001110 143 10001111 144 10010000 145 10010001 146 10010010 147 10010011 148 10010100 149 10010101 150 10010110 151 10010111 152 10011000 153 10011001 154 10011010 155 10011011 156 10011100 157 10011101 158 10011110 159 10011111 160 10100000 161 10100001 162 10100010 163 10100011 164 10100100 165 10100101 166 10100110 167 10100111 168 10101000 169 10101001 170 10101010 171 10101011 172 10101100 173 10101101 174 10101110 175 10101111 176 10110000 177 10110001 Table D 1 Binary Conversion Table Using decimal and ASCII codes Continued GO Newport Experience Solutions Page D 4 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Number ASCII Binary decimal Code Code 178 10110010 179 10110011 180 10110100 181 10110101 182 10110110 183 10110111 184 10111000 185 10111001 186 10111010 187 10111011 188 10111100 189 10111101 190 10111110 191 10111111 192 11000000 193 11000001 194 11000010 195 11000011 196 11000100 197 11000101 198 11000110 199 11000111 200 11001000 201 11
3. Example Command Issued Controller Interpretation 1ZF123H nn 123H 0001 0010 0011 Binary 1ZF123 nn 123H 0001 0010 0011 Binary 1ZFOF25H nn F25H 1111 0010 0101 Binary 1ZFF25H Invalid command Page 3 162 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 0 0 1 2 N NANDA NN HAW W 31 31 BIT VALUE DEFINITION 0 Ore Orcde Dne oDe oDe ODO m disable motor following error checking enable motor following error checking do not disable motor power on following error event disable motor power on following error event do not abort motion on following error event abort motion on following error event reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved eoo reserved reserved default setting RETURNS If the sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS ZA ZB ZE ZH ZS ZZ FE EXAMPLE 2ZF 3H 2ZF 5H SM QD Newport Experience Solutions set amplifier I O configuration set feedback configuration set e stop configuration set hardware limit configuration set software limit configuration set general system configuration set following error threshold read following error configuration of axis 2 controller returns a value of 3H for axis 2 set following error c
4. SYNTAX xxHX PARAMETERS Description xx int group number Range XX 1 to MAX GROUPS Units XX none Defaults xx missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED DESCRIPTION This command deletes a group and makes available any axes that were assigned to it for future assignments RETURNS none REL COMMANDS HN reate a new group EXAMPLE 1HN1 2 create a new group 1 with physical axes 1 and 2 1HN query axes assigned to group 1 1 2 controller returns the axes assigned to group 1 1HX delete group 1 1HN query axis assigned to group 1 TB read error message 0 475322 GROUP NUMBER NOT ASSIGNED GD Newport Experience Solutions Page 3 81 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HZ read group size IMM PGM MIP USAGE SYNTAX xxHZ PARAMETERS Description xx int group number Range XX 1 to MAX GROUPS Units XX none Defaults XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED DESCRIPTION This command is used to read the number of axes assigned to a group RETURNS This command reports the current setting REL COMMANDS HN create a new group HX delete a group EXAMPLE 1HN1 2 create a new group 1 with physical axes I and 2 1HN read axes assigned to group 1 1 2 controller r
5. B2 Cleaning Clean the exterior metallic surfaces of the ESP301 with water and a clean lint free cloth Clean external cable surfaces with alcohol using a clean lint free cloth WARNING Power down all equipment before cleaning CAUTION Do not expose connectors fans LEDs or switches to alcohol or water GO Newport Experience Solutions Page B 4 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Appendix C Connector Pin Assignments ca ESP301 Rear Panel C 1 1 GPIO Connector 37 Pin D Sub This connector is dedicated to the digital I O ports All I O are pulled up to 5V DC with 4 7KQ resistors Maximum sink or source current is 32 mA bits Connector pin outs are listed in Table C 1 and functionally described in the following paragraphs C 1 2 Signal Descriptions Digital I O 37 Pin JP4 Connector 5V 100mA maximum 5V supply 15V 25mA maximum 15V supply Digital I O The digital I O can be programmed to be either input or output in 8 bit blocks via software DGND Digital Ground used for all digital signals Pin Description 1 15V 25mA 2 15V 25mA 3 5V 100mA 4 Digital Input Output 1 5 Digital Input Output 2 6 Digital Input Output 3 7 Digital Input Output 4 8 Digital Input Output 5 9 Digital Input Output 6 10 Digital Input Output 7 11 Digital Input Output 8 12 Digital Input Output 9 13 Digital Input O
6. xxAGnn or xxAG xx int axis number nn float acceleration value xx 1 to MAX AXES Nn to the maximum programmed value in AU command or to read current setting xx none Nn predefined units second2 xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx11 MAXIMUM ACCELERATION EXCEEDED This command is used to set the deceleration value for an axis Its execution is immediate meaning that the deceleration is changed when the command is processed even while a motion is in progress It can be used as an immediate command or inside a program If the requested axis is a member of a group the commanded deceleration becomes effective only after the axis is removed from the group Refer to Advanced Capabilities section for a detailed description of grouping and related commands Avoid changing the deceleration during the acceleration or deceleration periods For better predictable results change deceleration only when the axis is not moving or when it is moving with a constant speed If the sign takes the place of nn value this command reports the current setting VA set velocity PA execute an absolute motion PR xecute a relative motion AU set maximum acceleration and deceleration AC set acceleration Page 3 27 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controlle
7. 3 166 ZU Get ESP system configuration 3 168 ZZ Set system configuration 3 170 GO Newport Experience Solutions Page 3 18 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Ea Description of Commands The extensive ESP301 controller command set exists to facilitate application development for wide range of application and needs However most simple positioning can be done with just a few commands VA set velocity AC set acceleration AG set deceleration PR position relative PA position absolute TP tell position WS wait for stop NOTE Most of the commands take an axis number as a parameter xx For such commands the valid range of axis number is from 1 to MAX AXES where MAX AXES is dependent on the configuration of the ESP301 motion controller Commands related to coordinated motion and contouring group commands take a group number as a parameter For such commands the valid range of group number is from 1 to MAX GROUPS where MAX GROUPS is one half the MAX AXES GD Newport Experience Solutions Page 3 19 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver AA command mnemonic brief definition motor type diamonds mark which mode the command can be used in IMM PGM MIP USAGE SYNTAX xxAAnn generic syntax format PARAMETERS Description xx int description of param
8. Experience Solutions IMM PGM MIP xxHS or xxHS xx int xx xx Xx missing out of range not assigned floating point group number 1 to MAX GROUPS none error 13 GROUP NUMBER MISSING error 14 GROUP NUMBER OUT OF RANGE error 15 GROUP NUMBER NOT ASSIGNED truncated This command stops the motion of all axes assigned to a group using vector deceleration set using HD command If sign is supplied along with the command the controller returns 1 0 HN HC HL 1HN1 2 1HV10 1HASO 1HDSO 1HO 1HP 0 0 1HLS50 50 1HS 0 1HS 1HS 1 group motion is stopped group motion is in progress create a new group move a group of axes to desired position along an arc move a group of axes to desired position along a line create a new group 1 with physical axes 1 and 2 set vectorial velocity of group 1 to 10 units second set vectorial acceleration of group 1 to 50 units second set vectorial deceleration of group 1 to 50 units second enable group 1 query current group position controller returns axis 1 0 units and axis 2 0 units move axis 1 to a target position 50 units move axis 2 to a target position 50 units query if motion of group 1 is stopped controller returns 0 meaning group 1 is in motion stop motion of group 2 query if motion of group 1 is stopped controller returns 1 meaning group 1 motion has stopped Page 3
9. This command reports the current setting If no groups have been created controller returns error number 15 GROUP NUMBER NOT ASSIGNED HN create a new group HX delete a group 1HN1 2 create a new group 1 with physical axes 1 and 2 1HN read axes assigned to group 1 1 2 controller returns the axes assigned to group 1 2HN3 4 create a new group 2 with physical axes 3 and 4 2HN read axes assigned to group 2 3 4 controller returns the axes assigned to group 2 HB read list of groups created 12 controller returns I and 2 Page 3 63 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HC USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION QD Newport Experience Solutions IMM PGM MIP move group along an arc xxHCnn nns nnz or xxHC xx int nn float nm float nn float XX nn nn2 nn3 xx nny NN nn3 XX missing out of range not assigned floating point nni Missing parameter group number first coordinate of arc center second coordinate of arc center arc sweep angle 1 to MAX GROUPS any position within the travel limits any angle none predefined units degrees error 13 GROUP NUMBER MISSING error 14 GROUP NUMBER OUT OF RANGE error 15 GROUP NUMBER NOT ASSIGNED truncated error 21 GROUP PARAMETER MISSING This command initiates motion of a group along an arc It ca
10. 3UF QD Newport Experience Solutions set proportional gain factor set saturation gain factor update filter set integral gain factor for axis 3 to 0 01 update PID filter only now the KI command takes effect Page 3 89 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver KP USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions set proportional gain IMM PGM MIP xxKPnn or xxKP xx int nn float XX nn 7 xx 7 nn xx missing out of range nn missing out of range axis number roportional gain factor Kp 1 to MAX AXES 0 to 2e9 or to read current setting none none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING rror xx2 PARAMETER OUT OF RANGE This command sets the proportional gain factor Kp of the PID closed loop It is active for any DC servo based motion device that has been selected to operate in closed loop The command can be sent at any time but it has no effect until the UF update filter is received See the Servo Tuning chapter on how to adjust the PID filter parameters If the sign takes the place of nn value this command reports the current setting KI KD KS UF 3KP0 01 3UF set integral gain factor set proportional ga
11. EDH0235En1030 08 15 Page xii ESP301 Integrated 3 Axis Motion Controller Driver List of Figures Figure No Page Figure 1 1 ESP 301 Controller Driver ssisas cvninscsnatgusvcesivtceiapsnrceatonss 1 5 Figure 1 2 ESP301 Front Panel with displays ccccccsccssstseeees 1 8 Figure 1 3 Rear Panel of the ESP301 sxcisnccssisnenssdesnsincxasncsnoaneenvcevevnes 1 9 Figure 2 1 EHUD COIN sosesci2 cacao bot ina ib baa deesnontonnagqets devnaneieiatesdevsies 2 2 Figure 2 2 Menu TI CII she tea iS aoica cs Gladcad eat bnadeotaaderageteeanediatasocediuads 2 3 Figure 2 3 Motion from the Front Panel Displayed c10cc000 2 3 Figure 2 4 Front Panel Menu Structure 0 cccccccccccsccscseseseeecsseneesncees 2 4 Figure 3 1 Command Syntax Diagram cccccccccceecceeseeeseetnseenteeeees 3 7 Figure 4 1 A Contour with Multiple Circular Moves c 010c0000 4 5 Figure 4 2 A Contour with Multiple Linear and Circular Moves 4 5 Figure 4 3 Block Diagram of Via Point Data Handling By Command Processor 4 6 Figure 4 4 Block Diagram of Via Point Data Handling By Trajectory Generator e 4 7 Figure 4 5 Block Diagram of Closed Loop Stepper Motor POST ONE vessvcsinucs veastaaavemtesaseireneavedwlandpncbiveimeshicteaas 4 10 Figure 5 1 Typical Motion Control Systems cccsccsceeseeretseeeeees 5 1 Figure 5 2 Position Error Test 5 4 Figure 5 3a High Accuracy for Small Motions 0 ccccccsceseeseeeteees 5 4 Figure 5
12. List of Tables Table No Page Table 3 2 Command communication and process time ccccccccceees 3 3 Table 3 5 1 Command List by COeGOP Vs cian iacni tera daiiaiods 3 10 Table 3 5 2 Command List Alphabetical cccccccccccceessetseeteteseeetsenees 3 15 Table 4 1 Slave to a Different Stage St Qs ccccccccccccsscsesceeceeseesseesseees 4 8 Table 4 2 Slave to a Joystick Steps cccccccccccccecseceseseseceeseeeseesssesuseeneeeenseees 4 8 Table 4 3 An Example of Closed Loop Stepper Motor Positioning STII i sasceiiorh attained testa ean cepiea pi cuuctad peauperetnapicannesaies 4 11 Table 4 4 Closed Loop Stepper Positioning Commands 000 4 11 Table 4 5 Commands to Synchronize Motion to External EVentS etren eee E EEE E a A a a iia 4 14 Table 6 1 Servo Parameter Functions ccccccccccecceesseteteceteteeeeeeeeseseees 6 5 Table B 1 Trouble Shooting Guide DeSCriptions cccccccccceseestseeeeees B 2 Table C l Digital Connector Pin Outs covsssenassnceaninonrgoisernrsveasnncnavanes C 1 Table C2 Driver Card Connector PINHOWUS dsiosuivasiiiraurasccisnainaets C 2 Table C 4 IEEE488 Interface Connector c ccceccceseeesetseeseeeseeseenteenseeaes C 6 Table D 1 Binary Conversion Table using decimal and ASCI CODICES corensis D 1 Table H l Technical Customer Support Contact ccccccccccscesseeseetees H 1 QD Newport Experience Solutions Page xv EDH0235En1030 08 15 ESP301
13. e A group has to be deleted before axes assigned to it can be changed e An axis assigned to a group cannot be moved individually using commands such as PA and PR Use group linear move commands instead Refer to the description of this command in the commands section See Section 3 Remote Mode for correct syntax parameter ranges etc 4 1 2 2 Defining Group Parameters Group parameters such as velocity acceleration deceleration jerk and e stop deceleration must be defined for every group following the creation of that group These parameters are used to produce the desired coordinated motion of the group They override any original values specified for individual axes The axes original values are restored when the group to which they have been assigned is deleted Refer to the description of HV HA HD HJ and HE commands in the commands section See Section 3 Remote Mode for correct syntax parameter ranges etc 4 13 Making Linear and Circular Moves This subsection discusses the method for making linear and circular moves of groups While coordinated motion of axes with different motor types and different encoder resolutions is supported it is assumed that all axes have the same units of measure GD Newport Experience Solutions Page 4 2 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 4 1 3 1 Making a Linear Move Once a group has been defined and all group parameters have b
14. 1PA0 2PA0 Move axes 1 2 to absolute 0 units 1WS100 2WS100 Wait for axes 1 2 motion to complete QP End of program 0BG ABSOMM Assign DIO 0 to run stored program called AbsOmm BO 04H 04H 0100 Binary Set DIO ports A B to input and port C to output i e set bits 0 15 to input and 16 23 to output After the above commands are sent to the controller the controller will execute the stored program called AbsOmm when DIO bit 0 changes its state from HIGH to LOW logic level Example 2 EP CYC2MM Define stored program called Cyc2mm IMO 2MO Turn axes 1 2 ON 1TJ1 2TJ1 Set trajectory mode for axes 1 2 to TRAPEZOID 1PA0 2PA0 Move axes 1 2 to absolute 0 units 1WS100 2WS100 Wait for axes 1 2 motion to complete DL LOOP Define a label called LOOP 1PR2 2PR2 Move axes 1 2 by relative 2 units 1WS100 2WS100 Wait for axes 1 2 motion to complete 1PR 2 2PR 2 Move axes 1 2 by relative 2 units 1WS100 2WS100 Wait for axes 1 2 motion to complete JL LOOP 10 Jump to label called LOOP 10 times QP End of program 1IBGCYC2MM Assign DIO 1 to run stored program called Cyc2mm BO 04H 04H 0100 Binary Set DIO ports A B to input and port C to output i e set bits 0 15 to input and 16 23 to output Experience Solutions Page 4 12 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver After the above commands are sent to the controller the controller will execute Cyc
15. 2 4H controller returns a value of 4H for axis 2 2ZS 5H set software limit configuration to 5H for axis 2 SM save all controller settings to non volatile memory GO Newport Experience Solutions Page 3 167 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver ZU USAGE SYNTAX PARAMETERS DESCRIPTION QD Newport Experience Solutions get ESP system configuration IMM PGM MIP ZU None This command is used to get the present ESP system stage driver configuration After each system reset or initialization the ESP motion controller detects the presence of Universal drivers and ESP compatible stages connected BIT VALUE DEFINITION axis 1 universal driver not detected axis 1 universal driver detected axis 2 universal driver not detected axis 2 universal driver detected axis 3 universal driver not detected axis 3 universal driver detected axis 4 universal driver not detected axis 4 universal driver detected axis 5 universal driver not detected axis 5 universal driver detected axis 6 universal driver not detected axis 6 universal driver detected reserved reserved reserved reserved axis 1 ESP compatible motorized positioner not detected axis 1 ESP compatible motorized positioner detected axis 2 ESP compatible motorized positioner not detected axis 2 ESP compatible motorized positioner detected OO WAOAINIDA ANP HPWWNNKK CO CEH Pe OoOrOorOor Or CGF OF
16. 3 113 QM Define motor type 3 114 QR Torque reduction 3 116 QS Set microstep factor 3 QT Define tachometer constant 3 118 QV __ Set motor voltage 3 119 SI Set master slave jog update 3 126 interval SK Set slave axis jog velocity 3 127 coefficients SL Set left limit 3 128 SN Set units 3 130 SR Set right limit 3 131 SS Set master slave relationship 3 132 SU Set encoder resolution 3 134 PROGRAMMING Cmd Description IMM PGM MIP Page DL Define label 3 50 EO Automatic execution on power 3 54 on EP Enter program download mode 3 55 EX Execute stored program 3 56 JL Jump to label 3 86 GO Newport Experience Solutions Page 3 11 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver LP List program 3 92 QP Quit program mode 3 115 SM Save to non volatile memory 3 129 XM _ Get available program memory 3 153 XX Delete a stored program 3 154 TRAJECTORY DEFINITION Cmd Description IMM PGM MIP Page AC Set acceleration 3 E AE Set e stop deceleration 3 24 AG Set deceleration 3 27 AU Set maximum acceleration 3 30 BA Set backlash com
17. Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions assign DIO bits to inhibit motion IMM PGM MIP xxBKnn1 nn2 or xxBK xx int axis number nni int bit number for inhibiting motion nn2 int bit level when axis motion is inhibited xx 1 to MAX AXES nni 0to15 nn2 0 LOW and 1 HIGH or to read current setting None Xxx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nni missing error 38 COMMAND PARAMETER MISSING out of range error xxl PARAMETER OUT OF RANGE nn2 missing error 38 COMMAND PARAMETER MISSING out ofrange error xxl PARAMETER OUT OF RANGE This command is used to assign DIO bits for inhibiting the motion of a selected axis If the selected axis is already in motion and DIO bit is asserted e stop is executed per E stop configuration Refer ZE command for further details If the axis is not moving any new move commands are refused as long as the DIO bit is asserted In either case DIGITAL I O INTERLOCK DETECTED error is generated Note The direction of the DIO port A B the desired bit belongs to should be set to input in order for the DIO bit to be read accurately Refer BO command for further details If the sign takes the place of nn value this command reports the current assignment BL Enable DIO bits to inhibit motion BO Set DIO port A B direction BM Assi
18. ESP301 Integrated 3 Axis Motion Controller Driver continue to direct the ESP301 to report any desired status and even execute other motion commands Let s illustrate program execution mode using the previous example Example 3 EP invoke program entry mode 1PA 30 enter program 1WS 2PR 10 QP exit program entry mode 1EX execute compiled program 1 As shown above the sequence of commands has to be downloaded into the ESP301 controller program memory without inadvertently executing them To facilitate this the system provides the EP Enter Program command characters received thereafter are redirected to program memory Command syntax and parameters are not evaluated even after the carriage return Instead they are treated as a series of characters to be stored in contiguous memory Remote Interfaces In this manual Remote Interface refers to the three communication interfaces that the controller can use to communicate with a computer or a terminal via commands in ASCII format It is not called a Computer Interface since any device capable of sending ASCII characters can be interfaced with the controller The remote interface should not be confused with the General Purpose Input Output digital I Os a k a GPIO Below is a table comparing the communication speeds of the interfaces using typical commands Command communication and process time in milliseconds RS232C USB IEEE Command send and r
19. Integrated 3 Axis Motion Controller Driver RoHS COMPATIBLE AD User s Manual Newport Experience Solutions Compliant Precision Motion Guaranteed ESP301 Integrated 3 Axis Motion Controller Driver GD Newport Experience Solutions EDH0235En1030 08 15 Page ii ESP301 Integrated 3 Axis Motion Controller Driver EU Declaration of Conformity SSIS 1a te NIK Year C mark affixed 2015 EU Declaration of Conformity The manufacturer MICRO CONTROLE Spectra Physics 9 rue du bois sauvage F 91055 Evry FRANCE Hereby declares that the product Description ESP301 Function Motion Controller Driver Type of equipment Electrical equipment for measurement control and laboratory use Models ESP301 xN ESP301xG ESP300 J complies with all the relevant provisions of the Directive 2014 30 EU relating to electro magnetic compatibility EMC complies with all the relevant provisions of the Directive 2014 35 EU relating to electrical equipment designed for use within certain voltage limits Low Voltage was designed and built in accordance with the following harmonised standards NF EN 61326 1 2013 Electrical equipment for measurement control and laboratory use EMC requirements Part 1 General requirements NF EN 55011 2010 A1 2011 Class A CEI 61010 1 2010 Safety requirements for electrical equipment for measurement control and lab
20. This command is used to set the feedback configuration fault checking and event handling as well as stepper closed loop positioning for axis specified with xx NOTE If bit 0 or both bits 1 and 2 are set to zero 0 then no action will be taken by the controller NOTE The controller always interprets the nn value as a hexadecimal number even when the letter H is not appended to the desired value Since nn is a hexadecimal number it is possible that the most significant character left most character is an alphabet A F depending on the choice of values for various bits In order for the controller to distinguish between an ASCII command and its value it is recommended that the users always add a leading zero 0 to the nn value See table below for clarification Example Command Issued Controller Interpretation 1ZB123H nn 123H 0001 0010 0011 Binary 1ZB123 nn 123H 0001 0010 0011 Binary 1ZBOF25H nn F25H 1111 0010 0101 Binary 1ZBF25H Invalid command Page 3 158 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver BIT VALUE DEFINITION 0 0 disable feedback error checking 0 1 enable feedback error checking 0 do not disable motor on feedback error event 1 1 disable motor on feedback error event 2 0 do not abort motion on feedback error event 2 1 abort motion on feedback error event 3 0 Reserved 3 1 Reserved 4 0 Reserved 4 1 Reserve
21. set following error event configuration 3FE read maximum following error for axis 3 0 5 controller returns for axis 3 following error of 0 5 unit 3FE 1 0 set maximum following error for axis 3 to 1 unit Page 3 57 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver FP USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions set position display resolution IMM PGM MIP xxFPnn or xxFP xx int nn int xx nn xx nn Xx missing out of range nn missing out of range axis number display resolution 1 to MAX AXES 0to7 or to read present setting none none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE This command is used to set the display resolution of position information For instance if nn 4 the display will show values as low as 0 0001 units If nn 7 the display will show values in exponential form If the user units refer SN command are in encoder counts or stepper increments the position information is displayed in integer form independent of the value set by this command If sign takes the place of nn value this command reports current setting None 1FP 4 1TP 5 0001 1FP2 1TP 5 00 1FP7 1TP 5 000
22. 03H Motor OFF Motor OFF Motor stays OFF or Axis is stopped No further motion No further motion ANE 111 07H will be executed will be executed vre 101 Brake to stop Motor stays ON Motor stays OFF 05H Motor stays ON after No further motion No further motion braking will be executed will be executed NOTE The controller always interprets the nn value as a hexadecimal number even when the letter H is not appended to the desired value Since nn is a hexadecimal number it is possible that the most significant character left most character is an alphabet A F depending on the choice of values for various bits In order for the controller to distinguish between an ASCII command and its value it is recommended that the users always add a leading zero 0 to the nn value For example 1ZE03H OK 1ZEA1H NOK RETURNS If the sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS ZA set amplifier I O configuration ZB set feedback configuration ZF set following error configuration ZH set hardware limit configuration ZS set software limit configuration ZZ set general system configuration EXAMPLE 2ZE read e stop configuration of axis 2 3H controller returns a value of 3H for axis 2 2ZE05H set e stop configuration to 5H for axis 2 SM save all controller settings to non volatile memory QD Newport Experience Solutions Page 3 161
23. 35 BN Enable DIO bits to notify motion status 3 36 BO Set DIO port A B C direction 3 37 BP Assign DIO bits for jog mode 3 38 BQ Enable DIO bits for jog mode 3 39 CL Set closed loop update interval 3 40 CO _ Set linear compensation 3 41 DB Set position deadband 3 42 DC Setup data acquisition 3 43 DD Get data acquisition done status 3 45 DE Enable disable data acquisition 3 46 DF Get data acquisition sample count 3 47 DG Get acquisition data 3 48 DH Define home 3 49 DL Define label 3 50 DO Set DAC offset 3 51 DP Read desired position 3 52 DV Read desired velocity 3 53 EO Automatic execution on power on 3 54 EP Enter program mode 3 55 EX Execute a program 3 56 FE Set maximum following error threshold 3 57 Q Newport Experience Solutions Page 3 15 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver TABLE 3 5 2 Command List Alphabetical Continued Cmd Description IMM PGM MIP Page FP Set position display resolution 3 58 FR Set full step resolution 3 59 GR Set master slave reduction ratio 3 60 HA Set group acceleration 3 6l HB Read list of groups assigned 3 63 HC Move gro
24. Both upper and lower case are accepted Depending on the command it could also have optional or required preceding xx and or following nn parameters BLANK SPACES Blank spaces are allowed and ignored between parameters and commands For the clarity of the program and memory saving considerations use blank spaces with restraint The following two commands are equivalent 2 PA 1000 2PA1000 but the first example is very confusing and uses more than twice the memory COMMAND LINE Commands are executed line by line A line can consist of one or a number of commands The controller will interpret the commands in the order they are received and execute them sequentially This means that commands issued on the same line are executed significantly closer to each other than if they would be issued on separate lines The maximum number of characters allowed on a command line is 80 GD Newport fad moe Page 3 8 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver SEPARATOR Commands issued on the same line must be separated by semicolons Multiple parameters issued for the same command are separated by commas TERMINATOR Each command line must end with a line terminator i e carriage return Ea Command Summary The controller understands many commands The following tables list all of them sorted first by category and then alphabetically The tables also show the operating modes in w
25. Integrated 3 Axis Motion Controller Driver EDH0235En1030 08 15 Command Index Section 3 Command Description Page in section 3 AB abort OIIO My secsranssaesteeracseent ckaestnctaterntneeriendececs qemtaredeeeamtirraesees 21 AC s taccelerationese ressonen e eee samen tants mane 22 AC SCL ACCCISIANON ennui naa E 22 AE set e stop CSC Ne ra Oo cowrtsucasinenscesuneste ravers ovuatanivbnassmacuavsntsneasaieel 24 AF set acceleration feed forward gain cccececececeeeeeseteseseeteteteneees 26 AG et deceleration secreet nni enn E EEE 27 AP Abort PUVA sas eet ooo n R A 29 AU set maximum acceleration and deceleration 30 BA set backlash compensation cccccccescsesssseseseeeeeeseseseseeeetesesesnenenees 31 BG assign DIO bits to execute stored programs 32 BK assign DIO bits to inhibit motion 0 eeteeeeseeeeteteteeeetenees 33 BL enable DIO bits to inhibit motion 000 eeteteteeeeteneee 34 BM assign DIO bits to notify motion status 0 eee eeeeteteeeeeeees 35 BN enable DIO bits to notify motion status eects 36 BO set DIO port A B C Gir Cti tig esis cesescszscostasttaretisacevseintetvosaoetnavse 37 BP assign DIO bits for jog mode oo ec ceeeeeeeeeeeteseseeeeeeteteeeseetenenees 38 BQ enable DIO bits for jog MOG ssiccsceccsessshscnciieersteveenchecasetenvedorvianvieee 39 CL set closed loop update interval eeeeccececeseeeeseseseeeeeeeeteseseeeenenees 40 CO Set MMe ar compensation xs tccc vox sicartntitoeri
26. SRQ upon processing the RQ command This allows the user to generate SRQs anywhere within the ESP command stream thereby facilitating efficient event synchronization capability with the host computer The following example illustrates the use of the RQ command 1PR10 1WS100 2PR10 3PR10 3WS100 RQ In the above example the SRQ line is asserted only after execution of the sequence preceding the RQ command is finished SERIAL POLL When the IEEE 488 controller senses a service request on the bus it creates an interrupt to the application program if configured to do so The application program must contain a service routine for this interrupt First the program must determine which device on the bus generated the service request This is usually achieved with a function called Serial Poll The exact syntax for the serial poll command depends on the IEEE 488 controller Using that interrupt service routine a serial poll command can be issued to each device The device polled at each instance will respond with a status byte Bit 6 of the status byte indicates whether a specific device i e ESP301 controller generated the service request or not Bits 0 through 5 are under user control and are set with the RQ command For example command RQS sets bits 0 and 2 This is useful in helping the application program determine which RQ in a program with multiple RQs generated the SRQ Eel Software Utilities In order to communicate w
27. TB Read error message 3 135 TE Read error code 3 136 TJ Set trajectory mode 3 137 TP Read actual position 3 138 TS Get controller status 3 139 TV Get actual velocity 3 140 TX Get controller activity 3 141 UF Update servo filter 3 142 UH Wait for DIO bit high 3 143 GO Newport Experience Solutions Page 3 17 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver TABLE 3 5 2 Command List Alphabetical Continued Ina PDF format you may click on a page number to automatically be connected to the corresponding Command Page Cmd Description IMM PGM MIP Page UL Wait for DIO bit low 3 144 VA Set velocity 3 145 VB Set base velocity for step motors 3 146 VE Read controller firmware version 3 147 VF Set velocity feed forward gain 3 148 VU Set maximum velocity 3 149 WP Wait for absolute position crossing 3 150 WS Wait for motion stop 3 151 WT Wait 3 152 XM Get available program memory 3 153 XX Delete a stored program 3 154 ZA Set amplifier I O configuration 3 155 ZB Set feedback configuration 3 158 ZE Set E stop configuration 3 160 ZF Set following error configuration 3 162 ZH Set hardware limit configuration 3 164 ZS Set software limit configuration
28. The specified group parameters is out of range Refer to the description of issued command for valid range of parameter 31 GROUP MAXIMUM VELOCITY EXCEEDED The specified group velocity exceeds the minimum of the maximum velocities of members of this group Refer to the description of HV command for more details 32 GROUP MAXIMUM ACCELERATION EXCEEDED The specified group acceleration exceeds the minimum of the maximum acceleration of members of this group Refer to the description of HA command for more details GD Newport Experience Solutions Page A 3 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 33 GROUP MAXIMUM DECELERATION EXCEEDED The specified group deceleration exceeds the minimum of the maximum decelerations of members of this group Refer to the description of HD command for more details 34 GROUP MOVE NOT ALLOWED DURING MOTION Cannot make a coordinated move when one of the members of the group is being homed 35 PROGRAM NOT FOUND The issued command could not be executed because the stored program requested is not available 36 Reserved for future use 37 AXIS NUMBER MISSING Axis number not specified The issued command requires a valid axis number Refer to the description of issued command for valid axis number range 38 COMMAND PARAMETER MISSING At least one parameter associated with this command is missing Refer to the description of issued command for valid number o
29. controller returns a value of 1 4 3VF1 5 set acceleration feed forward gain factor for axis 3 to 1 5 3UF update PID filter only now the VF command takes effect QD Newport Experience Solutions Page 3 148 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver VU USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions set maximum velocity IMM PGM MIP xxVUnn or xxVU xx int nn float xx nn z nn xx missing out of range nn missing out of range axis number velocity value to MAX AXES 0 to 2e 9 or to read current setting none predefined units second error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx10 MAXIMUM VELOCITY EXCEEDED error xx2 Axis xx PARAMETER OUT OF RANGE This command is used to set the maximum velocity value for an axis This command remains effective even if the requested axis is member of a group In this case an error message GROUP MAXIMUM VELOCITY EXCEEDED is generated if the commanded value is less than group velocity Refer to Advanced Capabilities section for a detailed description of grouping and related commands If the sign takes the place of nn value this command reports the current setting VA set velocity PA execute an absolute mot
30. due to integrated nature of the ESP301 motion controller many basic errors can be significantly corrected by another component of the loop Backlash Accuracy and Velocity Regulation are just a few examples where the controller can improve motion device performance 5 3 Control Loops When talking about motion control systems one of the most important questions is the type of servo loop implemented The first major distinction is between open and closed loop Of course this is of particular interest when driving stepper motors As far as the DC servo loop the PID type is by far the most widely used The ESP301 implements a PID servo loop with velocity and acceleration feed forward The basic diagram of a servo loop is shown in Figure 5 13 Besides the command interpreter the main two parts of a motion controller are the trajectory generator and the servo controller The first generates the desired trajectory and the second one controls the motor to follow it as closely as possible GD Newport Experience Solutions Page 5 12 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Figure 5 13 Servo Loop 5 3 1 PID Servo Loops The PID term comes from the proportional integral and derivative gain factors that are at the basis of the control loop calculation The common equation given for it is where KpeetKi f Command Trajectory Servo a Interpreter Gener
31. none nn none XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing ositive direction This command is used to move an axis to its nearest index positive or negative It uses the home search speed during travel to nearest index Note This command cannot be issued after enabling DAQ refer ASCH command DE If sign takes the place of nn value this command reports 1 if motion is done or 0 if motion is in progress OR home location search OH set home search speed 3MZ move axis 3 to nearest index in positive direction 3MZ query motion status 0 controller returns 0 indicating motion is in progress Page 3 100 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver OH set home search high speed IMM PGM MIP USAGE SYNTAX xxOHnn or xxOH PARAMETERS Description xx int axis number nn float high speed value Range XX 1 to MAX AXES nn 0 to maximum value allowed by VU command or to read present setting Units XX none nn reset units second Defaults xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx10 MAXIMUM VELOCITY EXCEEDED error xx24 SPEED OUT OF RANGE DESCRIPTION This command sets the high speed used to search for home location for an axis Its execution is immediate meaning that the value is changed
32. page If the instrument is to be returned for repair you will be given a Return Authorization Number that should be referenced in your shipping documentation Complete a copy of the Service Form on the next page and include it with your shipment GD Newport Experience Solutions Page H 1 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Newport Corporation U S A Office 800 222 6440 FAX 949 253 1479 Name Return Authorization Please obtain RA prior to return of item Company Please obtain RA prior to return of item Address Date Country Phone Number P O Number FAX Number Item s Being Returned Model Serial Description Reason for return of goods please list any specific problems QD Newport Experience Solutions Page H 2 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver GD Newport Experience Solutions Page H 3 EDH0235En1030 08 15 Newport Visit Newport Online at www newport com North America amp Asia Newport Corporation 1791 Deere Ave Irvine CA 92606 USA Sales Tel 800 222 6440 e mail sales newport com Technical Support Tel 800 222 6440 e mail tech newport com Service RMAs amp Returns Tel 800 222 6440 e mail service newport com Europe MICRO CONTROLE Spectra Physics S A S 9 rue du Bois Sauvage 91055 Evry CEDEX F
33. xx 1 to MAX AXES nn any value that will not cause exceeding the software limits and within 2e9 encoder resolution xx none nn defined motion units xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx04 POSITIVE HARDWARE LIMIT EXCEEDED out of range error xx05 NEGATIVE HARDWARE LIMIT EXCEEDED out of range error xx06 POSITIVE SOFTWARE LIMIT EXCEEDED out of range rror xx07 NEGATIVE SOFTWARE LIMIT EXCEEDED This command initiates a relative motion When received the selected axis xx will move with the predefined acceleration and velocity to a relative position nn units away from the current position If the requested axis is member of a group this command does not initiate the desired motion Instead error xx31 COMMAND NOT ALLOWED DUE TO GROUP ASSIGNMENT is generated Refer HL and HC commands to move along a line or an arc If this command is issued when trajectory mode for this axis is not in trapezoidal or s curve mode the controller returns error xx32 INVALID TRAJECTORY MODE FOR MOVING Note Even though the command is accepted while a motion is in progress care should be taken not to reverse direction of motion none AC set acceleration PA move to absolute position MD move done status ST stop motion VA et velocity 3VA8 set velocity of axis 3 to 8 units s 3PR2 34 m
34. 1 0 1000 Acquire trace variable data for axis 1 in scaled integer format Collect 1000 samples one sample servo cycle 400 us DEI Enable trace variable data acquisition DD Query data acquisition done status 1 true 0 false If true DEO Disable trace variable data acquisition DG Get data collected GD Newport Experience Solutions Page 3 45 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver DE USAGE SYNTAX PARAMETERS Description Range DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions enable disable data acquisition IMM PGM MIP DEnn nn nn int True False nn 1 for True 0 for False This command is used to enable disable the data acquisition request Note This command cannot be issued when 1 An axis is being homed refer ASCII command OR 2 An axis is being moved to a travel limit refer ASCII command MT 3 An axis is being moved to an index refer ASCII command MZ None DC setup data acquisition request DG get acquired data DF data acquisition status returns of samples collected DD data acquisition done status DC10 1 1 1 0 1000 Acquire trace variable data for axis 1 in scaled integer format Collect 1000 samples one sample servo cycle 400 us DE1 Enable trace variable data acquisition DD Query data acquisition done status 1 true 0 false If true DEO Disable trace variable
35. 1 axis 2 amplifier fault input high 18 0 axis 3 amplifier fault input low 18 1 axis 3 amplifier fault input high 19 0 axis 4 amplifier fault input low 19 1 axis 4 amplifier fault input high 20 0 axis 5 amplifier fault input low 20 1 axis 5 amplifier fault input high 21 0 axis 6 amplifier fault input low 21 1 axis 6 amplifier fault input high 22 0 reserved 22 1 reserved 23 0 reserved 23 1 reserved 24 0 reserved 24 1 reserved 25 0 reserved 25 1 reserved 26 0 reserved 26 1 reserved 27 0 100 pin emergency stop unlatched low 27 1 100 pin emergency stop unlatched high 28 0 auxiliary I O emergency stop unlatched low 28 1 auxiliary I O emergency stop unlatched high 29 0 100 pin connector emergency stop latched low 29 1 100 pin connector emergency stop latched high 30 0 auxiliary I O conector emergency stop latched low 30 1 auxiliary I O conector emergency stop latched high 31 0 100 pin cable interlock low 31 1 100 pin cable interlock high HARDWARE STATUS REGISTER 2 BIT VALUE DEFINITION 0 0 axis 1 home signal low 0 1 axis 1 home signal high 1 0 axis 2 home signal low 1 1 axis 2 home signal high 2 0 axis 3 home signal low 2 1 axis 3 home signal high 3 0 axis 4 home signal low 3 1 axis 4 home signal high 4 0 axis 5 home signal low 4 1 axis 5 home signal high 5 0 axis 6 home signal low 5 1 axis 6 home signal high 6 0 reserved 6 1 reserved 7 0 reserved GO Newport Ex
36. 15 ESP301 Integrated 3 Axis Motion Controller Driver Motion Device An electro mechanical device that can move a load with the necessary specifications Cables Needed to interconnect the other motion control components If the user is like most motion control users they started by selecting a motion device that matches certain specifications needed for an application Next the user should choose a controller that can satisfy the motion characteristics required The changes are that the user is less interested in how the components look or what their individual specs are but want to be sure that together they perform reliably according to their needs We mentioned this to make a point A component is only as good as the system lets or helps it to be For this reason when discussing a particular system performance specification we will also mention which components affect performance the most and if appropriate which components improve it 5 2 Specification Definitions People mean different things when referring to the same parameter name To establish some common ground for motion control terminology here are some general guidelines for the interpretation of motion control terms and specifications e As mentioned earlier most motion control performance specifications should be considered system specifications e When not otherwise specified all error related specifications refer to the position error e The
37. 3 Remote Mode for correct syntax parameter ranges etc 4 1 4 Making Contours This subsection discusses the method for making contours Contouring is the process of making complex trajectories or long moves that may involve linear and circular move segments These move segments can be sequenced in any order Arcs can be followed by arcs or lines and lines by arcs or other lines as shown in the following figures Since there is no pre processing of move QD Newport Experience Solutions Page 4 4 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver segments involved in making a contour the user must ensure that there is no change in tangential velocity at the transition from one move to another If this constraint is not satisfied the transition from one move segment to another may cause excessive accelerations and shocks that could damage the stages Circular move 1 Position of axis 2 Position of axis 1 Figure 4 1 A contour with multiple circular moves Circular moves s Linear moves Position of axis 2 Position of axis 1 Figure 4 2 A contour with multiple linear and circular moves In order to store the multiple move segment commands needed to make a contour we make use of a via point buffer This via point buffer contains group move commands essential to make a new move segment upon completion of the move segment currently in progress The new
38. 5 12 5 3 Control LOOPS scexsscsswessesssdeonsenencadsssbernediseebines 5 12 5 3 1 PID Servo Loops csicccscesrecarncsese 5 13 5 3 2 Feed Forward Loops sssscseees 5 15 5 4 Motion Profiles cccceesccceseceeeeeeeeeteeeeeeees 5 17 54 1 MOVE srein 5 17 DAZ AOD duranensis 5 18 5 4 3 Home Seatch specassossscisdicatesestersessauancs 5 19 5 5 Encoder S anaa n REE 5 21 5 6 MOTOTS serene nean E a 5 24 5 6 1 Stepper Motors i succccawsecsreniecendecs 5 25 5 6 1 1 Stepper Motor Types 5 29 5 62 DO Motors iccsicsisssscassscisocersasieceosstncs 5 30 5 7 DVE eeneioe 5 31 5 7 1 Stepper Motor Drivers 006 5 32 5 7 2 Unipolar Bipolar Drivers 5 33 5 7 3 DC Motor Drivers ceeeeeeeeeeee 5 34 5 7 3 1 PWM Drivers cosciisscsisessnsose 5 36 Section 6 Servo Tumi 1s sesccssccecsiescensscassnsosessecoessoseees 6 1 6 1 Tuning Principles csaccessiscesscsvsavsneasshaanseniecencnrese 6 1 6 2 Tuning Procedures cs scesiceesnceaaiedeccastenieoiaess 6 1 6 2 1 Hardware and Software Requirements6 2 6 2 2 Correcting Axis Oscillation 6 2 6 2 3 Correcting Following Error 6 2 6 2 4 Points To Remembet 0 c eee 6 4 Appendix A Error Messages scsssssssssssssssssssssenees A 1 Appendix B Trouble Shooting Maintenance B 1 B 1 Trouble Shooting Guide cceeceeeeeereeeees B 2 B 2 Cleanin noro aaRS B 4 Appendix C Conne
39. 78 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HV USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions set group velocity IMM PGM MIP xxHVnn or xxHV xx int group number nn float vector velocity value xx 1 to MAX GROUPS nn 0 to minimum of the maximum velocity values of all axes assigned to this group xx none mn predefined units second xx missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated nn missing error 7 PARAMETER OUT OF RANGE negative error 22 GROUP PARAMETER OUT OF RANGE out of range error 23 GROUP MAXIMUM VELOCITY EXCEEDED This command is used to set the vectorial velocity value for a group This value will be used during coordinated motion of axes assigned to the group It will override any original acceleration values specified for individual axes using VA command The axes original values will be restored when the group to which they have been assigned is deleted This command takes effect immediately It can be executed when controller is idling or motion is in progress or inside a program Note Avoid changing velocity during acceleration or deceleration phases of a move For better predictable results change velocity only
40. AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE error xx17 ESP CRITICAL SETTINGS ARE PROTECTED error xx26 PARAMETER CHANGE NOT ALLOWED DURING MOTION DESCRIPTION This command is used to set the amplifier I O polarity fault checking and event handling for axis specified with xx NOTE If bit 0 or both bits 1 and 2 are set to zero 0 then no action will be taken by the controller NOTE The controller always interprets the nn value as a hexadecimal number even when the letter H is not appended to the desired value Since nn is a hexadecimal number it is possible that the most significant character left most character is an alphabet A F depending on the choice of values for various bits In order for the controller to distinguish between an ASCII command and its value it is recommended that the users always add a leading zero 0 to the nn value See table below for clarification Example Command Issued Controller Interpretation 1ZA123H nn 123H 0001 0010 0011 Binary 1ZA123 nn 123H 0001 0010 0011 Binary 1ZAOF25H nn F25H 1111 0010 0101 Binary 1ZAF25H Invalid command GD Newport Experience Solutions Page 3 155 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver BIT VALUE DEFINITION 0 0 disable amplifier fault input checking 0 1 enable amplifier fault input checking 1 0 do not disable
41. Assign DIO for jog mode 3 38 BQ Enable disable DIO jog mode 3 39 DC Setup data acquisition 3 43 DD Get data acquisition done status 3 45 DE Enable disable data acquisition 3 46 DF Get data acquisition sample count 3 47 DG Get acquisition data 3 48 SB Set DIO state 3 123 UL Wait for DIO bit low 3 144 UH Wait for DIO bit high 3 143 GROUP FUNCTIONS Cmd Description IMM PGM MIP Page HA Set group acceleration 3 61 HB Read list of groups assigned 3 63 HC Move group along an arc 3 64 HD Set group deceleration 3 66 HE Set group E stop deceleration G 3 68 HF Group motor power OFF 3 69 HJ Set group jerk 3 70 HL Move group along a line 3 71 HN Create new group 3 13 HO Group motor power ON 3 WS HP Get group position 3 76 HQ Wait for group via point buffer 3 77 near empty HS Stop group motion 3 78 HV Set group velocity 3 79 HW Wait for group motion to stop 3 80 HX Delete a group 3 81 HZ Get group size 3 82 Q Newport Experience Solutions Page 3 13 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver DIGITAL FILTERS Cmd Description IMM PGM MIP Page AF Acceleration Deceleration feed 3 26 forward gain CL Set closed loo
42. Controller Driver Section 1 Introduction aa Scope This manual provides descriptions and operating procedures for the integrated 3 axis ESP301 Controller Driver ESP Enhanced System Performance Safety considerations conventions and definitions and a system overview are provided in Section 1 Introduction Procedures for unpacking the equipment hardware and software requirements descriptions of controls and indicators and setup procedures are provided in Section 1 Introduction Instructions for configuring and powering up the ESP301 and stage motors for home and jog motions and for system shut down are provided in Section 1 Introduction Overview of operating modes LOCAL and REMOTE and Menu Options in LOCAL Mode are provided in Section 2 Modes of Operation Motion commands language specific information and error handling procedures are provided in Section 3 Remote Mode An overview of groups including contours slaving closed loop stepping and synchronization is provided in Section 4 Advanced Capabilities An overview of motion parameters and equipment is provided in Section 5 Motion Control Tutorial Servo tuning principles and procedures are given in Section 6 Servo Tuning The following information is provided in the Appendices Error messages Trouble shooting and maintenance Connector pin assignments Decimal ASCII binary conversion table System upgrades for software and firmware Factory
43. Controller Driver x10 MAXIMUM VELOCITY EXCEEDED The specified axis velocity exceeds maximum velocity allowed for the axis Refer to the description of VU command or set maximum velocity for the axis x11 MAXIMUM ACCELERATION EXCEEDED The specified axis acceleration exceeds maximum acceleration allowed for the axis Refer to the description of AU command to query or set maximum acceleration or deceleration for the axis x12 Reserved for future use x13 MOTOR NOT ENABLED A command was issued to move an axis that was not powered ON Refer to the description of MO and MF commands to turn the power to an axis ON or OFF respectively x14 Reserved for future use x15 MAXIMUM JERK EXCEEDED The specified axis jerk exceeds maximum jerk allowed for the axis Refer to the description of JK command for valid jerk range x16 MAXIMUM DAC OFFSET EXCEEDED The specified axis DAC offset exceeds maximum value allowed for the axis Refer to the description of issued command for valid range x17 ESP CRITICAL SETTINGS ARE PROTECTED An attempt was made to modify parameters that are specific to smart stages or Unidriver x18 ESP STAGE DEVICE ERROR An error occurred while reading a smart stage x19 ESP STAGE DATA INVALID Smart stage data is invalid x20 HOMING ABORTED Axis home search was aborted This message is obtained when home search was not completed either due to an axis not being enabled or due to the occurrence of a fault condition
44. EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver ZEF set following error configuration IMM PGM MIP USAGE SYNTAX xxZFnn or xxZF PARAMETERS Description xx int axis number nn int following error configuration Range XX 1 to MAX AXES nn 0 to OFFFFH hexadecimal with leading zero 0 or to read current setting Units XX none nn none Defaults xx missing error 37 AXIS NUMBER MISSING DESCRIPTION QD Newport Experience Solutions out of range nn missing out of range critical setting error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE error xx17 ESP CRITICAL SETTINGS ARE PROTECTED This command is used to set the following error configuration fault checking and event handling for axis specified with xx NOTE If bit 0 or both bits 1 and 2 are set to zero 0 then no action will be taken by the controller NOTE The controller always interprets the nn value as a hexadecimal number even when the letter H is not appended to the desired value Since nn is a hexadecimal number it is possible that the most significant character left most character is an alphabet A F depending on the choice of values for various bits In order for the controller to distinguish between an ASCII command and its value it is recommended that the users always add a leading zero 0 to the nn value See table below for clarification
45. ESP301 Integrated 3 Axis Motion Controller Driver BG USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions assign DIO bits to execute stored programs IMM PGM MIP xxBGnn or xxBG xx int bit number used to trigger stored program execution nn char name of stored program to be executed xx 0 to 15 nn None or to read current setting None XX missing error 7 PARAMETER OUT OF RANGE out of range error 7 PARAMETER OUT OF RANGE This command is used to assign DIO bits for initiating the execution of a desired stored program Execution of the stored program begins when the specified DIO bit changes its state from HIGH to LOW logic level Note Each DIO bit has a pulled up resistor to 5V Therefore all bits will be at HIGH logic level if not connected to external circuit and configured as input If the sign takes the place of nn value this command reports the current setting BO Set DIO port A B direction EP Enter program mode EX Execute stored program AP Abort stored program execution BO 04H Set DIO ports A and B to input 0BG1 Start execution of a stored program 1 when DIO bit 0 changes state from HIGH to LOW Page 3 32 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver BK USAGE SYNTAX PARAMETERS Description Range Units
46. ESP301 Integrated 3 Axis Motion Controller Driver Newport Corporation RMA Procedures Any ESP301 Controller Driver being returned to Newport must have an assigned RMA number issued by Newport Assignment of the RMA requires the unit s serial number Packaging ESP301 Controller Driver being returned under an RMA must be securely packaged for shipment If possible re use the original factory packaging For insurance purposes it is recommended to take a digital photograph of the unit in its packaging prior to shipping GD Newport Experience Solutions Page vii EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver GO Newport Experience Solutions EDH0235En1030 08 15 Page viii ESP301 Integrated 3 Axis Motion Controller Driver Table of Contents SY AE Nc sarah anestarey ences edipen exe ean eee nema nnomemesants iv Limitation of Warranty scssuscdiscrancasiieeceamvenenwacdanien ii CODYN Sht cuiwessucdeusciesanaveusbosesancsappinteessuovssmumcntekatenencseens suas ii Section 1 Introduction e seesoessessoesoossessoesooeseesoesoossoesossooe 1 1 1 1 SCOPE aoa eae eS a mea re 1 1 1 2 Safety Considerations scccscccsscssecessesees 1 2 1 3 Conventions and Definitions cc eee 1 3 1 3 1 Definitions and Symbols 1 3 1 3 2 Terminology ssscascseccvsdisacdevsxsscarsabanetes 1 4 1 4 System Overview secactnnnsanicensdecuahcneenetbenstynScnpsans 1 5
47. EXAMPLE GD Newport Experience Solutions IMM PGM xxDP xx int xx xx xx missing out of range MIP axis number 1 to MAX AXES none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE This command is used to read the desired positionIt returns the instantaneous desired position The command could be sent at any time but its real use is while a motion is in progress nn where nn PA PR TP 3TP 5 32 3PR2 2 3DP 7 52 desired position in pre defined units move to an absolute position move to a relative position read actual position read position on axis 3 controller returns position 5 32 for axis 3 start a relative motion of 2 2 on axis 3 read desired position on axis 3 controller returns desired position 7 52 for axis 3 Page 3 52 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver DV USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GO Newport Experience Solutions read desired velocity IMM PGM MIP xxDV xx int xx xx Xx missing out of range axis number 1 to MAX AXES none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE This command is used to read the desired velocity of an axis The command can be sent at any time but its real use is while motion is in progress
48. Higher velocities need higher motor voltages and thus higher following errors e At stop small errors cannot be corrected if they don t generate enough voltage for the motor to overcome friction and stiction e Increasing the Kp gain reduces the necessary following error but too much of it will generate instabilities and oscillations Motor Servo Controller ee ncoder Motion Controller Figure 5 14 P Loop PI Loop To eliminate the error at stop and during long constant velocity motions usually called steady state error an integral term can be added to the loop This term integrates adds the error every servo cycle 400 us and the value multiplied by the Ki gain factor is added to the control signal Figure 5 15 Trajectory Generator Servo Controller Motion Controller Figure 5 15 PI Loop The result is that the integral term will increase until it drives the motor by itself reducing the following error to zero At stop this has the very desirable effect of driving the positioning error to zero During a long constant velocity motion it also brings the following error to zero an important feature for some applications Unfortunately the integral term also has a negative side a severe de stabilizing effect on the servo loop In the real world a simple PI Loop is usually undesirable Page 5 14 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver PID Loop The
49. Integrated 3 Axis Motion Controller Driver GD Newport Experience Solutions 2AG6 2AU15 2AU 15 set deceleration to 6 units s2 set axis 2 maximum acceleration deceleration to 15 units s2 read maximum allowed acceleration amp deceleration of axis 2 controller returns a value of 15 units Page 3 23 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver AE USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS QD Newport Experience Solutions set e stop deceleration IMM PGM MIP xxAEnn or xxAE xx int axis number nn float e stop deceleration value xx 1 to MAX AXES nn current normal deceleration value to 2e9 encoder resolution or to read current setting xx none nn predefined units second2 XX missing error 37 AXIS NUMBER MISSING out ofrange error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 1 PARAMETER OUT OF RANGE This command is used to set the e stop deceleration value for an axis Its execution is immediate meaning that the e stop deceleration value is changed when the command is processed even while a motion is in progress It can be used as an immediate command or inside a program If the requested axis is a member of a group the commanded e stop deceleration becomes effective only after the axis is remo
50. Move Action by Move Command Command 1 Assign DIO bits for 2BP0 1 Jog axis 2 in negative direction if jogging slave axis DIO bit 0 is low Jog axis 2 in positive direction if DIO bit 1 is low 2 Enable DIO bits for jog 2BQ1 mode 3 Define slave axis jog 2SI100 Update slave axis jog velocity velocity update interval every 100 milliseconds 4 Define slave axis scaling 2SK0 5 0 Specify scaling coefficients GD Newport Experience Solutions Page 4 8 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver coefficients 5 Define slave axis 2TJ6 Set slave axis trajectory mode trajectory mode 6 Change DIO bit value physically Table 4 2 Slave to a Joystick Steps Refer to the description of the ASCII commands in Section 3 Remote Mode for additional description correct syntax parameter ranges etc 4 3 Closed Loop Stepper Motor Positioning 4 3 1 Introduction Closed Loop Stepper Most of the electro mechanical systems are subjected to phenomena such as backlash and friction Due to such physical attributes a significant position error can be generated when systems are moved from one position to another by stepper motors without any closed loop control mechanism This error can be further accentuated by micro stepping and non collection of encoders necessary to have closed loop control and motors The ESP301 motion controller supports closed loop po
51. Page 5 4 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Error Position Figure 5 3b Low Accuracy for Small Motions Both error plots from Figure 5 3a and Figure 5 3b have a similar maximum Error But if the user compares the maximum Error for small distances the system in Figure 5 3b shows significantly larger values For applications requiring high accuracy for small motions the system in Figure 5 3a is definitely preferred Local Error is a relative term that depends on the application usually no Local Error value is given with the system specifications The user should study the error plot supplied with the motion device and determine the approximate maximum Local Error for the specific application 5 2 5 Resolution Resolution is the smallest motion that the controller attempts to make For all DC motor and most all standard stepper motor driven stages supported by the ESP301 this is also the resolution of the encoder Keeping in mind that the servo loop is a digital loop the Resolution can be also viewed as the smallest position increment that the controller can handle 5 2 6 Minimum Incremental Motion The Minimum Incremental Motion is the smallest motion that a device can reliably make measured with an external precision measuring device The controller can for instance execute a motion equal to the Resolution one encoder count but in reality the load may not move a
52. Refer to the description of OR command for information related to locating the home position of an axis GD Newport Experience Solutions Page A 6 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver x21 MOTOR CURRENT NOT DEFINED Maximum current for the motor is not specified Refer to the description of QI command to query or set the maximum motor current for an axis x22 UNIDRIVE COMMUNICATIONS ERROR There was no communication between motion controller and the Unidriver x23 UNIDRIVE NOT DETECTED Unidrive could not be detected by the motion controller x24 SPEED OUT OF RANGE The specified home search speed is out of range Refer to the description of OH command for valid home search speed range x25 INVALID TRAJECTORY MASTER AXIS The specified trajectory mode in not valid for a master axis Refer to the description if TJ command to specify a valid trajectory mode for a master axis x26 PARAMETER CHARGE NOT ALLOWED The specified parameter cannot be changed while the axis is in motion Wait until the axis motion is complete and issue this command again Refer to the description of MD command to determine if motion is done x27 INVALID TRAJECTORY MODE FOR HOMING The specified trajectory mode is not valid for locating the home position of the axis Refer to the description of TJ command to specify a valid trajectory mode for locating the home position of this axis x28 INVALID ENCODER ST
53. SET VELOCITY This menu makes it possible to change velocities that are used with the jog and home search buttons The following sub menus are available SET LOW JOG VEL Sets the velocity of the stage when either jog button is pushed pr JL Set low jog velocity SET HI JOG VEL Sets the velocity of the stage when either jog button is pushed simultaneously with the High Speed button amman aannne JH Set high jog velocity SET HOME VEL Sets the velocity used during homing sequences Refer to Section 1 6 3 for details on homing GY Newport Experience Solutions EDH0235En1030 08 15 Page 2 6 ESP301 Integrated 3 Axis Motion Controller Driver OH Set home velocity SET ACCEL DECEL This menu makes it possible to change acceleration and deceleration that are used with the jog and home search buttons The following sub menus are available SET ACCELERATION Sets the acceleration that is used to accelerate to the desired velocity when the jog buttons are used AC Set Acceleration SET DECELERATION Sets the deceleration that is used to decelerate to the standstill when the jog buttons are released it AG Set Deceleration GET STAGE MODELS This menu allows the user to retrieve the model numbers of the stages that are connected to the respective axes ID Get stage identifier SAVE PARAMETERS This menu allows the users to save all current settings v
54. Send CTS signal is ready Before sending any further characters the ESP will wait for a CTS from the host As soon as its command buffer is full the controller de asserts CTS Then as memory becomes available because the controller reads and executes commands in its buffer it re asserts the CTS signal to the host terminal 3 2 2 USB Interface HARDWARE CONFIGURATION The USB communication interface on the ESP301 controller is accessed through the 4 pin USB Type B connector located on the rear panel The pin out is designed to interface directly with a PC using a straight through cable Appendix C shows the pin out of the USB connector and the cable that may be used to interface to a computer GD Newport Experience Solutions Page 3 4 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver COMMUNICATION PROTOCOL The USB interface must be properly configured on both devices communicating A correct setting is one that matches all parameters baud rate number of data bits number of stop bits parity type and handshake type for both devices The ESP301 USB configuration is fixed at 921600 baud 8 data bits N parity and 1 stop bit 3 2 3 IEEE 488 Interface HARDWARE CONFIGURATION A typical IEEE 488 setup consists of a controller host terminal and several devices connected to the bus All devices are connected in parallel to the data lines data management and synchronization lines As a
55. Solutions Page 3 49 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver DL USAGE SYNTAX PARAMETERS Description Range Units Default DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions define label IMM PGM MIP xxDL xx int label number xx 1 to 100 xx none xx missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE This command defines a label inside a program In combination with JL jump to label command they offer significant program flow control The operation of the DL JL command pair is similar to commands in other computer languages that allow conditional jumps or GOTO s to predefined labels in a program Note This command does not generate an error when not used inside a program Since it can not do any harm it is only ignored none JL jump to label 3XX clear program 3 from memory if any 3EP create program 3 1DL define label 1 IJL 5 jump to label I five 5 times QP end entering program and quit programming mode 3EX run stored program number 3 Page 3 50 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver DO set dac offset USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 1D00 05 QD Newport Experience Solutions IMM PGM MIP xxDO
56. a 37 pin D Sub connector used for general purpose digital Input Output signals A variety of commands are available to control these ports See Section 3 Remote Mode and Appendix C for Connector Pin Outs GY Newport Experience Solutions EDH0235En1030 08 15 Page 1 8 ESP301 Integrated 3 Axis Motion Controller Driver Power ON OFF RS232 C Motor Interlock switch Connector S gt B 1 j i i l d 7 E r eux run xe e o o S Oe ogo ss A bi g 2 GPIO zs USB Axis3 Axis2 Axis1 pause ENN IEEE 488 optional Axis Connectors Module Figure 1 3 Rear Panel of the ESP301 MOTOR INTERLOCK CONNECTOR The coaxial connector provides remote motor power interlock capability One or more external switches can be wired to remotely inhibit the motor power in a way similar to the Motor Off button on the front panel The controller is shipped with a mating connector that provides the necessary wiring to enable proper operation without an external switch RS232 C CONNECTOR The RS232 C interface to a host computer or terminal is made through this 9 pin D Sub connector The pin out enables the use of an off the shelf pin to pin cable IEEE488 CONNECTOR This is a standard 24 pin connector to interface with a standard IEEE488 device NOTE This is an optional feature USB CONNECTOR This is a standard USB B type connector POWER ENTRY MODULE The power entry se
57. a stage or stages are disconnected re connected or a system is powered down and then powered back up the ESP301 controller card verifies the type of stage s present and re configures its own flash memory if necessary 1 e new stage The controller card in the ESP301 system configuration the stage motor and the current type are defined the controller card will configure the specific axis Specific ESP logic is shown in Figure F 1 Page F 1 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Is An ESP Stage Present Was Same ESP Stage Present Is A Non ESP Stage Present Copy ESP Stage Data Erase Controller Flash to Memory and Load Default Controller Parameters Flash T E Is Drive Axis Present Is Motor Type amp Current NAc 219 Configure Stage Yes gt Axis Figure F 1 Configuration Logic GD Newport Experience Solutions Page F 2 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Appendix G Programming Non ESP Compatible Stages Newport positioners or stages with integrated configuration memory devices are said to be ESP Compatible It is not necessary to manually enter individual stage parameters E G motor current maximum velocity etc with an ESP compatible stage All necessary configuration settings will be automatically loaded after system reset with ESP compatible
58. acceleration or deceleration periods For better predictable results change velocity only when the axis is not moving or when it is moving with a constant speed RETURNS Ifthe sign takes the place of nn value this command reports the current setting REL COMMANDS AC set acceleration VA set velocity VU set maximum velocity PA execute an absolute motion PR execute a relative motion EXAMPLE 2VB read desired base velocity of axis 2 5 controller returns a velocity value of 5 units s 2VB10 set axis 2 base velocity to 10 units s 2VB read base velocity of axis 2 10 controller returns a velocity value of 10 units s QD Newport Experience Solutions Page 3 146 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver VE USAGE SYNTAX PARAMETERS Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions read controller firmware version IMM PGM MIP VE none timeout error 2 RS 232 COMMUNICATION TIME OUT This command is used to read the controller type and version Note Important information needed when asking for technical support for the motion control system or when reporting a problem is the controller version Use this command to determine the controller type and in particular the firmware version ESP301 Version xx yy where xx yy version and release number none VE read controller firmware versio
59. are the ones with polarized rotors the Permanent Magnet and the Hybrid types The question that arises from the driver configuration is how to connect a four phase stepper motor to a driver that drives only two coils This could be accomplished in three different ways each one with its own advantages and disadvantages 1 Use only two adjacent phases e g phase 1 and 2 e Advantage simplicity e Disadvantage lower efficiency since only half the windings are being used 2 Connect the two opposing phases 1 3 and 2 4 in series e Advantage the motor does not require more than the nominal current e Disadvantage the driver will see twice the nominal motor inductance that will reduce the motor s torque performance at higher speeds 3 Connect the two opposing phases 1 3 and 2 4 in parallel e Advantage the motor inductance does not increase allowing it to perform well at higher speeds e Disadvantage requires the driver to supply twice the motor s nominal current I Figure 5 48 Dual H Bridge Driver 5 7 3 DC Motor Drivers There are three major categories of DC motor drivers The simplest one is a voltage amplifier Figure 5 49 QD Newport Experience Solutions Page 5 34 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver control signal 10V M Figure 5 49 DC Motor Voltage Amplifier The driver amplifies the standard 10 V contr
60. current setting REL COMMANDS AC set acceleration VU set maximum velocity PA execute an absolute motion PR execute a relative motion EXAMPLE 2VA read desired velocity of axis 2 10 controller returns a velocity value of 10 units s 2PA15 move to absolute position 15 WT500 wait for 500ms 2VA4 set axis 2 velocity to 4 units s 2VA read velocity of axis 2 4 controller returns a velocity value of 4 units s GO Newport Experience Solutions Page 3 145 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver B set base velocity for step motors IMM PGM MIP USAGE SYNTAX xxVBnn or xxVB PARAMETERS Description xx int axis number nn float base velocity value Range XX 1 to MAX AXES nn 0 to maximum value allowed by VU command or to read current setting Units xx none mn preset units second Defaults xx missing error 37 AXIS NUMBER MISSING out of range nn missing out of range error 38 COMMAND PARAMETER MISSING error xx10 MAXIMUM VELOCITY EXCEEDED error xx01 Axis xx PARAMETER OUT OF RANGE DESCRIPTION This command is used to set the base velocity also referred to as start stop velocity value for a step motor driven axis Its execution is immediate meaning that the velocity is changed when the command is processed even while a motion is in progress It can be used as an immediate command or inside a program Avoid changing the velocity during the
61. decimal and ASCII Codes Continued GO Newport Experience Solutions Page D 2 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Number ASCII Binary decimal Code Code 80 P 01010000 81 Q 01010001 82 R 01010010 83 S 01010011 84 T 01010100 85 U 01010101 86 Vv 01010110 87 W 01010111 88 X 01011000 89 Y 01011001 90 Z 01011010 91 01011011 92 01011100 93 01011101 94 01011110 95 a 01011111 96 01100000 97 A 01100001 98 B 01100010 99 C 01100011 100 D 01100100 101 E 01100101 102 F 01100110 103 G 01100111 104 H 01101000 105 I 01101001 106 J 01101010 107 K 01101011 108 L 01101100 109 M 01101101 110 N 01101110 111 O 01101111 112 P 01110000 113 Q 01110001 114 R 01110010 115 S 01110011 116 T 01110100 117 U 01110101 118 Vv 01110110 119 W 01110111 120 X 01111000 121 Y 01111001 122 Z 01111010 123 01111011 124 01111100 125 01111101 126 01111110 127 01111111 128 10000000 Table D 1 Binary Conversion Table using decimal and ASCII codes Continued GO Newport Experience Solutions Page D 3 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver
62. electrician to check faulty or questionable receptacles WARNING This product is equipped with a 3 wire grounding type plug Any interruption of the grounding connection can create an electric shock hazard If you are unable to insert the plug into your wall plug receptacle contact an electrician to perform the necessary alterations to ensure that the green green yellow wire is attached to earth ground System earthing must be of type earthed neutral TN as defined by CEI60364 GD Newport Experience Solutions EDH0235En1030 08 15 Page 1 2 ESP301 Integrated 3 Axis Motion Controller Driver WARNING This product operates with voltages that can be lethal Pushing objects of any kind into cabinet slots or holes or spilling any liquid on the product may touch hazardous voltage points or short out parts WARNING When opening or removing covers observe the following precautions e Turn power OFF and unplug the unit from its power source e Remove jewelry from hands and wrists Use insulated hand tools only Maintain grounding by wearing a wrist strap attached to instrument chassis Conventions and Definitions The following terms and symbols are used in this documentation and also appear on the ESP301 Controller Driver where safety related issues occur 1 3 1 GD Newport Experience Solutions Definitions and Symbols The following are definitions of safety and general symbols
63. eneeiecinnndaemeiaceaanedeans 84 Se lt i S CT ee ee er 85 115 6 label eee enone ver re ee 86 IW setj g TOW SS onsnadire neninn aan E 87 KD set derivative gain ss sssssssssessiossonseesretstetetsttssttsstnrrtrressrnsstesresrenns 88 KI setintegral gain ssssssssesseosseeseesstessiessoesteressresstesstssrnsrrssresnsesseerenns 89 KP set proportional gain seed ccncactectarieccicatselosacteronataieti da eae 90 KS set saturation level of integral factor eee eeeeeeteteeeeeees 91 EC dock unlock Kev0 ath cscrcsticernciasicinnce miata 92 8am 1 90 2 02110 Cee eee eee eer mee rane eee Nen tir cots ener mR foresee ner een re 93 MD read motion done status c siciszvsscasaou sneer ln sshcsn sensatonivbeesetussuarentoteasont 94 MF MOtOT Ofen ien aie K a aE ip ERTA EEE aiea 95 MO MOLON ecne rae a e E E 96 MT move to hardware travel Limit cece ceeseeseseeeeseseeseseetesestens 97 MV move SES ss bcs secccedecesextddtucerensdacestnnterdsedsdcestantaclienbeacdsdantacdsebubas 98 MZ move TO nearest index aca cen care eccstscenteataeacetdscdacsxenteneoeeoenc nied 100 OH Set home search high speed ssisahscu Accsencsioess wives mencerseemententiannsnes 101 OL sethome search low speed cccsnceensnennniccuncnmimcnias 102 OM sethome search mode ai seuseaiesweszcsntvnctseecaseassteanenseeethaneieatastncseee 103 OR search for home ssssssssssssesssisssressseesstesstesssisssseesstessressressressseessees 104 PA move to absolute positio
64. field Upgrade kits to add more axis IEEE488 are available upon request Call Newport support for details This section describes how to upgrade an ESP301 from 2 to 3 axes Other axes upgrades can be performed accordingly WARNING Opening or removing covers will expose you to hazardous voltages Refer all servicing internal to this controller enclosure to qualified service personnel who should observe the following precautions before proceeding e Turn power OFF and unplug the unit from its power source e Disconnect all cables e Remove any jewelry from hands and wrists e Use only insulated hand tools e Maintain grounding by wearing a wrist strap attached to instrument chassis CAUTION The ESP contains static sensitive devices Exercise appropriate caution when handling ESP301 boards cables and other internal components CAUTION Do not install anything into your ESP301 except items provided by Newport specifically for installation into the ESP301 GD Newport Experience Solutions Page E 1 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Ey Adding Axes 1 Turn the power off and unplug the power cord from the controller Disconnect all cables from the controller 2 Remove the 2 screws as shown below See Figure E 1 which shows how to remove the cover Rear Panel Top Cover Remove the 2 screws slide the cover off Pull the cover in the direction
65. i pm MOTOR a j G oom ENABLE DISABLE J menusenter Figure 2 3 Motion from the Front Panel Displayed Move in Negative Direction with low speed This button can be programmed to move at low speed in the negative direction as long as it is pressed See SET VELOCITY menu items in Section 2 2 5 Move in Positive Direction with low speed This button can be programmed to move at low speed in the positive direction as long as it is pressed See SET VELOCITY menu items in Section 2 2 5 Move with High Speed This button is active only when pushed simultaneously with either move button above See SET VELOCITY menu items in Section 2 2 5 Page 2 3 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Motor ON OFF During motion when this button is pressed all motion is stopped and the front display indicates that all motors are OFF Pressing the button when motors are off will turn all motors on This button is equivalent to the Interlock connector on the rear of the unit See ZE command in Section 3 Remote Mode for further information This is a software function triggered by the above mention inputs Top of menu Home Move Absolute Move Relative Run Program Reset Position Get Errors Configuration Set Velocity Ea Set low jog velocity Set high jog velocit Set Home velocity Set Acceleration Deceleration Set acceleration Set deceleration Save Parameters Get Stage mode
66. is active HIGH Encoder A Input The A input is pulled up to 5V with a 1KQ resistor The signal is buffered with a 26LS32 differential receiver The A encoder encoded signal originates from the stage position feedback circuitry and is used for position tracking Encoder A Input The A input is pulled up to 5V and pulled down to ground with 1KQ resistors This facilitates both single and double ended signal handling into a 26LS32 differential receiver The A encoder encoded signal originates from the stage position feedback circuitry and is used for position tracking Encoder B Input The B input is pulled up to 5V with a 1KQ resistor The signal is buffered with a 26LS32 differential receiver The B encoder encoded signal originates from the stage position feedback circuitry and is used for position tracking Encoder B Input The B input is pulled up to 5V and pulled down to ground with 1KQ resistors This facilitates both single and double ended signal handling into a 26LS32 differential receiver The B encoder encoded signal originates from the stage position feedback circuitry and is used for position tracking Encoder Ground Ground reference for encoder feedback GD Newport Experience Solutions Page C 4 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver GO Newport Experience Solutions Home Input This input is pulled up to 5V wi
67. level 0 LOW 0 1 port A bit 0 at logic level 1 HIGH 1 0 port A bit 1 at logic level 0 LOW 1 port A bit 1 at logic level 1 HIGH 2 0 port A bit 2 at logic level 0 LOW 2 1 port A bit 2 at logic level 1 HIGH 3 0 port A bit 3 at logic level 0 LOW 3 1 port A bit 3 at logic level 1 HIGH 4 0 port A bit 4 at logic level 0 LOW 4 l port A bit 4 at logic level 1 HIGH 5 0 port A bit 5 at logic level 0 LOW 5 1 port A bit 5 at logic level 1 HIGH Page 3 123 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 6 0 port A bit 6 at logic level 0 LOW 6 1 port A bit 6 at logic level 1 HIGH 7 0 port A bit 7 at logic level 0 LOW 7 1 port A bit 7 at logic level 1 HIGH eee RETURNS If the sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS BO set DIO port direction EXAMPLE BO read DIO port direction configuration 0H controller returns a value of 0H all ports are input BO 1H configure DIO port A as output SB OFFH set all port A DIO output HIGH GO Newport Experience Solutions Page 3 124 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver SH set home preset position IMM PGM MIP USAGE SYNTAX xxSHnn or xxSH PARAMETERS Description xx int axis number nn float home preset position Range XX 1 to MAX AXES nn any position within the travel limits Units XX n
68. make active the latest entered PID parameters Any new value for Kp Ki Kd and maximum following error are not being used in the PID loop calculation until UF command is received This assures that the parameters are loaded simultaneously without any transitional glitches in the loop If the axis specifier xx is missing or set to 0 the controller updates the filters for all axes If xx is a number between 1 and 4 the controller updates only the filter for the specified axis none none FE set maximum following error KD set derivative gain factor KI set integral gain factor KP set proportional gain factor 3KP0 05 set proportional gain factor of axis 3 to 0 05 3KD0 07 set derivative gain factor of axis 3 to 0 07 3UF update servo loop of axis 3 with the new parameters Page 3 142 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver UH wait for DIO bit high IMM PGM MIP USAGE SYNTAX XxUH PARAMETERS Description xx int DIO bit number Range XX 0 to 15 Units XX none Defaults xx missing error 38 COMMAND PARAMETER MISSING out ofrange error 7 PARAMETER OUT OF RANGE DESCRIPTION This command causes a program to wait until a selected I O input bit becomes high It is level not edge sensitive This means that at the time of evaluation if the specified I O bit xx is high already the program will continue to execute subsequent commands Note All DIO bits are pulled high on
69. motor on amplifier fault event 1 disable motor on amplifier fault event ir 0 do not abort motion on amplifier fault event 2 1 abort motion on amplifier fault event 3 0 reserved 3 1 reserved 4 0 reserved 4 1 reserved 5 0 amplifier fault input active low 5 1 amplifier fault input active high 6 0 configure step motor control outputs for STEP DIRECTION 6 l configure step motor control outputs for STEP STEP 7 0 configure STEP output as active low 7 1 configure STEP output as active high 8 0 configure DIRECTION output as active low for negative move 8 1 configure DIRECTION output as active high for negative move 9 0 do not invert servo DAC output polarity 9 1 invert servo DAC output polarity 10 0 amplifier enable output active low 10 1 amplifier enable output active high 1 0 stepper motor winding is FULL 11 1 stepper motor winding is HALF eee 31 0 reserved 31 1 reserved default setting Any change in motor winding takes affect only when the controller is reset or power cycled As a result amplifier T O configuration must be saved to memory and controller must be reset for this change to take affect RETURNS If the sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS ZB ZE ZF ZH ZS ZZ set feedback configuration set e stop configuration set following error configuration set hardware limit configuration set software limit configuration set
70. nn where nn desired velocity of the axis in pre defined units PA PR 3TP 5 32 3PR2 2 3DV 3DP 7 52 move to an absolute position move to a relative position read position on axis 3 controller returns position 5 32 units for axis 3 start a relative motion of 2 2 units on axis 3 read desired velocity on axis 3 controller returns velocity 0 2 units sec for axis 3 read desired position on axis 3 controller returns desired position 7 52 units for axis 3 Page 3 53 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver EO USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GO Newport Experience Solutions automatic execution on power on IMM PGM MIP xxEOnn or xx int nn int xx nn xx nn None xxEO program number number of times of execution 1 to 100 1 to 2e9 none none This command sets the program number that is automatically executed on power on Ifnn is missing the xx numbered program is executed once If the sign takes place of nn value this command reports the number of the program that is executed on power on and the number of times of execution QP EX AP XX a 3EO EO EO 3 1 EO quit programming mode execute stored program abort stored program execution erase program set program 3 to be executed once on powe
71. of 15 units s Page 3 30 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver BA set backlash compensation IMM PGM MIP USAGE SYNTAX xxBAnn or xxBA PARAMETERS Description xx int axis number nn float backlash compensation value Range XX 1 to MAX AXES nn to distance equivalent to 10000 encoder counts Units XX none nn user units Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command initiates a backlash compensation algorithm when motion direction is reversed The controller keeps track of the motion sequence and for each direction change it adds the specified nn correction Setting nn to zero disables the backlash compensation NOTE The command is affective only after a home search OR or define home DH is performed on the specified axis RETURNS If sign takes the place of nn value this command reports the current setting REL COMMANDS None EXAMPLE 1BA0 0012 Set backlash compensation value for axis 1 to 0 0012 units 1BA Query backlash compensation value for axis 1 0 0012 Controller returns a value of 0 0012 units IOR Perform home search on axis 1 1PA10 Move axis 1 to absolute 10 units 1PA0 Move axis 1 to absolute 0 units GO Newport Experience Solutions Page 3 31 EDH0235En1030 08 15
72. of the rear panel Figure E 1 Removal of the Top Cover Carefully remove the top cover 4 Insert the driver module for the respective axis The connector of the driver module is keyed to prevent insertion with improper polarity Make sure the keys line up properly before you try to insert the module See Figure E 2 5 Attach the driver panel to the rear panel of the unit with the two supplied screws 6 Re install the top cover The unit is now ready for use IEEE 488 Driver Module Axis 1 Axis 2 Axis 3 AD Newport Page E 2 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Front Panel Figure E 2 Interior of the unit explaining the connectors E2 Adding IEEE488 1 Follow steps 1 3 adding axes 2 Insert the IEEE 488 driver module in the connector The connector of the module is keyed to prevent insertion with improper polarity Make sure the keys line up properly before you try to insert the module 3 Attach the IEEE 488 panel to the rear panel of the unit with the two supplied screws 4 Re install the top cover The unit is now ready for use Page E 3 EDHO0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver GD Newport Experience Solutions Page E 4 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Appendix F ESP Configuration Logic GD Newport Experience Solutions Each time
73. or to read present setting Units XX none nn preset units second Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx10 MAXIMUM VELOCITY EXCEEDED DESCRIPTION This command is used to set the high speed for jogging an axis Its execution is immediate meaning that the value is changed when the command is processed including when motion is in progress It can be used as an immediate command or inside a program RETURNS If sign takes the place of nn value this command reports current setting REL COMMANDS JW set jog low speed VU set maximum velocity EXAMPLE 2VU read maximum velocity allowed axis 2 10 controller returns a value of 10 0 units second for axis 2 2JH7 5 set jog high speed to 7 5 units second for axis 2 2JH read jog high speed value for axis 2 7 5 controller returns a value of 7 5 units second for axis 2 QD Newport Experience Solutions Page 3 84 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver A K set jerk rate IMM PGM MIP USAGE SYNTAX xxJKnn or xxJK PARAMETERS Description xx int axis number nn float jerk value Range XX 1 to MAX AXES nn 0 to 2e9 Units XX none nn preset units second or to read current setting Defaults xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT O
74. performance The ESP301 is an integrated controller and driver The controller part is common for any configuration but the driver section must have the GD Newport Experience Solutions Page 5 31 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver correct hardware for each motor driven The driver hardware is one driver card per axis that installs easily in the rear of the controller Each card has an end plate with the 25 pin D Sub motor connector and an identifying label Always make sure that the motor specified on the driver card label matches the label on the motion device There are important advantages to having an integrated controller driver Besides reducing space and cost integration also offers tighter coordination between the two units so that the controller can more easily monitor and control the driver s operation Driver types and techniques vary widely In the following paragraphs we will discuss only those implemented in the ESP301 5 7 1 Stepper Motor Drivers Driving a stepper motor may look simple at first place For a motor with four phases the most widely used type the user will need only four switches transistors controlled directly by a CPU Figure 5 44 This driver works fine for simple low performance applications But if high speeds are required having to switch the current fast in inductive loads becomes a problem When voltage is applied to a winding the cur
75. profile is employed to produce the desired motion The circular move is a true arc of a circle meaning GD Newport Experience Solutions Page 4 3 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver ru fay a atan Ya xX o axi 2 FB o laxis gt f axis 2 ot cma f axit ot cmd X r cos Laxis 2 x y r cos axis 8 y where Xo and Yo represent initial position of the group Xc and Yc represent desired center position of the circular move Xyand Yrrepresent calculated final position of the group R is radius of the circle 6 is the base initial angle of an axis 6 is the final angle of an axis which is dependant on the sweep angle Qema Both HL and HC can initiate the desired motion if they are received while the group is holding position On the other hand if they are received while a group move is in progress the new commands get queued into a via point buffer The queued commands are executed on a FIFO basis when the move already in progress has reached its destination The group does not come to a stop at the end of last move Instead there will be s smooth transition to the new move command just as if it were one compound move combination of multiple moves The next section details the procedure for making contours or long moves using via point buffers Refer to the description of HL and HC commands in the commands section See Section
76. progress It can be used as an immediate command or inside a program If sign takes the place of nn value this command reports current setting OR OH OL 30L2 30L 2 search for home set home search high speed set home search low speed set home search low speed of axis 3 to 2 units sec query home search low speed of axis 3 controller returns a value of 2 units second Page 3 102 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver OM set home search mode IMM PGM MIP USAGE SYNTAX PARAMETERS Description xx int axis number nn int home search mode Range XX 1 to MAX AXES nn 0 to6 Units XX none nn none Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command selects the home search type without invoking the home search sequence see the description of OR command for more information on home search The seven home search types are 0 Position Count Home Switch and Index Signals Home Switch Signal Positive Limit Signal Negative Limit Signal Positive Limit and Index Signals and Negative Limit and Index Signals If nn 0 and the front panel HOME search push button is pressed the axes will search for zero position count If nn 1 and the front panel HOME search push button is pressed th
77. range This command initiates an absolute motion When received the selected axis xx will move with the predefined acceleration and velocity to the absolute position specified by nn If the requested axis is member of a group this command does not initiate the desired motion Instead error xx31 COMMAND NOT ALLOWED DUE TO GROUP ASSIGNMENT is generated Refer HL and HC commands to move along a line or an arc If this command is issued when trajectory mode for this axis is not in trapezoidal or s curve mode the controller returns error xx32 INVALID TRAJECTORY MODE FOR MOVING Note Even though the command is accepted while a motion is in progress care should be taken not to reverse direction of motion When this command is received the controller verifies if it will produce a change of direction If the sign takes the place of nn value this command reports the current actual the same as TP AC set acceleration PR move to relative position ST stop motion MD move done status VA set velocity 3VA8 set velocity of axis 2 to 8 units s 3PA12 34 move axis 2 to absolute position 12 34 Page 3 106 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver PH USAGE SYNTAX PARAMETERS DESCRIPTION QD Newport Experience Solutions get hardware status IMM PGM MIP PH None This command is used to get general hardware status for all axes This rou
78. result of this type of connection each device on the bus must have a unique address so that the controller can selectively communicate with it The address can be set through the optional front panel display or with the SA set address command Note that the factory default is address 1 COMMUNICATION PROTOCOL The IEEE 488 interface is implemented on the motion controller somewhat differently from a typical instrument because the standard IEEE 488 2 command set and command format are inadequate for a complex motion control Since the ESP controller has its own language and command set the IEEE 488 interface is used only as a communication port The extended protocol is not supported The ESP301 controller has an ASCII command set and also outputs system status in ASCII format It features a command input buffer If the buffer fills up the ESP301 will not allow further communication until memory becomes available to accept new characters To send a command to the ESP301 controller use the command specific to your IEEE 488 terminal e g output ASCII If the host terminal asks the controller for a response e g input ASCID and no response is obtained the controller will eventually will time out GD Newport Experience Solutions Page 3 5 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver USE OF SRQ LINE The ESP301 controller can be instructed to generate an IEEE 488 service request
79. service GD Newport Experience Solutions Page 1 1 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 1 2 Safety Considerations The following general safety precautions must be observed during all phases of operations of this equipment Failure to comply with these precautions or with specific warnings elsewhere in this manual violates safety standards of design manufacture and intended use of the equipment Disconnect or do not plug in the power cord in the following circumstances e Ifthe power cord or any other attached cables are frayed or damaged If the power plug or receptacle is damaged If the unit is exposed to rain or excessive moisture or liquids are spilled on it If the unit has been dropped or the case is damaged If you suspect service or repair is required When you clean the case To protect the equipment from damage and avoid hazardous situations follow these recommendations e Do not make modifications or parts substitutions Return equipment to Newport Corporation for service and repair Do not touch directly or with other objects live circuits inside the unit Keep air vents free of dirt and dust Do not block air vents Keep liquids away from unit Do not expose equipment to excessive moisture gt 85 humidity WARNING All attachment plug receptacles in the vicinity of this unit are to be of the grounding type and properly polarized Contact an
80. servo loop feedback is position based All other velocity acceleration error etc parameters are derived from the position feedback and the internal clock e To measure the absolute position we need a reference a measuring device which is significantly more accurate than the device tested In our case dealing with fractions of microns 0 1 uum and less even a standard laser interferometer becomes unsatisfactory For this reason all factory measurements are made using a number of high precision interferometers connected to a computerized test station e To avoid unnecessary confusion and to easily understand and troubleshoot a problem special attention must be paid to avoid GD Newport Experience Solutions Page 5 2 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver bundling discrete errors in one general term Depending on the application some discrete errors are not significant Grouping them in one general parameter will only complicate the understanding of the system performance in certain applications 5 2 1 Following Error The Following Error is not a specifications parameter but because it is at the heart of the servo algorithm calculations and of other parameter definitions it deserves our attention As will be described later in Section 5 3 Control Loops a major part of the servo controller s task is to make sure that the actual motion device follows as close as possible an
81. so that the two are always equal This creates a second closed loop a velocity loop Motions performed with such a driver are very smooth at high and low speeds and has a similar dynamic following error General purpose velocity feedback drivers have usually two adjustments tachometer gain and compensation Figure 5 52 compensation control signal g M tach gain Figure 5 52 DC Motor Tachometer Gain and Compensation The tachometer gain is used to set the ratio between the control voltage and the velocity The compensation adjustment reduces the bandwidth of the amplifier to avoid oscillations of the closed loop 5 7 3 1 PWM Drivers Even though linear amplifiers are simpler and cleaner do not generate noise their low efficiency makes them impractical to be used with medium and larger motors The most common types of DC drivers use some kind of PWM Pulse Width Modulation techniques to control the current and or voltage applied to the motor This allows for a more efficient and compact driver design QD Newport Experience Solutions Page 5 36 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Section 6 Servo Tuning 6 1 Tuning Principles The ESP301 controller uses a PID servo loop with feed forward Servo tuning sets the Kp Ki and Kd and feed forward parameters of the digital PID algorithm also called the PID filter Tuning PID parameters requires a reasonable amoun
82. the axis numbers specified to be a member of this group is already a member of a different group 19 GROUP AXIS DUPLICATED At least one of the axis numbers is specified to be a member of this group more than once 20 DATA ACQUISITION IS BUSY Data acquisition is not yet complete GD Newport Experience Solutions Page A 2 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 21 DATA ACQUISITION SETUP ERROR An error occurred during data acquisition setup Ensure that data acquisition is disabled and all parameters are within valid range before issuing the command Refer to the command description for valid range of parameters 22 DATA ACQUISITION NOT ENABLED Data acquisition is not yet enabled 23 SERVO CYCLE 400 uS TICK FAILURE There was a failure to increment the servo tick in the Interrupt Service Routine ISR that manages motion control 24 Reserved for future use 25 DOWNLOAD IN PROGRESS Firmware download is in progress 26 STORED PROGRAM NOT STARTED An attempt was made to execute a stored program and the program could not be started 27 COMMAND NOT ALLOWED The issued command is not valid in the context in which it was issued 28 STORED PROGRAM FLASH AREA FULL The flash area reserved for stored programs is full 29 GROUP PARAMETER MISSING At least one parameter is missing Refer to the description of issued command for valid number of parameters 30 GROUP PARAMETER OUT OF RANGE
83. the description of issued command for valid parameter range QD Newport Experience Solutions Page A 1 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 8 CABLE INTERLOCK ERROR The 100 pin cable between motion controller board and driver is disconnected 9 AXIS NUMBER OUT OF RANGE The specified axis number is out of range Refer to the description of issued command for valid axis number range 10 Reserved for future use 11 Reserved for future use 12 Reserved for future use 13 GROUP NUMBER MISSING Group number is not specified The issued command requires a valid group number Refer to the description of issued command for valid group number range 14 GROUP NUMBER OUT OF RANGE The specified group number is out of range Refer to the description of issued command for valid group number range 15 GROUP NUMBER NOT ASSIGNED The specified group has not been assigned Refer to the description of HN command to create a new group with this group number 16 GROUP NUMBER ALREADY ASSIGNED The specified group number has already been assigned Refer to the description of HB command to query the list of group numbers already assigned 17 GROUP AXIS OUT OF RANGE At least one of the axis numbers specified to be a member of this group is out of range Refer to the description of HN command for valid range of axis numbers that can be assigned to a group 18 GROUP AXIS ALREADY ASSIGNED At least one of
84. to 0 0005 units for axis 2 SM save all controller settings to non volatile memory GO Newport Experience Solutions Page 3 59 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver GR set master slave reduction ratio IMM PGM MIP USAGE SYNTAX xxGRnn or xxGR PARAMETERS Description xx int axis number nn float reduction ratio Range XX 1 to MAX AXES nn 1 000 000 Units XX none mn none Defaults Xxx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command sets the master slave reduction ratio for a slave axis The trajectory of the slave is the desired trajectory or actual position of the master scaled by reduction ratio Refer to the TJ command to specify the desired trajectory mode for a slave axis Note Use this command very carefully The slave axis will have its speed and acceleration in the same ratio as the position Also ensure that the ratio used for the slave axis does not cause overflow of this axis parameters speed acceleration especially with ratios greater than 1 RETURNS If sign is issued along with command the controller returns master slave reduction ratio REL COMMANDS SS define master slave relationship EXAMPLE 2SS1 set axis 2 to be the slave of axis 1 2SS query the master axis n
85. truncated nn missing error 7 PARAMETER OUT OF RANGE negative error 22 GROUP PARAMETER OUT OF RANGE out of range error 25 GROUP MAXIMUM DECELERATION EXCEEDED DESCRIPTION This command is used to set the vectorial deceleration value for a group This value will be used during coordinated motion of axes assigned to the group It will override any original deceleration values specified for individual axes using AG command The axes original values will be restored when the group to which they have been assigned is deleted This command takes effect immediately It can be executed when controller is idling or motion is in progress or inside a program Note Avoid changing deceleration during acceleration or deceleration phases of a move For better predictable results change deceleration only when all the axes assigned to this group are not in motion RETURNS If sign takes the place of nn value this command reports the current setting REL COMMANDS AU set maximum acceleration and deceleration for an axis HN create a new group HA set vectorial acceleration for a group GO Newport Experience Solutions Page 3 66 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver EXAMPLE 1HN1 2 create a new group 1 with physical axes 1 and 2 1AU query maximum deceleration of axis 1 50 controller returns a value of 50 units second 2AU query maximum deceleration of axis 2 60 controller retur
86. used on equipment or in this manual WARNING Calls attention to a procedure practice or condition which if not correctly performed or adhered to could result in injury or death CAUTION Calls attention to a procedure practice or condition which if not correctly performed or adhered to could result in damage to equipment NOTE Calls attention to a procedure practice or condition that is considered important to remember in the context Page 1 3 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 1 3 2 EDH0235En1030 08 15 This symbol indicates the principal On Off push push switch is in the ON position when pressed in and in the OFF position when de pressed Protective conductor terminal Caution risk of electric Caution refer to accompanying documents Fuse Stop of action or operation Qi ee O Terminology The following is a brief description of the terms specific to motion control and the ESP301 Motion Controller Driver Axis a logical name for a stage positioner motion device Encoder a displacement measuring device term usually used for both linear and rotary models ESP Enhanced System Performance motion system is synonymous with a plug and play motion system ESP compatible refers to Newport Corporation stage with its own firmware based configuration parameters Newport stages or other stages without this f
87. when all the axes assigned to this group are not in motion If sign takes the place of nn value this command reports the current setting VU set maximum velocity for an axis HN create a new group 1HN1 2 create a new group 1 with physical axes I and 2 1VU query maximum velocity of axis 1 10 controller returns a value of 10 units second 2VU query maximum velocity of axis 2 15 controller returns a value of 15 units second 1HV10 set vectorial velocity of group 1 to 10 units second 1HV query vectorial velocity of group 1 10 controller returns a value of 10 units second Page 3 79 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HW wait for group motion stop USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE IMM PGM MIP xxHWnn xx int group number nn float delay after group motion is complete XX 1 to MAX GROUPS nn 0 to 60000 xx none nn milliseconds XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated nn missing error 7 PARAMETER OUT OF RANGE negative error 22 GROUP PARAMETER OUT OF RANGE out of range error 26 MAXIMUM WAIT DURATION EXCEEDED This command stops execution of any commands subsequent to it until the one prior to it has
88. when the command is processed including when motion is in progress It can be used as an immediate command or inside a program RETURNS If sign takes the place of nn value this command reports current setting REL COMMANDS OR search for home OL set home search low speed EXAMPLE 30H10 set home search high speed of axis 3 to 10 units sec 30H query home search high speed of axis 3 10 controller returns a value of 10 0 units second GO Newport Experience Solutions Page 3 101 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver OL USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions set home search low speed IMM PGM MIP xxOLnn or xxOL xx int nn float xx nn xx nn XX missing out of range nn missing out of range axis number low speed value 1 to MAX AXES 0 to maximum value allowed by VU command or to read present setting none preset units second error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx10 MAXIMUM VELOCITY EXCEEDED error xx24 SPEED OUT OF RANGE This command sets the low speed used to search for home location for an axis Its execution is immediate meaning that the value is changed when the command is processed including when motion is in
89. xx int group number nn float target position of first axis in a group nm float target position of second axis in a group nni float target position of ith axis in a group where i can vary from 1 to 6 xx 1 to MAX GROUPS nni any position within the travel limits xx none nni redefined units xx missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated nnj Missing parameter error 21 GROUP PARAMETER MISSING This command initiates motion of a group along a line It causes all axes assigned to the group to move with predefined vectorial tangential velocity acceleration and deceleration along a line A trapezoid velocity profile is employed when vectorial jerk is set to zero Otherwise an S curve velocity profile is employed If this command is received while a group move is in progress the new command gets enqueued into a via point buffer Please refer Advanced Capabilities section for a detailed description of via point buffer implementation The enqueued commands get executed on a FIFO basis when the move already in progress has reached its destination The group does not come to a stop at the end of last move Instead there will be a smooth transition to the new move command just as if it were one compound move combination of multiple moves Note The transition from last move to new mo
90. 0 pin interlock error event 2 0 reserved 2 1 reserved 3 0 reserved 3 1 reserved 4 0 configure interlock fault as active low 4 1 configure interlock fault as active high 5 0 reserved 5 1 reserved 6 0 reserved 6 1 reserved 7 0 route auxiliary I O encoder signals to counter channels MAX AXES 1 and MAX AXES 2 7 1 route axis 1 and 2 encoder feedback to counter channels MAX AXES 1 and MAX AXES 2 8 0 unprotect ESP system critical settings 8 1 protect ESP system critical settings 9 0 Enable queue purge on time expiration 9 1 Disable queue purge on time expiration 0 Do not display units along with certain responses 0 10 1 Display units along with certain responses 0 Enable timeout during homing 1 11 1 Disable timeout during homing eee 31 reserved 31 1 reserved default setting RETURNS If the sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS ZA set amplifier I O configuration ZB set feedback configuration ZE set e stop configuration ZF set following error configuration ZH set hardware limit configuration ZS set software limit configuration ZU get ESP system configuration EXAMPLE ZZ read system configuration 113H controller returns a value of 113H ZZ 13H set system configuration to 13H QD Newport Experience Solutions Page 3 171 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver GD Newport Ex
91. 000E 0 read position display resolution for axis 1 controller returns a value of 4 read actual position of axis 1 controller returns position value set position display resolution for axis 1 to 2 read actual position of axis 1 controller returns position value set position display resolution for axis 1 to 7 read actual position of axis 1 controller returns position value Page 3 58 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver FR set encoder full step resolution IMM PGM MIP USAGE SYNTAX xxFRnn or xxFR PARAMETERS Description xx int axis number nn float encoder full step resolution Range XX 1 to MAX AXES nn 2e 9 to 2e 9 in user defined units or to read present setting Units XX none nn none Defaults xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command is used to set the encoder full step resolution for a Newport Unidrive compatible programmable driver with step motor axis RETURNS If sign takes the place of nn value this command reports current setting REL COMMANDS QS set microstep factor SU set encoder resolution EXAMPLE 2FR read encoder full step resolution setting of axis 2 0 0001 controller returns a value of 0 0001 units for axis 2 2FR0 0005 set encoder full step resolution
92. 001001 202 11001010 203 11001011 204 11001100 205 11001101 206 11001110 207 11001111 208 11010000 209 11010001 210 11010010 211 11010011 212 11010100 213 11010101 214 11010110 215 11010111 216 11011000 217 11011001 218 11011010 219 11011011 220 11011100 221 11011101 222 11011110 223 11011111 224 11100000 225 11100001 226 11100010 Table D 1 Binary Conversion Table using decimal and ASCII codes Continued GO Newport Experience Solutions Page D 5 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Number ASCII Binary decimal Code Code 227 11100011 228 11100100 229 11100101 230 11100110 231 11100111 232 11101000 233 11101001 234 11101010 235 11101011 236 11101100 237 11101101 238 11101110 239 11101111 240 11110000 241 11110001 242 11110010 243 11110011 244 11110100 245 11110101 246 11110110 247 11110111 248 11111000 249 11111001 250 11111010 251 11111011 252 11111100 253 11111101 254 11111110 255 11111111 Table D 1 Binary Conversion Table using decimal and ASCII codes Continued GO Newport Experience Solutions Page D 6 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Appendix E System Upgrades The modular design of the ESP301 makes it easy for qualified individuals to upgrade the unit in the
93. 01110 15 Si 00001111 16 Dle 00010000 17 Del 00010001 18 Dc2 00010010 19 Dc3 00010011 20 Dc4 00010100 21 Nak 00010101 22 Syn 00010110 23 Eth 00010111 24 Can 00011000 25 Em 00011001 26 Eof 00011010 27 Esc 00011011 28 Fs 00011100 29 Gs 00011101 30 Rs 00011110 Table D 1 Binary Conversion Table using decimal and ASCII codes GD Newport Experience Solutions Page D 1 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Number ASCII Binary decimal Code Code 31 Us 00011111 32 Space 00100000 33 00100001 34 00100010 35 00100011 36 00100100 37 00100101 38 amp 00100110 39 00100111 40 00101000 41 00101001 42 00101010 43 00101011 44 gt 00101100 45 00101101 46 00101110 47 00101111 48 0 00110000 49 1 00110001 50 2 00110010 51 3 00110011 52 4 00110100 53 5 00110101 54 6 00110110 55 7 00110111 56 8 00111000 57 9 00111001 58 00111010 59 00111011 60 lt 00111100 61 00111101 62 gt 00111110 63 00111111 64 01000000 65 A 01000001 66 B 01000010 67 C 01000011 68 D 01000100 69 E 01000101 70 F 01000110 71 G 01000111 72 H 01001000 73 I 01001001 74 J 01001010 75 K 01001011 76 L 01001100 77 M 01001101 78 N 01001110 79 O 01001111 Table D 1 Binary Conversion Table using
94. 2 when DIO bit is at a HIGH logical level and generate appropriate error message 4 4 4 Using DIO to Monitor Motion Status User s applications can monitor motion status desired axis is in motion or standstill through ESP motion controller s DIO This status bit can in turn be used to drive external processes such as turning on off a mechanical brake for instance In order to accomplish this task users must define the DIO bit to be employed to monitor the motion status of a desired axis and the logic state in which that bit should be in when the axis is not in motion Once this is done the feature has to be enabled Furthermore the direction of the DIO port this DIO bit belongs to must be set to output in order for the controller to report the motion status GD Newport Experience Solutions Page 4 13 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver At this point if the selected axis is not in motion the DIO bit changes its state to the level specified as described earlier Please review the example below for further clarifications Example 3 2BM9 1 Use DIO bit 9 to indicate motion status of axis 2 This DIO bit will be set to HIGH when axis 2 is not in motion 2BN1 Enable notification of motion status using DIO for axis 2 BO 06H 06H 0110 Binary Set DIO port A to input and ports B C to output i e set bits 0 7 to input and 8 23 to output After the above commands a
95. 20 until signs of excessive ringing appear again Alternately increase Kd and Kp until Kd cannot eliminate overshoot and ringing at stop This indicates Kp is larger than its optional value and should be reduced At this point the PID loop is very tight Ultimately optimal values for Kp and Kd depend on the stiffness of the loop and how much ringing the application can tolerate NOTE The tighter the loop the greater the risk of instability and oscillation when load conditions change GD Newport Experience Solutions Page 6 3 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Errors At Stop Not In Position If you are satisfied with the dynamic response of the PID loop but the stage does not always stop accurately modify the integral gain factor Ki As described in the Motion Control Tutorial section the Ki factor of the PID works to reduce following error to near zero Unfortunately it can also contribute to oscillation and overshoot Change this parameter carefully and if possible in conjunction with Kd Start with the integral limit IL set to a high value and Ki value at least two orders of magnitude smaller than Kp Increase its value by 50 at a time and monitor overshoot and final position at stop If intolerable overshoot develops increase the Kd factor Continue increasing Ki IL and Kd alternatively until an acceptable loop response is obtained If oscillation develops imm
96. 2mm stored program when DIO bit 1 changes its state from HIGH to LOW logic level 4 4 3 Using DIO to Inhibit Motion The ESP301 motion controller can inhibit the motion of any axis in response to external events In order to accomplish this task users must define the DIO bit to be employed to inhibit the motion of a desired axis and the logic state in which that bit should be in order to inhibit motion Once this done the feature has to be enabled Furthermore the direction of the DIO port this DIO bit belongs to must be set to input in order for the controller to detect the external event At this point if the selected axis is already in motion and DIO bit is asserted E stop is executed per E stop configuration Refer ZE command for further details If the axis is not moving any new move commands are refused as long as the DIO bit is asserted In either case AXIS XX DIGITAL I O INTERLOCK DETECTED error is generated where XX is the axis whose motion is inhibited through DIO Please review the example below for further clarifications Example 3 2BK1 1 Use DIO bit 1 to inhibit motion of axis 2 This DIO bit should be HIGH when axis 2 motion is inhibited 2BL1 Enable inhibition of motion using DIO bits for axis 2 BO 04H 04H 0100 Binary Set DIO ports A B to input i e set bits 0 15 to input and 16 23 to output After the above commands are sent to the controller the controller will inhibit the motion of axis
97. 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command sets the acceleration feed forward gain factor Af Itis active for any DC servo based motion device See the Feed Forward Loops in Motion Control Tutorial section to understand the basic principles of feed forward Note The command can be sent at any time but it has no effect until the UF update filter is received RETURNS If the sign takes the place of nn value this command reports the current setting REL COMMANDS KI set integral gain factor KD set derivative gain factor KP set proportional gain factor KS set saturation gain factor VF set velocity feed forward gain UF update filter EXAMPLE 3VF1 5 set acceleration feed forward gain factor for axis 3 to 1 5 3AF report present axis 3 acceleration feedforward setting 0 9 controller returns a value of 0 9 3AF0 8 set acceleration feed forward gain factor for axis 3 to 0 8 3UF update PID filter only now the AF command takes effect QD Newport Experience Solutions Page 3 26 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver AG USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS QD Newport Experience Solutions set deceleration IMM PGM MIP
98. 3b Low Accuracy for Small Motions cc0cccccccsseeeseeees 5 5 Figure 5 4 Effect of Stiction and Elasticity on Small Motion 5 5 Figure 5 5 Error LE LOT cckshbicesnliptivcniyindbcaitelipdiaaetuinbeseeatindlameunigaeielnedbeunas 5 6 Figure 5 6 Error vs Motion Step Size seee 5 6 Figure 5 7 Hysteresis Plot erens enne a 5 7 Figure 5 8 Real vs Ideal POSTION vssce ca ipie nines canaeuen ee lenserisaeenivaesiven 5 8 Figure 5 9 Pitch Roll and Yaw Motion Ax S c cccsccsssseseesseeseeneees 5 8 Figure 5 10 Pitch Yaw and Roll Motion Ax S ccccccceeseeeteeseeseees 5 9 Figure 5 11 Wobble Generates a Circle n 5 9 Figure 5 12 Position Velocity and Average Velocity 5 10 Figure 5 13 Servo Loop ila ss ss oxeries neon ucaocseiahaenscseas seecuanscte aacesebss 5 13 Fig re 314 P LOOD cnicterieni erein inaa E E 5 14 Figure 5 15 PI LOOp ocoseeeeeeeeeeeerersrrerrerreesrrrreesn 5 14 Figure 3 16 PID DOOD wceieaciateacsoestts tinaetaeccncgineteagsersoneeton ese naases 5 15 Figure 5 17 Trapezoidal Velocity Profile cccsccssesccesseetetseeees 5 16 Figure 5 18 PID Loop with Feed Forward cccccccceeseeseeteeteteeeees 5 16 Figure 5 19 Tachometer Driven PIDF LOOP sccsceesseeseeeteteseeees 5 17 Figure 5 20 Trapezoidal Motion Profile ccccccccccscceceeeseteeteeneees 5 18 Figure 5 21 Position and Acceleration Profiles ccccsccseeeeees 5 18 Figure 5 22 Home Origin Switch and Encoder Index Pul
99. E GD Newport Experience Solutions IMM PGM MIP xxMO or xxMO xx int xx xx Xx missing out of range axis number to MAX AXES none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE This command turns power ON of the specified motor axis If sign is issued along with command the controller returns 1 0 AB ST MF MO 2MO 1 2MF 2M0 motor power is ON motor power is OFF abort motion stop motion urn motor power OFF turn axis 2 motor power ON query axis 2 motor power status controller returns a value of 1 turn axis 2 motor power OFF query axis 2 motor power status controller returns a value of 0 Page 3 96 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver MT USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions move to hardware travel limit IMM PGM MIP xxMTnn or xxMT xx int axis number nn char direction of motion xx 1 to MAX AXES nn for positive direction or for negative direction xx none nn none XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing positive direction This command is used to move an axis to its limit positive or negative It uses the home search speed during travel to hardware limit Note Th
100. EE488 Interface 3 5 3 3 Software Utilities sisssacacaassiecacedeundscassiedaceiaveissan 3 6 QD Newport Experience Solutions Page ix EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver EDH0235En1030 08 15 3 4 Command Syntax 0 ccceccceeseeeteceeeeeeeeeeeees 3 7 3 4 1 Summary of Command Syntax 3 8 3 5 Command SUMIMALY vsisccsisinencsorsetsnisscecmavievers 3 9 3 5 1 Command List by Category 3 10 3 5 2 Command List Alphabetical 3 15 3 6 Description of Command6 ccceeeeeee 3 19 Section 4 Advanced Capabilities ccsccssssccssseesees 4 1 4 1 COUP INS scniscesadunsessnesenedeonspsneseienctennsisatseaunedss 4 4 1 1 Introduction Advanced Capabilities 4 1 4 1 2 Defining a Group amp Group Patametet Sissies ceresti 4 1 4 1 2 1 Creating a Group 4 4 1 2 2 Defining Group Parameters 4 2 4 1 3 Making Linear and Circular Moves 4 2 4 1 3 1 Making Linear Move 4 3 4 1 3 2 Making Circular Move 4 3 4 1 4 Making Contours 4 4 4 1 5 Miscellaneous Commands 4 7 4 2 Slaving a Stage to Trackball Joystick or a DRESSES AOS ses picesctguisicarasensaaviasascceacenvende 4 7 4 2 1 Introduction Slaving a Stage 4 7 4 2 2 Slave to a Different Stage 4 8 4 2 3 Slave to a Joystick cee 4 9 4 3 Closed Loop Stepper Motor Positioning 4 9 4 3 1 In
101. EP RATIO The specified full step resolution is invalid Refer to the description of FR command for valid range of full step resolution x29 DIGITAL VO INTERLOCK DETECTED A DIO interlock was asserted x30 COMMAND NOT ALLOWED DURING HOMING The command issued was not executed because locating the home position of this axis is in progress Refer to the description of the issued command for further details QD Newport Experience Solutions Page A 7 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver x31 COMMAND NOT ALLOWED DUE TO GROUP ASSIGNMENT The specified command was not executed because this axis is member of a group Refer to the description of issued command for further details x32 INVALID TRAJECTORY MODE FOR MOVING The specified trajectory mode is invalid to make absolute or relative moves Refer to the description of PA and PR commands for valid trajectory modes to initiate motion GD Newport Experience Solutions Page A 8 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Appendix B Trouble Shooting Maintenance There are no user serviceable parts or user adjustments to be made to the ESP301 controller driver Procedures are to be performed only by qualified service personnel Qualified service personnel should be aware of the shock hazards involved when instrument covers are removed and should observe the following precautions before p
102. ETE i J JL 1 2 3 m o oe MOTOR i T if j a _ BB vown HLL ENABLE DISABLE 7 s 9 MENU ENTER m G aa wo Figure 1 1 ESP301 Controller Driver 1 4 1 Features A number of advanced features make the ESP301 an excellent choice for many applications e Integrated controller and driver design is cost effective and space saving e Compact standard 2U height rack mountable or bench top enclosure QD Newport Experience Solutions Page 1 5 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 1 4 2 EDH0235En1030 08 15 e Allows any combination of motor types 2 or 4 phase stepper and brush DC up to 3A 48V per axis 200MHz Digital Signal Processing architecture Real time high speed command processing Powerful commands for most demanding applications Motion program storage up to 99 programs in 64kB non volatile memory e Advanced motion programming capabilities and complex digital 1 O functions e User selectable displacement units e Full featured front panel with position and status displays for each axis push buttons for simple motion sequences and access to an elaborate menu that allows setup of the system without use of a computer Specifications Function e Integrated motion controller and driver Number of motion axes e 1 to 3 in any combination or order of 2 or 4 phase stepper and brush DC motors up to 48VDC 3A per axis Trajectory t
103. F RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx15 MAXIMUM JERK EXCEEDED DESCRIPTION This command is used to set the jerk i e rate of change in acceleration value for an axis Its execution is immediate meaning that the jerk is altered when the command is processed and trajectory mode is set to S curve even while a motion is in progress It can be used as an immediate command or inside a program Note Avoid changing the jerk during the acceleration or deceleration periods For better predictable results change jerk only when the axis is not moving RETURNS none REL COMMANDS AC set acceleration TJ set trajectory mode VA set velocity EXAMPLE 2JK read desired velocity of axis 2 10 5 controller returns a velocity value of 10 5 units s 2JK15 set axis 2 jerk to 15 units s GO Newport Experience Solutions Page 3 85 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver JL USAGE SYNTAX PARAMETERS Description Range Units Default DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions jump to label IMM PGM MIP xxJLnn xx int label number nn int loop count xx 1to100 nn 1 to 65535 xx none nn none xx missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE nn missing assume infinite out of range error xx2 PARAMETER OUT OF RANGE This c
104. FD 7 19 GND NDAC 8 20 GND IFC 9 21 GND SRQ 10 22 GND ATN 11 23 GND SIELD 12 24 SIGNAL GND Table C 3 IEEE488 Interface Connector C 1 6 RS 232C Interface Connector 9 Pin D Sub The RS 232C interface uses a 9 pin sub F connector The back panel connector pin out is shown in Figure C 1 Pin No Description DCD 2 TXD 3 RXD 4 DTR 5 GRD 6 DSR T RTS 8 CTS Q RI Figure C 1 RS 232C Connector Pin Out GD Newport Experience Solutions Page C 6 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver C 1 7 RS 232C Interface Cable Figure C 2 shows a simple straight through pin to pin cable with 9 conductors that can be used to connect to a standard 9 pin RS232 host Pin No Pin No 1 1 2 2 3 3 4 4 5 5 6 6 T 7 8
105. ISSING out of range error 7 PARAMETER OUT OF RANGE This command reads a specified program from non volatile memory and sends it to the selected communication port RS232 or IEEE488 During the transmission no other command should be sent to the controller Note The program list always terminates with the word END program listing EP enter program mode 3LP list program number 3 3MO enable axis 3 motor power IDL define return label 1 3PR 10 move axis 3 relative 10 units 3WS500 wait 500ms after axis 3 stops 3PR 10 move axis 3 relative 10 units 3WS500 wait 500ms after axis 3 stops LJLS jump to label I location 5 times END end of program list Page 3 93 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver MD status read motion done USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions IMM PGM xxMD xx int xx xx xx missing out of range MIP axis number 1 to MAX AXES none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE This command is used to read the motion status for the specified axis n The MD command can be used to monitor Homing absolute and relative displacement move completion status PA PR 3MD 3PR2 2 3MD Oor 1 where 0 motion not done FALSE 1 motion done TRUE move to an absolute po
106. M MIP USAGE SYNTAX SKnn1 nn2 or SK PARAMETERS Description nn float jog velocity scaling coefficients Range nni none Units nni none Defaults nn missing error 38 COMMAND PARAMETER MISSING DESCRIPTION This command sets the jog velocity scaling coefficients for slave axis The jog velocity of slave axis is computed once every interval using user specified scaling coefficients and the master axis velocity at the time of computation The user specified coefficients are used as follows 3 2 x A Xin B Xn sgn X m where x is the jog velocity of the slave and x is the velocity of the master axis Refer SI command to specify slave jog velocity update interval Note Appropriate trajectory mode has to be specified using TJ command before this command becomes effective RETURNS If sign is issued along with command the controller returns slave axis jog velocity scaling coefficients REL COMMANDS SS define master slave relationship SI set slave axis jog velocity update interval EXAMPLE 2SS1 set axis 2 to be the slave of axis 1 2SS query the master axis number for axis 2 1 controller returns a value of 1 2TJ6 set axis 2 trajectory mode to 6 SI10 set the jog velocity update interval of slave axis to 10 msec SI query the jog velocity update interval of slave axis 10 controller returns a value of 10 SK0 5 0 set the jog velocity scaling coefficients to 0 5 and 0 SK query the jog velocity scalin
107. M PGM MIP xxQGnn or xxQG xx int axis number nn float gear constant xx 1 to MAX AXES mn 0 to 2e9 or to read present setting xx none nn evolution unit of measure xx missing error 37 AXIS NUMBER MISSING out of range nn missing out of range error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE This command is used to set the gear constant for a Newport Unidrive compatible programmable driver for DC servo axis This command should be used in conjunction with QT tachometer gain command The gear constant is defined as the number of revolutions the motor has to make for the motion device to move one displacement This command must to be followed by the QD update driver command to take affect If the sign takes the place of nn value this command reports the current setting SN QD QS QI QY 2QG 0 3937 2QG 0 25 2QT 7 0 20D set displacement units update driver set microstep factor set motor maximum current et average motor voltage read gear constant setting of axis 2 controller returns a value of 0 3937 rev unit for axis 2 set gear constant to 0 25 rev unit for axis 2 set tachometer gain to 7 V Krpm for axis 2 update programmable driver with latest settings for axis 2 Page 3 112 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver QI USAGE SYN
108. NUMBER NOT ASSIGNED floating point truncated DESCRIPTION This command is used to read the actual position the instantaneous real position of all axes assigned to a group RETURNS nny nns nn where nn actual position of ith axis in the group REL COMMANDS HN create a new group HC move a group of axes to desired position along an arc HL move a group of axes to desired position along a line EXAMPLE 1HN1 2 create a new group 1 with physical axes 1 and 2 1HP read position of group 1 10 50 controller returns axis 1 10 units axis 2 50 units QD Newport Experience Solutions Page 3 76 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HQ wait for group command buffer level USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions IMM PGM MIP xxHQnn or xxHQ xx int group number nn float level in group via point buffer xx 1 to MAX GROUPS nn to 10 default for maximum targets in via point buffer XX none nn milliseconds XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated nn Missing parameter error 21 GROUP PARAMETER MISSING This command stops enqueuing new commands into the via point buffer until the buffer level e
109. Or Or Or Or Or OF OF OF OF Oo 10 axis 3 ESP compatible motorized positioner not detected 10 axis 3 ESP compatible motorized positioner detected 11 axis 4 ESP compatible motorized positioner not detected 11 axis 4 ESP compatible motorized positioner detected 12 axis 5 ESP compatible motorized positioner not detected 12 axis 5 ESP compatible motorized positioner detected 13 axis 6 ESP compatible motorized positioner not detected 13 axis 6 ESP compatible motorized positioner detected 14 reserved 14 reserved 15 reserved 15 reserved eee 31 0 reserved 31 1 reserved Page 3 168 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver RETURNS This command reports the current setting in hexadecimal notation REL COMMANDS ZA set amplifier I O configuration ZB set feedback configuration ZE set e stop configuration ZF set following error configuration ZH set hardware limit configuration ZS set software limit configuration ZZ set system configuration EXAMPLE ZU read ESP system configuration 150015H controller returns a value of 150015H GO Newport Experience Solutions Page 3 169 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver LL USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION GD Newport Experience Solutions set system configuration IMM PGM MIP ZZnn or ZZ nn int system configurati
110. Page 3 41 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver DB set position deadband IMM PGM MIP USAGE SYNTAX xxDBnn or xxDB PARAMETERS Description xx int axis number nn int deadband value Range XX 0 to MAX AXES nn to 2e9 Units XX none nn encoder counts Defaults xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING DESCRIPTION This command is used to set the position deadband value for an axis Since a majority of electro mechanical systems have mechanical backlash or frictional hysterisis closed loop positioning can at times lead to oscillation or limit cycling of the systems around a desired position In such situations setting position deadband value judiciously can avoid limit cycling of the systems Note that this command is effective only during position regulation holding position as opposed to moving Furthermore note that encoder feedback and closed loop positioning must be enabled for this command to be effective Refer to feedback configuration ZB command for enabling these features in the case of stepper motors If 0 is used as an axis number this command will set the specified deadband value to all the axes RETURNS If sign takes the place of nn value this command reports the current setting REL COMMANDS ZB set feedback configuration CL set closed lo
111. RAMETERS Description xx int group number nn int physical axis number to be assigned as first axis in this group nn int physical axis number to be assigned as second axis in this group nni int physical axis number to be assigned as ith axis in this group Range XX 1 to MAX GROUPS nni 1 to MAX AXES Units XX none nni none Defaults XX missing error 13 GROUP NUMBER MISSING out of range not assigned already assigned floating point nni out of range already assigned duplicated error 14 GROUP NUMBER OUT OF RANGE error 15 GROUP NUMBER NOT ASSIGNED error 16 GROUP NUMBER ALREADY ASSIGNED truncated error 17 GROUP AXIS OUT OF RANGE error 18 GROUP AXIS ALREADY ASSIGNED error 19 GROUP AXIS DUPLICATED Missing parameter error 21 GROUP PARAMETER MISSING DESCRIPTION This command is used to create a new group A few rules are in place to facilitate easy management of groups e A group has to be created with at least two axes assigned to it before any command related to groups can be issued The controller returns error 15 GROUP NUMBER NOT ASSIGNED if for instance one tries to set velocity for group 1 before creating group 1 e A group has to be deleted refer HX command before axes assigned to the group can be changed The controller returns error 16 GROUP NUMBER ALREADY ASSIGNED if one attempts to change axes assigned to a group already created Please see the following table for corre
112. RDWARE LIMIT DETECTED The motion controller sensed a high level at its positive travel limit input Refer to the description of ZH command to configure the motion controller tasks upon encountering a hardware limit x05 NEGATIVE HARDWARE LIMIT DETECTED The motion controller sensed a high level at its negative travel limit input Refer to the description of ZH command to configure the motion controller tasks upon encountering a hardware limit x06 POSITIVE SOFTWARE LIMIT DETECTED The motion controller sensed that the axis has reached positive software travel limit Refer to the description of SR command to specify the desired positive software travel limit Also refer to thew description of ZS command to configure the motion controller tasks upon encountering a software limit x07 NEGATIVE SOFTWARE LIMIT DETECTED The motion controller sensed that the axis has reached negative software travel limit Refer to the description of SL command to specify the desired negative software travel limit Also refer to the description of ZS command to configure the motion controller tasks upon encountering a software limit x08 MOTOR STAGE NOT CONNECTED The specified axis is not connected to the driver x09 FEEDBACK SIGNAL FAULT DETECTED There was a feedback signal fault condition Ensure that the encoder feedback is relatively noise free GD Newport Experience Solutions Page A 5 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion
113. Solutions Page 3 129 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver SN USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions IMM PGM MIP xxSNnn or xxSN xx int nn int XX nn xx nn xx missing out of range nn missing out of range set axis displacement units axis number displacement units 1 to MAX AXES 0 to 10 where 0 encoder count 1 motor step 2 millimeter 3 micrometer 4 inches 5 milli inches 6 micro inches 7 degree 8 gradian 9 radian 10 milliradian 11 microradian or to read present setting none none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE This command is used to set the displacement units for the for axis xx Note The unit of measure as used with this controller is intended as a label only It is the user s responsibility to convert and resend all affected parameters e g velocity acceleration etc when switching from one unit of measure to another If the sign takes the place of nn value this command reports the current setting FR SU 2SN 2SN 0 set full step resolution set encoder resolution read displacement unit setting of axis 2 controller retur
114. TAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions set maximum motor current IMM PGM MIP xxQInn or xxQI xx int nn float xx nn z XX nn 7 xx missing out of range nn missing out of range axis number motor current 1 to MAX AXES 0 to maximum driver rating see Specifications section or to read present setting none none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE This command is used to set the maximum motor current output for a Newport Unidrive compatible programmable driver axis This command must to be followed by the QD update driver command to take affect If the sign takes the place of nn value this command reports the current setting QG QD QS QT QY 2Q1 1 6 2Q1 1 2 20D SM set gear constant update driver set microstep factor set tachometer gain set average motor voltage read maximum motor current setting of axis 2 controller returns a value of 1 6 Amp for axis 2 set maximum motor current to 1 2Amp for axis 2 update programmable driver with latest settings for axis 2 save all controller settings to non volatile memory Page 3 113 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver QM
115. This command must to be followed by the QD update driver command to take affect RETURNS If the sign takes the place of nn value this command reports the current setting REL COMMANDS QD update driver QS set microstep factor QG set gear constant QI set motor maximum current QV 3 set average motor voltage EXAMPLE 2QT read tachometer gain setting of axis 2 7 0 controller returns a value of 7 0 V Krpm for axis 2 2QT 6 5 set tachometer gain value of 6 5 V Krpm for axis 2 2QG 0 3937 set gear constant to 0 3937 rev unit for axis 2 2QD update programmable driver with latest settings for axis 2 SM save all controller settings to non volatile memory QD Newport Experience Solutions Page 3 118 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver OV USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions set average motor voltage IMM PGM MIP xxQVnn or xx int nn float XX nn XX nn XX nn xxQV missing out of range missing out of range axis number motor voltage 1 to MAX AXES 0 to maximum driver rating see Specifications section or to read present setting none none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE This command
116. UNCTIONS Cmd Description IMM PGM MIP Page DP Get target position 3 52 DV Get working speed 3 53 ID Get stage model and serial 3 83 number MD Get axis motion status 3 94 PH Get hardware status 3 107 TB Get error message 3 135 TE Get error number 3 136 TP Get position 3 138 TS Get controller status 3 139 TV Get velocity 3 140 TX Get controller activity 3 141 VE Get firmware version 3 147 XM _ Get available program memory 3 153 GO Newport Experience Solutions Page 3 10 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver MOTION amp POSITION CONTROL Cmd Description IMM PGM MIP Page AB Abort motion 3 21 DH Define home 3 49 MT Move to hardware travel limit 3 97 MV_ Move indefinitely 3 98 MZ Move to nearest index 3 100 OR Origin searching 3 104 PA Move absolute 3 106 PR Move relative 3 110 ST Stop motion 3 133 MOTION DEVICE PARAMETERS Cmd Description IMM PGM MIP Page FE Set following error threshold 3 57 FR Full step resolution 3 59 GR Set gear ratio 3 60 QG Set gear constant 3 112 QI Motor current
117. Verify that the motion device is connected to the correct driver card as specified by the labels Incorrect parameters Verify that all relevant parameters PID velocity etc are set properly Move command not executed Software travel limit The software limit See SL command if the specified direction was reached If limits are set correctly do not try to move past them Incorrect parameters Verify that all relevant parameters PID velocity etc are set Home search not completed Faulty origin or index signals Carefully observe and record the motion sequence by watching manual knob rotation if available With the information collected call Newport for assistance Wrong line Make sure that the computer and terminator the controller use the same line terminator No remote Verify that the controller is set to communication communicate on the right port wrong RS 232 or IEEE488 communication port Wrong Verify that all communication communication parameters match between the parameters computer and the controller Table B 1 Trouble Shooting Guide Descriptions Continued NOTE Many problems are detected by the controller and reported on the display and or in the error register Consult Appendix A Error Messages for a complete list and description Page B 3 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver
118. WA E Ea E E E E 1 5 1 4 2 Specifications cacic cccercasneicometeaionians 1 6 1 4 3 Descriptions of Front Panel Versions 1 7 1 4 4 Rear Panel Description 0 1 8 1 5 Systemi SetuP saccunscaunnineateicosnadsatinuseamronesaenteate 1 10 1 5 1 Line VON Gs sasccsicintesssiascsmctieasensiene 1 10 32 First Power ON saacecccisnescuesnaaniax 1 10 1 6 Quick Start cesses decal onaaevecesudetevsreasaceereseeanesanes 1 11 1 6 1 Connecting Motion Devices 1 11 1 6 2 TO GUI sett acta ele ceecep canals 1 12 1637 Homing pa5s sci vacesessasirastanassedinncesonnande 1 12 104 SIO Gs ccsonsiesvvacevcsssasystentanmntdieucines 1 13 Section 2 Modes of Operation csssccscsscscsrsesseesssees 2 1 2 1 Overview of Operating Modes eee 2 1 211 LOCAL Mode sceinm 2 1 2 1 2 REMOTE Mode saciscccassaissssisncssestsntees 2 1 2 2 Operation in LOCAL Mode ceeeeeee 2 1 2 2 1 Accessing the Menu ce cece 2 2 2 22 Navigating the Menu scvsccssesaiissanses 2 2 225 Changing Values siecscdtesiecshdsredecsnsestens 2 2 2 2 4 Motion from the Front Panel 2 3 2 2 5 Detailed Description of Menu Items 2 5 Section 3 Remote Mod e u cccssssssssssseccesssssssscsseccseeees 3 1 3 1 Programming Modes cccccsceesseesteeeteeeeees 3 1 3 2 Remote MMe aes sis scsnccustssnctuchinniaxemiaceciavave 3 3 3 2 1 RS 232C Interlacecccccssiccicsciesacisivivainas 3 4 3 2 2 USB Interface 3 4 3 2 3 IE
119. YNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions group on IMM PGM MIP xxHO or xxHO xx int xx xx Xx missing out of range not assigned floating point group number 1 to MAX GROUPS none error 13 GROUP NUMBER MISSING error 14 GROUP NUMBER OUT OF RANGE error 15 GROUP NUMBER NOT ASSIGNED truncated This command turns power ON of all axes assigned to a group Refer MO command to turn the power ON of individual axes The group power is assumed to be ON if power to all axes in the group is ON If sign is issued along with command the controller returns 1 3 0 HN HF 1HN1 2 1HO 1HO 1HF 1HO group power is ON group power is OFF create a new group turn group power OFF create a new group 1 with physical axes 1 and 2 turn group 1 power ON query group 1 power status controller returns a value of 1 turn group 1 power OFF query group 1 power status controller returns a value of 0 Page 3 75 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HP read group position IMM PGM MIP USAGE SYNTAX xxHP PARAMETERS Description xx int group number Range XX 1 to MAX GROUPS Units XX none Defaults XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP
120. a motion in progress using deceleration rate programmed with AG set deceleration command on the specified axes If the ST command is sent with no axis parameter all axes are stopped RETURNS none REL COMMANDS AB abort motion AG set deceleration MF motor power off EXAMPLE 2PA40 move axis 2 to absolute position 40 2ST stop motion on axis 2 GO Newport Experience Solutions Page 3 133 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver SU USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions set encoder resolution IMM PGM MIP xxSUnn or xxSU xx int nn float XX nn xx nn xx missing out of range nn missing out of range axis number encoder resolution 1 to MAX AXES 2e 9 to 2e 9 in user defined units or to read present setting none none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE This command is used to set the encoder resolution for axis xx Note The encoder resolution can only be changed when encoder feedback is enabled See ZB command If sign takes the place of nn value this command reports the current setting FR SU QD ZB 2SU 0 0001 2SU0 0005 2QD SM set full step resolution s
121. ad component step Turn power off and swap the cable motor cable with another axis if cables are identical to locate the problem Contact Newport for cable replacement or motion device service Safety control Plug connector in If the connector on the rear connector was lost you can either of the ESP301 is build one as shown in System missing Setup in Appendix C 1 8 or call Newport for a replacement Red LED above Power button on the Verify that the motion device is STOP ALL button display does not connected remains on appear when motor power button is pressed Motor can not be turned on Table B 1 Trouble Shooting Guide Descriptions PROBLEM CAUSE CORRECTIVE ACTION Excessive following Wrong setup load Verify that all setup parameters error specification correspond to the actual motion exceeded device installed Verify that the load specifications for the motion device are not being exceeded QD Newport Page B 2 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver QD Newport Experience Solutions Axis does not move Incorrect connection Verify that the motion device is connected to the correct driver card as specified by the labels Incorrect parameters Verify that the motion device is connected to the correct driver card as specified by the labels System performance below Incorrect connection
122. ad the controller status byte The byte returned is in the form ofan ASCII character The value of each bit in the status byte can be deduced after converting the ASCII character into a binary value Each bit of the status byte represents a particular controller parameter as described in the following table Note Please refer to the Appendix for a complete ASCII to binary conversion table INTERPRETATION OF LEFT MOST ASCII CHARACTER i Meaning for ee saci Bit LOW Bit HIGH 0 Axis 1 motor state Stationary In motion 1 Axis 2 motor state Stationary In motion 2 Axis 3 motor state Stationary In motion 3 Axis 4 motor state Stationary In motion 4 Motor power of at least one axis OFF ON 5 Reserved Default 6 Reserved Default 7 Reserved Default INTERPRETATION OF RIGHT MOST ASCII CHARACTER Note This ASCH character is returned only if the motion controller supports more than four 4 axes Bit Function Meaning for n i ee Bit LOW Bit HIGH 0 Axis 5 motor state Stationary In motion 1 Axis 6 motor state Stationary In motion 2 Reserved Default 3 Reserved Default 4 Motor power of at least one axis OFF ON 5 Reserved Default 6 Reserved Default 7 Reserved Default RETURNS ASCII character representing the status byte REL COMMANDS TX read controller activity EXAMPLE TS read controller status P controller ret
123. additional details Command Description ZB Set feedback configuration DB Specify deadband value CL Specify closed loop update interval Table 4 4 Closed Loop Stepper Positioning Commands 4 4 Synchronize Motion to External and Internal Events 4 4 1 Introduction Synchronize Motion Certain applications require the use of inputs from an external source to command the motion controller to perform certain tasks These tasks can be to either initiate motion of desired axes written in a user s stored program or to inhibit motion of desired axes or more simply to just monitor the motion status of these axes The ESP301 motion controller addresses these issues by taking advantage of the digital I O interface available on the controller The 24 digital I O bits are divided into three 3 ports A B and C ESP301 motion controllers has access to only ports A and B Port A covers DIO bits 0 7 port B covers bits 8 15 and port C covers bits 16 23 The direction of each port can be setup to be either input or output If a port is configured to be an input the DIO bits that belong to that port can only report the state HIGH or LOW logic level of the corresponding DIO hardware On the other hand if the port is configured to be an output the DIO bits in that port can be used to either set or clear the state of the corresponding hardware Each DIO bit has a pull up resistor to 5V As a result al
124. ain known increments The solution is to take the halh sine waves and digitize them so that for every step command the currents change to some new pre defined levels causing the motor to advance one small step Figure 5 38 QD Newport Experience Solutions Page 5 27 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver or Bo i _ c ai D u o i Figure 5 38 Timing Diagram Mini Stepping This driving method is called mini stepping or micro stepping For each step command the motor will move only a fraction of the full step Motion steps are smaller so the motion resolution is increased and the motion ripple noise is decreased However mini stepping comes at a price First the driver electronics are significantly more complicated Secondly the holding torque or one step is reduced by the mini stepping factor In other words for a x10 mini stepping it takes only 1 10 of the full step holding torque to cause the motor to have a positioning error equivalent to one step a mini step To clarify a little what this means lets take a look at the torque produced by a stepper motor For simplicity lets consider the case of a single phase being energized Figure 5 39 Once the closest rotor tooth has been pulled in assuming that the user doesn t have any external load the motor does not develop any torque This is a stable point If external forces try to move the rotor Figure 5 40 the magne
125. as long as there are commands in the buffer unless a command is fetched from the buffer that instructs the controller to wait Executing a move does not automatically suspend command execution until the move is complete If the WS command were not issued in Example 1 the controller would start the second move immediately after the first move begins and simultaneously move axis 1 and axis 2 NOTE Unless instructed otherwise the ESP controller executes commands in the order received without waiting for completion of previous commands Remember that commands must be terminated with a carriage return ASCII 13 decimal Until a terminator is received characters are simply kept in contiguous buffer space without evaluation Example 2 1PA 30 1WS 2PR 10 Example 1 and Example 2 perform the same operations In Example 2 however semicolons are used in place of carriage returns as command delimiters keeping the ESP301 controller from interpreting any commands on that line until the carriage return terminator is received at the very end of the string PROGRAM EXECUTION MODE The ESP301 controller also implements an internal program execution mode that enables the user to store up to 100 programs in a 64kB non volatile memory Even while executing stored programs the ESP301 controller maintains open communication channels so that the host terminal can GD Newport Experience Solutions Page 3 2 EDH0235En1030 08 15
126. ator Controler Motion Controller A e dt Kae de dt Kp Proportional gain factor K integral gain factor Ka derivative gain factor e instantaneous following factor The program for most users is to get a feeling for this formula especially when trying to tune the PID loop Tuning the PID means changing its three gain factors to obtain a certain system response task quite difficult to achieve without some understanding of its behavior of servo loops The following paragraphs explain the PID components and their operation P Loop Let s start with the simplest type of closed loop the P proportional loop The diagram in Figure 5 14 shows its configuration Every servo cycle 400 us the actual position as reported by the encoder is compared to the desired position generated by the trajectory generator The difference e is the positioning error the following error Amplifying it multiplying it by Kp generates a control signal that converted to an analog signal is sent to the motor driver There are a few conclusions that could be drawn from studying this circuit GD Newport Experience Solutions Page 5 13 The motor control signal thus the motor voltage is proportional to the following error There must be a following error in order to drive the motor EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver GD Newport Experience Solutions e
127. been completed For instance if a command preceding it is a group move command such as HL or HC it stops execution of any commands following it until the group has reached target position If nn is not equal to zero the controller waits an additional nn milliseconds after the group motion is complete before executing any further commands none HN create a new group HL move group to target position along a line 1HN1 2 create a new group 1 with physical axes 1 and 2 2HN3 4 create a new group 2 with physical axes 3 and 4 1HV10 set vectorial velocity of group 1 to 10 units second 1HA50 set vectorial acceleration of group 1 to 50 units second 1HD50 set vectorial deceleration of group 1 to 50 units second 2HV10 set vectorial velocity of group 2 to 10 units second 2HASO set vectorial acceleration of group 2 to 50 units second 2HDS0 set vectorial deceleration of group 2 to 50 units second 1HO enable group 1 2HO enable group 2 1HLS0 50 1HW500 2HL30 20 move group 1 to a target position 50 50 QD Newport Experience Solutions units axis 1 50 units and axis 2 50 units wait for the group to reach target position wait an additional 500 ms and then move group 2 to a target position 30 20 units axis 3 30 units and axis 4 20 units Page 3 80 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HX delete group IMM PGM MIP USAGE
128. c flux will turn the rotor until the rotor and stator teeth line up This true of the rotor core is made out of soft iron Regardless of the current polarity the stator will try to pull in the closest rotor tooth Figure 5 31 Stepper Motor Operation But if the rotor is a permanent magnet depending on the current polarity the stator will pull or push the rotor tooth This is a major distinction between two different stepper motor technologies variable reluctance and permanent magnet motors The variable reluctance motors are usually small low cost large step angle stepper motors The permanent magnet technology is used for larger high precision motors The stepper motor advances to a new stable position by means of several stator phases that have the teeth slightly offset from each other To illustrate this Figure 5 32 shows a stepper motor with four phases and to make it easier to follow it is drawn in a linear fashion as a linear stepper motor Anr C Figure 5 32 Four Phase Stepper Motor QD Newport Experience Solutions Page 5 25 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver The four phases from A to D are energized one at a time phase A is shown twice The rotor teeth line up with the first energized phase A If the current to phase A is turned off and B is energized next the clo
129. cessed including when motion is in progress It can be used as an immediate command or inside a program If sign takes the place of nn value this command reports current setting JH VU 2VU 10 2JW2 5 2JW 2 5 set jog high speed set maximum velocity read maximum velocity allowed axis 2 controller returns a value of 10 0 units second for axis 2 set jog low speed to 2 5 units second for axis 2 read jog low speed value for axis 2 controller returns a value of 2 5 units second for axis 2 Page 3 87 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver KD set derivative gain IMM PGM MIP USAGE SYNTAX xxKDnn or xxKD PARAMETERS Description xx int axis number nn float derivative gain factor Kd Range XX 1 to MAX AXES nn 0 to 2e9 or to read current setting Units XX none nn none Defaults xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command sets the derivative gain factor Kd of the PID closed loop It is active for any DC servo based motion device that has been selected to operate in closed loop The command can be sent at any time but it has no effect until the UF update filter is received See the Servo Tuning chapter on how to adjust the PID filter parameters RETURNS If the s
130. cified using OM command If nn 0 the axes will search for zero position count If nn 1 the axis will search for combined Home and Index signal transitions If nn 2 the axes will search for Home signal transition only If nn 3 the axes will search for positive limit signal transition If nn 4 the axes will search for negative limit signal transition If nn 5 the axes will search for positive limit and index signal transition If nn 6 the axes will search for negative limit and index signal transition At the end of a home search routine the position of axes is reset to the value specified using SH command The home search motion status can be monitored with the Motion Done MD status command Ifa fault condition such as E stop occurs while home search is in progress or if this command is issued to an axis before enabling it the controller returns error xx20 HOMING ABORTED For a detailed description of the home search routine see the Home The Axis Origin chapter in the Motion Control Tutorial section Page 3 104 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Note This command should be executed once every time the controller power is turned ON or the controller performs a complete system reset There is no need to issue this command in any other case since the controller always keeps track of position even when the motor power is OFF Note This command cannot be issued afte
131. ct method to change axes assigned to a group Correct Method Incorrect Method 1HN1 2 1HN1 2 1HX 1HN2 3 1HN2 3 e An axis cannot be a member of or assigned to different groups at the same time The controller returns error 18 GROUP AXIS ALREADY ASSIGNED if one attempts to assign an axis under such circumstances Refer HX command to delete a group QD Newport Experience Solutions Page 3 73 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver e An axis cannot be assigned more than once in a group The controller returns error 19 GROUP AXIS DUPLICATED if one attempts to assign an axis more than once to a group e The order in which axes are assigned to a group is very important This is because it specifies the frame of reference in which coordinated motion of axes takes place For instance the command 1HN1 2 assigns axis numbers and 2 to group number 1 where axis 1 is equivalent to X axis and axis 2 is equivalent to Y axis in a traditional cartesian coordinate system Reversing the ordering of axes viz 1HN2 1 reverses the axis assignment e Ifa group has more than two axes assigned to it and the group was commanded to make an arc refer to HC command the first two axes in the group are used to make the desired move RETURNS If sign takes the place of nn values this command reports the axes assigned to the group in the order of their assignm
132. ction on the right side of the rear panel provides a standard IEC 320 inlet and a power ON OFF switch Page 1 9 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 1 5 System Setup This section guides the user through the proper set up of the motion control system Carefully unpack and visually inspect the controller and stages for any damage A good indicator of shipping damage is the condition of the shipping box Place all components on a flat and clean surface 1 5 1 Line Voltage NOTE The controller can operate from 100 240VAC 10 at a frequency of 50 60Hz 1 5 2 First Power ON Plug the AC line cord supplied with the ESP301 into the power entry module on the rear panel Plug the AC line cord into the AC wall outlet Switch the POWER on button at the rear panel Shortly after the power is switched on the ESP301 will perform a start up sequence as described below e Momentarily display Newport ESP301 and the Firmware Version e Momentarily show the stage type that is connected Since there should be no stages connected at this point the NO STAGE message is displayed for all axes NOTE When contacting technical support provide the firmware version which is displayed every time the controller is powered on This is essential to troubleshoot a problem GY Newport EDH0235En1030 08 15 Page 1 10 Erres Satos ESP301 Integrated 3 Axis Motion Controller Driver 1 6 Q
133. ctor Pin Assignments 0000 C 1 C 1 ESP301 Rear Panel sccccccceceassesceavcetevsorieersaures C 1 C 1 1 GPIO Connector 37 Pin D Sub C 1 C 1 2 Signal Descriptions Digital I O 37 Pin GD Newport Experience Solutions Page xi EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver JP4 Connector cecceccceceesseeeeeees C 1 C 1 3 Motor Driver Card 25 Pin I O COMMS CHOP sericeus C 2 C 1 4 Signal Descriptions Motor Driver Card 25 Pin I O Connector cccceeeee C 3 C 1 5 IEEE488 Interface Connector 24 IPM aan onenn a enone C 6 C 1 6 RS 232C Interface Connector 9 Pin DSU ccasciavssastnnashateendasacamnossniaocuntes C 6 C 1 7 RS 232C Interface Cable 00 C 7 C 1 8 USB Interface Connector C 8 C 1 9 USB Interface Cables a iccacavicavane C 8 C 1 10 Motor Interlock Connector BNC C 8 Appendix D Binary Conversion Table sseseees D 1 Appendix E System Upgrades ssccsssssssssessseessees E 1 E 1 Adding PCS osc ctcexeiniacatiheea siete taeesenieres E 2 E 2 Adding IEEE488 ssccssnvesavssenzsensanssiervseseieonsins E 3 Appendix F ESP Configuration Logic ccsscsseeees F 1 Appendix G Programming Non ESP Compatible Stages ace a nnani G 1 Appendix H Factory Service ccsscccccsscsscsssccssseseees H 1 H 1 Service FOUN sidiria aa iaia H 1 QD Newport Experience Solutions
134. d iis 0 do not invert encoder feedback polarity 5 1 invert encoder feedback polarity 6 0 reserved 6 1 reserved 7 0 reserved 7 1 reserved 8 0 do not use encoder feedback for positioning 8 1 use encoder feedback for stepper positioning 9 0 disable stepper closed loop positioning 9 1 enable stepper closed loop positioning 10 0 reserved 10 1 reserved eee 31 0 reserved 31 1 reserved default setting RETURNS If the sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS ZA set amplifier I O configuration ZE set e stop configuration ZF set following error configuration ZH set hardware limit configuration ZS set software limit configuration ZZ set general system configuration EXAMPLE 2ZB read amplifier I O configuration of axis 2 100H controller returns a value of 100H for axis 2 2ZB 105H set amplifier I O configuration to 105H for axis 2 SM save all controller settings to non volatile memory QD Newport Experience Solutions Page 3 159 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver ZE USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION QD Newport Experience Solutions set e stop configuration IMM PGM MIP xxZEnn or xxZE xx int axis number nn int e stop configuration XX 1 to MAX AXES nn 0 to 07H hexadecimal with leading zero 0 o
135. data acquisition DG Get data collected Page 3 46 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver DF USAGE SYNTAX PARAMETERS DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions get data acquisition sample count IMM PGM MIP DF none This command returns the number of a data acquisition collected to the point of this request aa where aa number of samples DC setup data acquisition request DG get acquired data DD data acquisition done status DE enable disable data acquisition DC10 1 1 1 0 1000 Acquire trace variable data for axis 1 in scaled integer format Collect 1000 samples one sample servo cycle 400 us DE1 Enable trace variable data acquisition DD Query data acquisition done status 1 true 0 false If true DEO Disable trace variable data acquisition DG Get data collected Page 3 47 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver DG get acquisition data IMM PGM MIP USAGE SYNTAX DG PARAMETERS None DESCRIPTION This command is used to retrieve data acquired from a data acquisition request RETURNS This command returns byte wide binary data Each four bytes represents one DSP 32 bit word The number of bytes returned depends on the setup request See DC command REL COMMANDS DC setup data acquisition request DE enable disable data acquisition DF data ac
136. dures described in the next paragraph 6 2 3 Correcting Following Error If the system is stable and the user wants to improve performance start with the current PID parameters The goal is to reduce following error during motion and to eliminate it at stop GD Newport Experience Solutions Page 6 2 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Guidelines for further tuning based on performance starting point and desired outcome are provided in the following paragraphs Following Error Too Large This is the case of a soft PID loop caused by low values for Kp and Kd It is especially common after performing the procedures described in paragraph 6 2 2 First increase Kp by a factor of 1 5 to 2 Repeat this operation while monitoring the following error until it starts to exhibit excessive ringing characteristics more than 3 cycles after stop To reduce ringing add some damping by increasing the Kd parameter Increase it by a factor of 2 while monitoring the following error As Kd is increased overshoot and ringing will decrease almost to zero NOTE Remember that if acceleration is set too high overshoot cannot be completely eliminated with Kd If Kd is further increased at some point oscillation will reappear usually at a higher frequency Avoid this by keeping Kd at a high enough value but not so high as to re introduce oscillation Increase Kp successively by approximately
137. e axis will search for combined Home and Index signal transitions The controller responds similarly for other values of nn The nn parameter is overwritten by the OR command parameter RETURNS If sign takes the place of nn value this command reports current setting REL COMMANDS OR search for home EXAMPLE 30M1 set axis 3 home search mode to 1 30R start home search on axis 3 using mode 1 GO Newport Experience Solutions Page 3 103 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver OR USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION QD Newport Experience Solutions search for home IMM PGM MIP xxORnn xx int axis number nn int home mode XX 0 to MAX AXES nn 0 to 6 where 0 Find 0 Position Count 1 Find Home and Index Signals 2 Find Home Signal 3 Find Positive Limit Signal 4 Find Negative Limit Signal 5 Find Positive Limit and Index Signals 6 Find Negative Limit and Index Signals xx none nn none xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE This command executes a Home search routine on the axis specified by xx If xx 0 a home search routine is initiated sequentially on all installed axes If nn is missing the axes will search for home using the mode spe
138. e desired bit belongs to should be set to output in order for the DIO bit to be set accurately Refer BO command for further details NOTE If a motion feature such as origin search involves a sequence of moves the motion status will be set to not moving only after the entire sequence of moves has completed If the sign takes the place of nn value this command reports the current assignment BN Enable DIO bits to notify motion status BO Set DIO port A B direction BO 06H Set DIO port A to input and port B to output 2BM 9 1 Use DIO bit 9 to indicate motion status of axis 2 This DIO bit should be HIGH when axis 2 is not moving 2BN 1 Enable notification of motion using DIO bits for axis 2 2BM Query the DIO bit assignment for axis 2 9 1 The controller responds with the assigned values Page 3 35 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver BN USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions enable DIO bits to notify motion status IMM PGM MIP xxBNnn or xxBN xx int axis number nn int disable or enable XX 1 to MAX AXES nn 0 disable and 1 enable or to read current setting None XX missing error 37 AXIS NUMBER MISSING out ofrange error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of ra
139. e driver can maintain the velocity to be proportional to the control signal GD Newport Experience Solutions Page 5 16 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver If such a driver is used with a velocity feed forward algorithm by properly tuning the Kyrr parameter the feed forward signal could perform an excellent job leaving very little for the PID loop to do Servo Controller Trajectory Generator Motion Controller Encoder Figure 5 19 Tachometer Driven PIDF Loop 5 4 Motion Profiles 5 4 1 When talking about motion commands we refer to certain strings sent to a motion controller that will initiate a certain action usually a motion There are a number of common motion commands that are identified by name The following paragraphs describe a few of them Move A move is a point to point motion On execution of a move motion command the motion device moves from the current position to a desired destination The destination can be specified either as an absolute position or as a relative distance from the current position When executing a move command the motion device will accelerate until the velocity reaches a pre defined value Then at the proper time it will start decelerating so that when the motor stops the device is at the correct position The velocity plot of this type of motion will have a trapezoidal shape Figure 5 20 For this reason this type of motio
140. e is a sequence of motion segments through which the controller determines the exact location of a home origin switch A detailed description of the algorithm can be found in the Motion Control Tutorial Section 5 NOTE It is recommended that the user perform a home search routine after each controller power on The controller must know the exact initial position of the motion device not only to accurately repeat a motion sequence program but also to prevent it from hitting the travel limits limit switches To perform a home search routine at start up press the assigned axis key to the right of the display then press the Menu key and select the Home menu Then press the assigned axis key to the right of the display to home each axis In the position display the home routine is indicated as in progress NOTE GD Newport EDH0235En1030 08 15 Page 1 12 coer Sto ESP301 Integrated 3 Axis Motion Controller Driver GD Newport Experience Solutions 1 6 4 The position value is reset at the home position Only one axis can be homed at a time i e even if multiple homing commands are issued the prior axis has to finish homing before the second can start homing First Jog If left jog key is pressed the selected axis will move slowly in the negative direction To move a single step at a time press this switch once See Section 2 2 4 for details If right jog key is pressed the selected axis wi
141. e programmable driver with step motor axis This command must be followed by the QD update driver command to take affect RETURNS If the sign takes the place of nn value this command reports the current setting REL COMMANDS QD update driver QI QT QG QY EXAMPLE 2QS 100 2QS 250 2QD SM QD Newport Experience Solutions set maximum motor current set tachometer gain set gear constant set average motor voltage read microstep factor of axis 2 controller returns a value of 100 for axis 2 set microstep factor to 250 for axis 2 update programmable driver with latest settings for axis 2 save all controller settings to non volatile memory Page 3 117 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver QT set tachometer gain IMM PGM MIP USAGE SYNTAX xxQTnn or xxQT PARAMETERS Description xx int axis number nn float tachometer gain Range XX 1 to MAX AXES nn 0 to 20 or to read present setting Units XX none nn Volts Krpm Defaults xx missing error 37 AXIS NUMBER MISSING out of range nn missing out of range error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command is used to set the DC motor tachometer gain for a Newport Unidrive compatible programmable driver axis This command should be used in conjunction with QG gear constant command
142. ead response ESP301 ESP300 ESP301 ESP300 ESP301 ESP300 28 02 27 60 Table 3 2 Command communication and process time Measurements have been taken from a PC using Windows XP operating system and with a 2GHz processor and 1Gb RAM QD Newport Experience Solutions Page 3 3 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 3 2 1 RS 232C Interface HARDWARE CONFIGURATION The serial RS 232C communication interface on the ESP controller is accessed through the 9 pin Sub D connector located on the rear panel The pin out is designed to interface directly with an IBM PC or compatible computer using a straight through cable Appendix C shows the pin out of the RS 232C connector and different cable types that may be used to interface to a computer COMMUNICATION PROTOCOL The RS 232C interface must be properly configured on both devices communicating A correct setting is one that matches all parameters baud rate number of data bits number of stop bits parity type and handshake type for both devices The ESP301 s RS 232C configuration is fixed at 8 data bits no parity and 1 stop bit To prevent buffer overflow when data is transferred to the ESP301 controller input buffer a CTS RTS hardware handshake protocol is implemented The host terminal can control transmission of characters from the ESP301 by enabling the Request To Send RTS signal once the controller s Clear To
143. eature are referred to as being non ESP compatible and must be uniquely configured by the user Home position the unique point in space that can be accurately found by an axis also called origin GO Newport Experience Solutions Page 1 4 ESP301 Integrated 3 Axis Motion Controller Driver Jog a motion of undetermined length initiated manually Motion device electro mechanical equipment Used interchangeably with stage and positioner Move a motion to a destination Origin used interchangeably with home PID a closed loop algorithm using proportional integral and derivative gain factors for position control Positioner used interchangeably with stage and motion device Stage used interchangeably with motion device and positioner 1 4 System Overview The Enhanced System Performance ESP architecture consists of ESP compatible controllers and stages The ESP301 an ESP compatible controller is an advanced stand alone controller with integrated motor drivers It can control and drive up to 3 axes of motion in any stepper and DC motor configuration The ESP plug and play concept significantly increases user friendliness and improves overall motion performance The ESP301 is used as a stand alone controller to drive an ESP motion device All components are designed for optimal performance Newport Motion Controller Model ESP301 pm J0G KEYPAD Sammy axes d 2 gt ESC DEL
144. ect of a Short ON Time on Current If for instance a stepper motor requiring only 3V to reach the nominal current is connected momentarily to 30V it will reach the same current on only 1 10 of the time Figure 5 47 nominal current Phase ON Figure 5 47 Motor Pulse with High Voltage Chopper Once the desired current value is reached a chopper circuit activates to keep the current close to the nominal value 5 7 2 Unipolar Bipolar Drivers In the examples described in Section 5 7 1 Stepper Motor Drivers each phase has its own commutator transistor to control the current that flows through it Having one end permanently connected to the power source the current will flow through each phase always in the same direction For this reason these types of drivers are called Unipolar On the other hand Figure 5 48 shows a Bipolar Driver built in a dual H bridge configuration The name H Bridge comes from the GD Newport Experience Solutions Page 5 33 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver topology of the transistors controlling one load coil In this case by turning on diagonally transistors 1 4 or 2 3 the current could be made to flow either way through the coil This means that the driver can control not just the intensity of the magnetic field generated by the stator but also its polarity Implicitly the only stepper motors that can be used with such a driver
145. ed forward gain 0 cccccceeeseeeseeteeseseeteteteseees 148 VU set maximum velocity saect vec cvecasencte adatens sears have ruedscabeveraanertentaoees 149 WP wait for POS s5 cc ct caracte came aeieeee nial ee iceanae 150 WS wait for motion SUOD ico cccc rnsczivsncsacienesasaseussinensecuncarecudaecncstootaseenieadetes 151 WE Wail ne ER E N 152 XM read available TSMION Ye ccecsvnedecctastsicectatptcectskanecteeeeatiberenneneels 153 XX orase progra eesin a EE E E 154 Page xviii ESP301 Integrated 3 Axis Motion Controller Driver GD Newport Experience Solutions ZA ZB ZE ZF ZH ZS ZU ZZ set amplifier I O configuration 0 ceecccceesesseseseseeeeeeeeteseeeetenens 155 set feedback configuration scsieacapectuetene eGiemaaes 158 set e stop configuration sssesssssssesssosseeeessrestesroesressresresseeseeese 160 set following error COMMPULALION x csscsacacdenssvcnsaiensscacssooiseacyestacee s 162 set hardware limit configuration ccccceecesseeseeeeeeeeteteeeetenees 164 set software limit configuration cecceseeeeseseseeeeeeteteeseetenees 166 get ESP system configuration geecetssesesseseivasceiedcennectineesees 168 set system configuration vo sicoxtucnecsosdincrsemaneesenrcncaat tnesdavblondaarensisinns 170 Page xix EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver GD Newport Experience Solutions EDH0235En1030 08 15 Page xx ESP301 Integrated 3 Axis Motion
146. ed to be done only after the number of samples specified by this parameter are acquired by the controller The status of data acquisition process may be found by issuing ASCII command DD Once the data acquisition is done ASCII command DG may be used to collect the data from the controller Note The controller responds with a servo cycle 400 us tick count along with every data sample collected RETURNS None REL COMMANDS DD get data acquisition done status DE enable disable data acquisition DF get data acquisition status number of samples collected DG get data acquisition data EXAMPLE DC10 1 1 1 0 1000 Acquire trace variable data for axis 1 in scaled integer format Collect 1000 samples one sample servo cycle 400 us DE1 Enable data acquisition DD Query data acquisition done status 1 true 0 false If true DEO Disable trace variable data acquisition DG Get data collected GD Newport Experience Solutions Page 3 44 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver DD get data acquisition done status IMM PGM MIP USAGE SYNTAX DD PARAMETERS none DESCRIPTION This command returns the status of a data acquisition request RETURNS aa where aa 1 for True 0 for False REL COMMANDS DC setup data acquisition request DG get acquired data DF data acquisition status returns of samples collected DE enable disable data acquisition EXAMPLE DC10 1 1
147. ediately reduce Ki and IL Remember that any finite value for Ki will eventually reduce the error at stop It is simply a matter of how much time is acceptable for the application In most cases it is preferable to wait a few extra milliseconds to get to the stop in position rather than have overshoot or run the risk of oscillations Following Error During Motion This is caused by a Ki and IL value that is too low Follow the procedures in the previous paragraph keeping in mind that it is desirable to increase the integral gain factor as little as possible 6 2 4 Points to Remember e Use the Windows based ESP_tune exe utility to change PID parameters and to visualize the effect Compare the results and parameters used with the previous iteration e The ESP301 controller uses a servo loop based on the PID with velocity and acceleration feed forward algorithm e Use the lowest acceleration the application can tolerate Lower acceleration generates less overshoot e Use the default values provided with the system for all standard motion devices as a starting point e Use the minimum value for Ki and IL that gives acceptable performance The integral gain factor can cause overshoot and oscillations A summary of servo parameter functions is listed in Table 6 2 1 GD Newport Experience Solutions Page 6 4 EDH0235En1030 08 15 Integrated 3 Axis Motion Controller Driver Parameter Function Value Set To
148. een specified the ASCII command HL is used to move the group from an initial position to a final position along the line The current position of axes is the initial position of linear move The desired final position is specified along with this command This command makes all axes assigned to the group move with predefined group tangential velocity acceleration and deceleration along a line A trapezoidal velocity profile is employed when group jerk is set to zero Otherwise an S curve velocity profile is employed The linear move is a true linear interpolation meaning Y Y mMx xX Ye YM o X where Xo and Yo represent initial position of the group Xyand Y represent desired final position of the group 4 1 3 2 Making a Circular Move Once a group has been defined and all group parameters have been specified the ASCII command HC can be used to move the group from an initial position to a final position along a circle The current position of axes is the initial position of circular move The final position of move is calculated based on the desired center of circle and sweep angle specified along with this command All sweep angles are measured in degrees The sign of angles follow the trigonometric convention positive angles are measured counterclockwise This command makes all axes assigned to the group move with predefined group tangential velocity acceleration and deceleration along a circle A trapezoid velocity
149. een identical motions 5 2 8 Backlash Hysteresis For all practical purposes Hysteresis and Backlash have the same meaning for typical motion control systems the error caused by approaching a point from a different direction The difference is that Hysteresis refers to the compliance of the mechanical components while Backlash represents the play or looseness in the mechanical drive train All parameters discussed up to now that involve the positioning Error assumed that all motions were performed in the same direction If the user tries to measure the positioning error of a certain target destination approaching the destination from different directions could make a significant difference In generating the plot in Figure 5 2 we said that the motion device will make a large number of incremental moves from one end of travel to the other If the user commands the motion device to move back and stop at the same locations to take a position error measurement the user would expect to get an identical plot superimposed on the first one In reality the result could be similar to Figure 5 7 Hysteresis Position Figure 5 7 Hysteresis Plot The error plot in reverse direction is identical with the first one but seems to be shifted down by a constant error This constant error is the Hysteresis of the system GD Newport Experience Solutions Page 5 7 EDH0235En1030 08 15 ESP301 Integrated 3 Ax
150. elocity acceleration etc to the ESP301 non volatile memory COMMUNICATION This menu allows the user to retrieve the current communication configuration settings RS232 CONFIG This shows the current RS232 configuration settings USB CONFIG GD Newport Experience Solutions Page 2 7 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver This shows the current USB configuration settings IEEE CONFIG This shows the current IEEE configuration settings GD Newport Experience Solutions EDH0235En1030 08 15 Page 2 8 ESP301 Integrated 3 Axis Motion Controller Driver Section 3 Remote Mode EW Programming Modes The ESP301 is a command driven system In general commands are a series of two letter ASCII characters preceded by an axis number and followed by parameters specific to the command To communicate with the ESP301 controller a host terminal has to transfer ASCII character commands according to the respective communication protocol See Section 3 2 for IEEE488 RS232 or USB interfaces As briefly mentioned in Section 2 the ESP distinguishes between two different programming modes COMMAND MODE In this mode the ESP301 controller provides a command input buffer enabling the host terminal e g PC to download a series of commands and then proceed to other tasks while the ESP301 controller processes the commands As command characters arrive from the host
151. ence Solutions Page 3 20 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver AB USAGE SYNTAX PARAMETERS DESCRIPTION RETURNS REL COMMANDS EXAMPLE GO Newport Experience Solutions abort motion IMM PGM MIP AB None This command should be used as an emergency stop On reception of this command the controller invokes emergency stop event processing for each axis as configured by ZE e stop event configuration command By default axes are configured to turn motor power OFF however individual axes can be configured to stop using emergency deceleration rate set by AE command and maintain motor power It should be used only as an immediate command not in a program Note This command affects all axes however the action taken is determined by each individual s axis ZE command configuration none ST stop motion AE e stop deceleration ZE e stop deceleration MF motor OFF MO motor ON AB used as an immediate command to stop all motion Page 3 21 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver AC USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions set acceleration IMM PGM MIP xxACnn or xxAC xx int axis number nn float acceleration value xx 1 to MAX AXES N 0 to the maximum
152. enoesicens 5 28 Figure 5 40 External Force Applie ccccccccscccesseesseteteeesseessees 5 28 Figure 5 41 Unstable Point oxi ccaacvsn toskainea ders vetencitstidenpecuseeiiabeeshes 5 29 Figure 5 42 Torque and Tooth Alignment 5 29 Figur 343 DO MOOR sa oscccccsniss cadens uesoladscoteemanscotnas scieasbevseaespeiaees 5 30 Figure 5 44 Simple Stepper Motor Driver 5 32 Figure 5 45 Current Build up in Phase ccccccccccccssesseetestseeessees 5 32 Figure 5 46 Effect of a Short ON Time on Current 5 33 Figure 5 47 Motor Pulse with High Voltage Chopper 000006 5 33 Figure 5 48 Dual H Bridge Driver 5 34 Figure 5 49 DC Motor Voltage Amplifier ccccccccccsceeeseteeteeeeees 5 35 Figure 5 50 DC Motor Current Driver osos 5 35 Figure 5 51 DC Motor Velocity Feedback Driver ccccceeceseeees 5 36 Figure 5 52 DC Motor Tachometer Gain and COMPCNSCH ON ssncicinnunsastinenanpaieunliaiinnees 5 36 Figure Cd RS 232C Connector pin out C 6 Figure C 2 Connector Pin to Pin RS 232C Interface Cable C 7 Figure C 3 Motor Interlock Connector BNC with dust cap C 8 Figure E 1 Removal of the Top COVE sswvssssssssarvicmonsrrerosarionnraiees E 2 Figure E 2 Interior of the unit explaining the connectors 0 E 3 Figure F 1 Configuration Logic vi sssscsstassiayrsisnioviiansroneenionanenaevvees F 2 EDH0235En1030 08 15 Page xiv ESP301 Integrated 3 Axis Motion Controller Driver
153. ent REL COMMANDS HV set vectorial velocity for a group HA set vectorial acceleration for a group HD set vectorial deceleration for a group HO enable a group HF disable a group HC move a group of axes to desired position along an arc HL move a group of axes to desired position along a line EXAMPLE 1HN1 2 create a new group 1 with physical axes I and 2 1HN query axis assigned to group 1 1 2 controller returns the axes assigned to group 1 1HN2 3 create a new group 1 with physical axes I and 2 1HN query axis assigned to group 1 1 2 controller returns the axes assigned to group 1 TB read error message 0 450322 GROUP NUMBER ALREADY ASSIGNED 1HX delete group 1 1HN2 3 create a new group 1 with physical axes 1 and 2 1HN query axis assigned to group 1 2 3 controller returns the axes assigned to group 1 2HN query axis assigned to group 2 TB read error message 0 475322 GROUP NUMBER NOT ASSIGNED 2HN3 4 create a new group 2 with physical axes 3 and 4 2HN query axis assigned to group 2 TB read error message 0 500322 GROUP AXIS ALREADY ASSIGNED 2HN4 4 5 create a new group 2 with physical axes 4 4 and 5 2HN query axis assigned to group 2 TB read error message 0 525322 GROUP AXIS DUPLICATED GD Newport Experience Solutions Page 3 74 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HO USAGE S
154. er TX read controller activity IMM PGM MIP USAGE SYNTAX TX PARAMETERS None DESCRIPTION This command is used to read the controller activity register The byte returned is in the form of an ASCII character The value of each bit in the status byte can be deduced after converting the ASCII character into a binary value Each bit of the status byte represents a particular parameter as described in the following table Note Please refer to the Appendix for a complete ASCII to binary conversion table Bit Tineia Meaning for a Bit LOW Bit HIGH 0 At least one program 1s NO YES executing 1 Wait command is executing NO YES 2 Manual jog mode is active NO YES 3 Local mode is inactive Default 4 At least one trajectory is NO YES executing 5 Reserved Default 6 Reserved Default 7 Reserved Default RETURNS ASCII character representing the status byte REL COMMANDS EXAMPLE QD Newport Experience Solutions TS read controller status TX read controller activity P controller returns character P indicating at least one trajectory is executing Page 3 141 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver UF update servo filter USAGE SYNTAX PARAMETERS DESCRIPTION RETURNS ERRORS REL COMMANDS EXAMPLE GO Newport Experience Solutions IMM PGM MIP UF None This command is used to
155. er to distinguish between an ASCII command and its value it is recommended that the users always add a leading zero 0 to the nn value See table below for clarification Example Command Issued Controller Interpretation 1ZS123H nn 123H 0001 0010 0011 Binary 1ZS123 nn 123H 0001 0010 0011 Binary 1ZSOF25H nn F25H 1111 0010 0101 Binary 1ZSF25H Invalid command Page 3 166 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver BIT VALUE DEFINITION 0 0 disable software travel limit error checking 0 1 enable software travel limit error checking 0 do not disable motor on software travel limit event 1 1 disable motor on software travel limit event 2 0 do not abort motion on software travel limit event x2 1 abort motion on software travel limit event 3 0 reserved 3 1 reserved 4 0 reserved 4 1 reserved 5 0 reserved 5 1 reserved 6 0 reserved 6 1 reserved 7 0 reserved 7 1 reserved eee 31 0 reserved 31 1 reserved default setting RETURNS If the sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS ZA set amplifier I O configuration ZE set e stop configuration ZF set following error configuration ZB set feedback configuration ZH set hardware limit configuration ZZ set general system configuration SL set left limit SR set right limit EXAMPLE 2ZS read software limit configuration of axis
156. error are dependent upon the way in which the stepper motors are controlled digital pulse generation or analog sinusoidal commutation In case of digitally controlled stepper motors new corrective move commands are internally issued by the controller In the case of commutated stepper motors the electrical angle is adjusted Start closed logp stepper positioning Desired motion completed4 Motion done deadband2 Start closed loop update intervd Make desired correction Exit closed loot stepper positioning Figure 4 5 Block Diagram of Closed Loop Stepper Motor Positioning The following steps See Table 4 3 may be followed to setup the closed loop stepper motor positioning Steps ASCII Action by Controller Command 1 Set feedback 1ZB300 Enable encoder feedback and configuration closed loop positioning of stepper motors for axis 1 2 Specify deadband value 1DB1 Set deadband value for axis 31 to 1 encoder count QD Newport Experience Solutions Page 4 10 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 3 Specify closed loop update 1CL50 Set closed loop update interval interval for axis 1 to 50 milliseconds Table 4 3 An Example of Closed Loop Stepper Motor Positioning Setup Commands related to closed loop stepper positioning are listed in Table 4 4 refer to Section 3 Remote Mode for
157. es 0 2 support different ways in which analog data can be collected PARAMETER nn2 Data acquisition is triggered by the motion of an axis specified through this parameter Exceptions to this requirement are in the case of data acquisition mode 0 For thiscases enabling data acquisition is sufficient to start the data acquisition process For all other modes two conditions enabling of data acquisition and any mode dependent conditions such as trigger axis starting motion or reaching slew speed must be met in order to start the data acquisition process PARAMETER nn3 set this value to 0 QD Newport Experience Solutions Page 3 43 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver PARAMETER nnd This parameter is used to identify the position feedback channels to be collected Please refer to table below nn4 Position feedback channels collected none channel 1 channel 2 channel 1 amp 2 channel 3 channel 1 amp 3 channel 2 amp 4 channel 1 2 3 NAN BWN KR PARAMETER nn5 The rate at which data is to be acquired is specified through this parameter The rate specified is in multiples of the 400 us rate For example a value of 0 implies data acquisition every servo cycle 400 us a value of 1 implies every other servo cycle 400 us and so on PARAMETER nn6 The number of samples of data to be acquired is specified through this parameter Data acquisition process is consider
158. es of preliminary commands have to be issued before the desired master slave response is obtained These include defining master slave relationship appropriate constants and trajectory mode The next section outlines the steps to be taken for a slave axis to follow master s position The subsequent section outlines the steps to be taken for a slave axis to follow master s velocity The final section outlines the steps to be taken to jog an axis based on inputs from a digital joystick 4 2 2 Slave to a Different Stage The following steps may be taken for a slave axis to follow master s position This mode may be chosen exclusively when absolute or relative move commands can be issued to the master Steps Move Action by Move Command Command 1 Define master slave 2SS1 Axis 2 is the slave of axis 1 relationship 2 Defines master slave 2GR0 5 Master s position is scaled by 0 5 reduction ratio to obtain slave s position 3 Define slave axis 2TJ4 or 5 Set slave axis trajectory mode trajectory mode 4 Define master axis 1TJ1 or 2 Set master axis trajectory mode trajectory mode 5 Issue move commands to 1PA10 Move master to absolute 10 units master axis 1PR10 Move master by relative 10 units Table 4 1 Slave to a Different Stage Steps 4 2 3 Slave to a Joystick If the slave axis is required to jog based on a DIO bit status such as through joystick follow these steps Steps
159. et encoder resolution update driver set feedback configuration read encoder resolution setting of axis 2 controller returns a value of 0 0001 units for axis 2 set encoder resolution to 0 0005 units for axis 2 update programmable driver with latest settings for axis 2 save all controller settings to non volatile memory Page 3 134 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver TB USAGE SYNTAX PARAMETERS Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions read error message IMM PGM MIP TB questions mark This command is used to read the error code timestamp and the associated message The error code is one numerical value up to three 3 digits long see Appendix for complete listing In general non axis specific errors numbers range from 1 99 Axis 1 specific errors range from 100 199 Axis 2 errors range from 200 299 and so on The timestamp is in terms of servo cycle 400 us ticks accumulated since the last System Reset incrementing at the servo interrupt interval 400us default The message is a description of the error associated with it All arguments are separated by commas Note Errors are maintained in a FIFO buffer ten 10 elements deep When an error is read using TB or TE the controller returns the last error that occurred and the error buffer is cleared by one 1 element This means tha
160. et vectorial velocity for a group set vectorial acceleration for a group set vectorial deceleration for a group enable a group disable a group move a group of axes to desired position along a line create a new group 1 with physical axes I and 2 set vectorial velocity of group 1 to 10 units second set vectorial acceleration of group 1 to 50 units second set vectorial deceleration of group 1 to 50 units second enable group 1 query current group position controller returns axis 1 50 units and axis 2 50 units 1HC40 60 180 set axis 1 arc center 40 units 1HC set axis 2 arc center 60 units set sweep angle of arc 180 degrees query target position of the commanded move 40 60 180 controller returns axis 1 arc center 40 units axis 2 arc center 70 units and arc sweep angle 180 degrees Page 3 65 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HD set group deceleration IMM PGM MIP USAGE SYNTAX xxHDnn or xxHD PARAMETERS Description xx int group number nn float vector deceleration value Range XX 1 to MAX GROUPS nn 0 to minimum of the maximum deceleration values of all axes assigned to this group Units XX none nn predefined units second Defaults XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point
161. eter Nn float description of parameter parameter could be integer number floating point number character or string Range XX minimum value to maximum value nn minimum value to maximum value Units XX units description nn units description Defaults XX missing default or error if parameter is missing out of range default or error if parameter is out of range nn missing default or error if parameter is missing out of range default or error if parameter is out of range DESCRIPTION detailed description of the command Note notes reminders and things to consider when using the command if any RETURNS Type format and description of the return the command is Generating if any ERRORS Error Code description of errors the command could Generate if misused REL COMMANDS brief definition of related commands EXAMPLE Command Discussed description Other command description Controller return description motor type if the command is specific for a motor type DC or stepping it will be labeled here otherwise this field is blank The mode mnemonics has the following meanings IMMediate mode controller is in idle mode and the commands are executed immediately ProGraM mode controller does not execute but stores all commands as part of a program Motion In Progress controller is executing a motion on all or the specified axis QD Newport Experi
162. eturns the axes assigned to group 1 1HZ read size of group 1 2 controller returns 2 GO Newport Experience Solutions Page 3 82 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver ID read stage model and serial number USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions IMM PGM MIP ID xx int axis number XX 1 to MAX AXES xx none xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE timeout error 2 RS 232 COMMUNICATION TIME OUT This command is used to read Newport ESP compatible positioner stage model and serial number Note An important information needed when asking for help with the motion control system or when reporting a problem is the stage model and serial number Use this command to determine the positioner model and serial number XX yy where xx model number yy serial number none 11D read axis 1 positioner model and serial number TSSODC 5 SN1263 controller returns model and serial number Page 3 83 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver J H set jog high speed IMM PGM MIP USAGE SYNTAX xxJHnn or xxJH PARAMETERS Description xx int axis number nn float high speed value Range XX 1 to MAX AXES nn 0 to maximum value allowed by VU command
163. everses direction and executes D and E with one tenth of the programmed home search speed In the case when the motion device starts from the other side of the home switch transition the routine will look like Figure 5 25 B a origin switch C A motion ae D E encoder index puse J Figure 5 25 Home Origin Search from Opposite Direction The ESP301 moves at high speed up to the home switch transition segment A and then executes B C D and E All home search routines are run so that the last segment E is performed in the position direction of travel CAUTION The home search routine is very important for the positioning accuracy of the entire system and it requires full attention from the controller Do not interrupt or send other commands during its execution unless it is for emergency purposes 5 5 Encoder PID closed loop motion control requires a position sensor The most widely used technology by far are incremental encoders The main characteristic of an incremental encoder is that it has a 2 bit gray code output more commonly known as quadrature output Figure 5 26 QD Newport reres Stn Page 5 21 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Figure 5 26 Encoder Quadrature Output The output has two signals commonly known as channel A and channel B Some encoders have analog outputs sine cosine sig
164. f parameters 39 PROGRAM LABEL NOT FOUND The issued command could not be executed because the requested label within a stored program is not available 40 LAST COMMAND CANNOT BE REPEATED An attempt was made to repeat the last previous commanded by just sending a carriage return This feature is not allowed for commands that carry strings in addition to the two letter ASCII mnemonic Issue the last command again 41 MAX NUMBER OF LABELS PER PROGRAM EXCEEDED The number of labels used in the stored program exceeds the allowed value Below is a list of all possible error messages that are axis specific me Here x represents the axis number x00 MOTOR TYPE NOT DEFINED A valid motor type was not defined for the requested axis Refer to the description of QM command to define a motor type GD Newport Experience Solutions Page A 4 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver x01 PARAMETER OUT OF RANGE The specified parameter is out of range Refer to the description of issued command for valid parameter range x02 AMPLIFIER FAULT DETECTED There was an amplifier fault condition x03 FOLLOWING ERROR THRESHOLD EXCEEDED The real position of specified axis was lagging the desired position by more encoder counts than specified with the FE command Refer to the description of ZF command to configure the motion controller tasks upon encountering a following error x04 POSITIVE HA
165. g coefficients 0 5 0 controller returns 0 5 and 0 QD Newport Experience Solutions Page 3 127 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver SL USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions set left travel limit IMM PGM MIP xxSLnn or xxSL xx int axis number nn float left negative software limit xx 1 to MAX AXES nn 2e9 encoder resolution to 0 xx none nn predefined motion units xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE This command defines the value for the negative left software travel limit It should be used to restrict travel in the negative direction to protect the motion device or its load For instance if traveling full range a stage could push its load into an obstacle To prevent this the user can reduce the allowed travel by changing the software travel limit Since a motion device must be allowed to find its home position the home switch and or sensor must be inside the travel limits This means that both positive and negative travel limits cannot be set on the same side of the home position A more obvious restriction is that the negative limit cannot be greater than the pos
166. g on the specific application one motor technology can be preferred over the other As far as the controller is concerned the stepper motor version is the ideal case for a good average Velocity Regulation because the motor inherently follows precisely the desired trajectory The only problem is the ripple caused by the actual stepping process The best a DC motor controller can do is to approach the stepper motor s performance in average Velocity regulation but it has the advantage of significantly reduced velocity ripple inherently and through PID tuning If the DC motor implements a velocity closed loop through the use of a tachometer the overall servo performance increases and one of the biggest beneficiary is the Velocity Regulation 5 2 15 Maximum Acceleration The maximum Acceleration is a complex parameter that depends as much on the motion control system as it does on application requirements For stepper motors the main concern is not to lose steps or synchronization during the acceleration Besides the motor and driver performance the load inertia plays a significant role For DC motor systems the situation is different If the size of the following error is of no concern during the acceleration high Maximum Acceleration values can be entered The motion device will move with the highest natural acceleration it can determined by the motor driver load inertia etc and the errors will consist of just a temporary larger fo
167. general system configuration Page 3 156 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver EXAMPLE GO Newport Experience Solutions 2ZA 123H 2ZA 125H SM read amplifier I O configuration of axis 2 controller returns a value of 123H for axis 2 123H 0001 0010 0011 Binary Bits 0 1 5 8 1 All other bits 0 set amplifier I O configuration to 125H for axis 2 125H 0001 0010 0101 Binary Bits 0 2 5 8 1 All other bits 0 save all controller settings to non volatile memory Please refer the table above to interpret the affect of these bit values Page 3 157 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver ZB USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION GD Newport Experience Solutions IMM PGM MIP xxZBnn or xxZB xx int nn int xx nn z XX nn 7 xx missing out of range nn missing out of range critical setting during motion set feedback configuration axis number feedback configuration 1 to MAX AXES 0 to OFFFFH hexadecimal with leading zero 0 or to read current setting none none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE error xx17 ESP CRITICAL SETTINGS ARE PROTECTED error xx26 PARAMETER CHANGE NOT ALLOWED DURING MOTION
168. ginal jerk values specified for individual axes using JK command The axes original values will be restored when the group to which they have been assigned is deleted If vectorial jerk is set to zero a trapezoid velocity profile is employed during motion Otherwise an S curve velocity profile is employed This command takes effect immediately It can be executed when controller is idling or motion is in progress or inside a program Note Avoid changing jerk during acceleration or deceleration phases of a move For better predictable results change jerk only when all the axes assigned to this group are not in motion If sign takes the place of nn value this command reports the current setting HN create a new group HV set vectorial velocity for a group HA set vectorial acceleration for a group HD set vectorial deceleration for a group HK set vectorial e stop jerk for a group 1HN1 2 create a new group 1 with physical axes I and 2 1HJ50 set vectorial jerk of group 1 to 50 units second 1HJ query vectorial deceleration of group 1 50 controller returns a value of 50 units second Page 3 70 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HL USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS QD Newport Experience Solutions move group along a line IMM PGM MIP xxHLnn nm nn or xxHL
169. gn DIO bits to notify motion status BO 04H Set DIO ports A B to input 2BK 1 1 Use DIO bit 1 to inhibit motion of axis 2 This DIO bit should be HIGH when axis 2 motion is inhibited 2BL 1 Enable inhibition of motion using DIO bits for axis 2 2BK Query the DIO bit assignment for axis 2 1 1 The controller responds with the assigned values Page 3 33 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver BL enable DIO bits to inhibit motion IMM PGM MIP USAGE SYNTAX xxBLnn or xxBL PARAMETERS Description xx int axis number nn int disable or enable Range XX 1 to MAX AXES nn 0 disable and 1 enable or to read current setting Units None Defaults XX missing error 37 AXIS NUMBER MISSING out ofrange error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out ofrange error xx1 PARAMETER OUT OF RANGE DESCRIPTION This command is used to disable or enable motion inhibition of requested axes through DIO bits RETURNS If the sign takes the place of nn value this command reports the current status REL COMMANDS BK Assign DIO bits to inhibit motion BO Set DIO port A B direction BM Assign DIO bits to notify motion status BN Enable DIO bits to notify motion status EXAMPLE BO 04H Set DIO ports A and B to input 2BK 1 1 Use DIO bit 1 to inhibit motion of axis 2 This DIO bit should be HIGH when axis 2 motion is inhibited 2BL 1 Enable inhibition
170. gure 5 23 So far we can label the two motion segments D and E During D the controller is looking for the origin switch transition and during E for the index pulse To guarantee the best accuracy possible both D and E segments are performed at a very low speed and without a stop in between Also during E the display update is suppressed to eliminate any unnecessary overhead D E motion n origin switch encoder index pulse Figure 5 23 Slow Speed Home Origin Switch Search The routine described above could work but has one problem Using the low speeds it could take a very long time if the motion device happens to start from the opposite end of travel To speed things up we can have the motion device move fast in the vicinity of the home switch and then perform the two slow motions D and E The new sequence is shown in Figure 5 24 B p C ag motion hie Er origin switch encoder index puse Figure 5 24 High Low Speed Home Origin Switch Search GD Newport tone Stn Page 5 20 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Motion segment B is performed at high speed with the pre programmed home search speed When the home switch transition is encountered the motion device stops with an overshoot reverses direction and looks for it again this time with half the velocity segment C Once found it stops again with an overshoot r
171. hich each command can be used The acronyms used in the tables have the following meaning Controller is idle and the commands will be executed IMM IMMcediate mode immediately Controller does not execute but stores all commands as part of a PGM ProGraM mode program EP activates this mode and QP exits it Controller executes command on MIP Motion In Progress the specified axis while in motion GO Newport Experience Sotong Page 3 9 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver TABLE 3 5 1 Command List by Category GENERAL MODE SELECTION Cmd Description IMM PGM MIP Page BQ Enable disable DIO jog mode 3 39 DO Set DAC offset 3 51 FP Set position display resolution 3 58 LC Lock Unlock keyboard 3 92 MF Power OFF 3 95 MO Power ON 3 96 QD Update Unidriver amplifier 3 111 RS Reset the controller 3 121 TJ Set trajectory mode 3 137 ZA Set amplifier configuration 3 155 ZB Set feedback configuration 3 158 ZE Set E stop configuration 3 160 ZF Set following error configuration 3 162 ZH Set hardware limit configuration 3 164 ZS Set software limit configuration 3 166 ZU Get ESP system configuration 3 168 ZZ Set system configuration 3 170 STATUS F
172. ideal trajectory in time The user can imagine having an imaginary ideal motion device that executes exactly the motion profile they are requesting In reality the real motion device will find itself deviating from this ideal trajectory Since most of the time the real motion device is trailing the ideal one the instantaneous error is called Following Error To summarize the Following Error is the instantaneous difference between the actual position as reported by the position feedback device and the ideal position as seen by the controller A negative following error means that the load is trailing the ideal motion device 5 2 2 Error Error has the same definition as the Following Error with the exception that the ideal trajectory is not compared to the position feedback device encoder but to an external precision measuring device In other words the Following Error is the instantaneous error perceived by the controller while the Error is the one perceived by the user 5 2 3 Accuracy The accuracy of a system is probably the most common parameter users want to know Unfortunately due to its perceived simplicity it is also the easiest to misinterpret The Accuracy is a static measure of a point to point positioning error Starting from a reference point the user should command the controller to move a certain distance When the motion is completed the user should measure the actual distance traveled with an external precisio
173. igital I O DIO port A and B direction where bit 0 corresponds to port A and B bit 1 to port B If any bit is set to zero 0 then its corresponding port will become an input only If any bit is set to one 1 then its corresponding port will becomes an output only A DIO within a port configured as an input can only report its present HIGH or LOW logic level Whereas a DIO bit within a port configured as an output can set 1 or clear 0 the corresponding DIO hardware to HIGH or LOW logic level Reading the status of a port configured as output returns its present output status NOTE All direction bits are automatically zeroed or cleared after a system reset Therefore all DIO ports default to input by default NOTE Each DIO bit has a pulled up resistor to 5V Therefore all bits will be at HIGH logic level if not connected to external circuit and configured as input BIT VALUE DEFINITION 0 0 port A DIO bit 0 through bit 7 assigned as input 0 1 port A DIO bit 0 through bit 7 assigned as output 0 port B DIO bit 8 through bit 15 assigned as input 1 1 port B DIO bit 8 through bit 15 assigned as output default setting after system reset If the sign takes the place of nn value this command reports the current setting in hexadecimal notation SB set clear DIO bits read DIO port direction configuration 0H controller returns a value of 0H all ports are input BO 1H configure DIO port A as ou
174. ign takes the place of nn value this command reports the current setting REL COMMANDS kI set integral gain factor KP set proportional gain factor KS set saturation gain factor UF update filter EXAMPLE 3KD0 01 set derivative gain factor for axis 3 to 0 01 3UF update PID filter only now the KD command takes effect GO Newport Experience Solutions Page 3 88 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver KI set integral gain IMM PGM MIP USAGE SYNTAX xxKInn or xxKI PARAMETERS Description xx int axis number nn float integral gain factor Ki Range XX 1 to MAX AXES nn 0 to 2e9 or to read current setting Units XX none nn one Defaults xx missing error 37 AXIS NUMBER MISSING out of range nn missing out of range error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command sets the integral gain factor Ki of the PID closed loop Itis active for any DC servo based motion device that has been selected to operate in closed loop The command can be sent at any time but it has no effect until the UF update filter is received See the Servo Tuning chapter on how to adjust the PID filter parameters RETURNS If the sign takes the place of nn value this command reports the current setting REL COMMANDS KD set integral gain factor KP KS UF EXAMPLE 3KI 0 01
175. in No encoder necessary Easy velocity control Retains some holding torque even with power off No wearing or arcing commutators Preferred for vacuum and explosive environments Disadvantages Some of the main disadvantages of the stepper motors are e Could loose steps synchronization in open loop operation Requires current dissipates energy even at stop Generates higher heat levels than other types of motors Moves from one step to another are made with sudden motions Large velocity ripples especially at low speeds causing noise and possible resonances e Load torque must be significantly lower than the motor holding torque to prevent stalling and missing steps e Limited high speed 5 6 2 DC Motors A DC motor is similar to a permanent magnet stepper motor with an added internal phase commutator Figure 5 43 Bie Be C D Es errre S Figure 5 43 DC Motor Applying current to phase B pulls in the rotor pole If as soon as the pole gets there the current is switched to the next phase C the rotor will not stop but continue moving to the next target QD Newport Experience Solutions Page 5 30 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Repeating the current switching process will keep the motor moving continuously The only way to stop a DC motor is not to apply any current to its windings Due to the permanent magnet
176. in factor set saturation gain factor update filter set proportional gain factor for axis 3 to 0 01 update PID filter only now the KP command takes effect Page 3 90 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver KS USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions set saturation level of integral factor IMM PGM MIP xxKSnn or xxKS xx int nn float xx nn E XX nn xx missing out of range nn missing out of range axis number saturation level of integrator KS 1 to MAX AXES 0 to 2e9 or to read current setting none none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE This command sets the saturation level of the integral factor of the PID closed loop and is useful for preventing integral wind up Itis active for any DC servo based motion device that has been selected to operate in closed loop The command can be sent at any time but it has no effect until the UF update filter is received See the Servo Tuning chapter on how to adjust the PID filter parameters If the sign takes the place of nn value this command reports the current setting KI KP KD UF 3KS0 01 3UF set integral gain factor set pr
177. in place for ease of use e The trajectory mode for slave has to be appropriately defined before that axis follows master in a desired fashion e An axis cannot be assigned as its own slave if it is already in a trajectory mode that is specific to master slaving e A slave axis cannot be moved individually using PA or PR commands if its trajectory mode is specific to master slaving This command gets executed immediately and can also be called from within a program If sign is issued along with command the controller returns master axis number TJ set trajectory mode GR set master slave reduction ratio 2SS1 set axis 2 to be the slave of axis 1 2SS query the master axis number for axis 2 1 controller returns a value of 1 2TJ5 set axis 2 trajectory mode to 5 2GR1 0 set the reduction ratio of axis 2 to 1 0 1MO turn axis I motor power ON 2MO turn axis 2 motor power ON 1PA10 move axis 1 to absolute 10 units 2PA20 move axis 2 to absolute 10 units TB read error messages 232 242000 AXIS 2 INVALID TRAJECTORY MODE FOR MOVING controller returns appropriate error message Page 3 132 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver S T stop motion IMM PGM MIP USAGE SYNTAX xxST PARAMETERS Description xx int axis number Range XX 1 to MAX AXES Units XX none Defaults xx out of range error 9 AXIS NUMBER OUT OF RANGE DESCRIPTION This command stops
178. in the group is OFF RETURNS If sign is issued along with command the controller returns 1 group power is ON 0 group power is OFF REL COMMANDS HN create a new group HO turn group power ON EXAMPLE 1HN1 2 create a new group 1 with physical axes 1 and 2 1HO turn group 1 power ON 1HF query group 1 power status 1 controller returns a value of 1 1HF turn group 1 power OFF 1HF query group 1 power status 0 controller returns a value of 0 GO Newport Experience Solutions Page 3 69 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HJ USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions set group jerk IMM PGM MIP xxHJnn or xxHJ xx int group number nn float vector jerk value XX 1 to MAX GROUPS nn 0 to 2e9 xx none nn predefined units second xx missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated nn missing error 7 PARAMETER OUT OF RANGE negative error 22 GROUP PARAMETER OUT OF RANGE out of range error 22 GROUP PARAMETER OUT OF RANGE This command is used to set the vectorial jerk value for a group This value will be used during coordinated motion of axes assigned to the group It will override any ori
179. ion PR execute a relative motion AG set deceleration AC set acceleration 2VU read maximum allowed velocity of axis 2 10 controller returns a value of 10 units s 2VU8 set axis 2 maximum maximum to 8 units s 2VA6 set axis 2 working velocity to 6 units s Page 3 149 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver WP wait for position IMM PGM MIP USAGE SYNTAX xxW Pnn PARAMETERS Description xx int axis number nn float position value Range XX 1 to MAX AXES nn starting position to destination of axis number xx Units XX none nn predefined units Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command stops program execution until a user specified position is reached The program continues executing any subsequent commands only after axis xx has reached position nn Note Ensure that position nn is within the travel range of axis xx The controller cannot always detect if a value is outside the travel range of an axis to flag an error especially while making coordinated motion of multiple axes Wait commands are primarily intended for use in internal program execution or in combination with the RQ command If used in command mode it is important to note that input command processing is suspended un
180. ion Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions set maximum following error threshold IMM PGM MIP xxFEnn or xxFE xx int axis number nn float maximum allowed following error xx 1 to MAX AXES nn 0 to 2e9 encoder resolution or to read current setting xx none nn predefined units xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE This command sets the maximum allowed following error threshold for an axis This error is defined as the difference between the real position and the theoretical position of a motion device The real position is the one reported by the position sensing device encoder scale etc and the theoretical position is calculated by the controller each servo cycle 400 us If for any axes and any servo cycle 400 us the following error exceeds the preset maximum allowed following error the controller invokes the following error event handling process which is defined with the ZF command By default motor power is turned OFF Note Using the ZF command each axis can be individually configured to either turn motor power OFF abort motion using e stop deceleration or ignore the error If the sign takes the place of nn value this command reports the current setting ZF
181. ion to 40 deg sec lac20 set working acceleration to 20 deg sec lag25 set deceleration to 25 deg sec GD Newport Experience Solutions Page G 1 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 1fe0 5 set following error threshold to 0 5 deg 1kp600 set PID proportional gain to 600 1kd600 set PID derivative gain to 600 1ki350 set PID integral gain to 350 1ks300 set PID integral saturation gain to 300 1tj1 set trajectory mode to trapezoidal lqd update motor driver configuration sm save configuration to non volatile memory Example 2 Stepper stage on axis 1 1qm3 set motor type to commutated stepper ESP301 only Iqi 1 set motor maximum current to 1 amp 1qv30 set motor voltage to 30 volts 1sn2 set user units to millimeters 1su0 001 set resolution to 1 micron 1fr0 01 set stepper motor full step resolution to 10 micron 1qs100 set micro stepping resolution to 100x 1vu20 set maximum velocity to 20 mm sec lval0 set working velocity to 10 mm sec 1jh10 set jog high velocity to 10 mm sec ljwl set jog low velocity to 1 mm sec loh10 set Homing velocity to 10 mm sec lau50 set maximum acceleration to 50 mm sec 1 ac 50 set acceleration to 30 mm sec lag30 set deceleration to 30 mm sec 1fel set following error threshold to 1 mm 1tj1 set trajectory mode to trapezoidal lqd update motor driver configuration sm save configu
182. is Motion Controller Driver Appendix A Error Messages The ESP301 controller has an elaborate command interpreter and system monitor Every command is analyzed for syntax and correct format after it is received The result of the analysis is stored in an output buffer in plain English During moves and while idle system inputs are monitored and any change is reported to the user via the output buffer To read the contents of the output buffer send the command TB tell buffer For more compact error messages use the TE command The ESP301 controller response to this command is a one byte binary coded error number e g 33 For the sake of convenience error messages are divided into two categories non axis specific error messages and axis specific error messages Below is a list of all possible ESP301 controller error messages that are not axis specific 0 NO ERROR DETECTED No errors exist in the output buffer 1 PCI COMMUNICATION TIME OUT A communication transfer was initiated through PCI bus interface and was never completed 2 Reserved for future use 3 Reserved for future use 4 EMERGENCY SOP ACTIVATED An emergency stop was executed because the motion controller received a character or STOP ALL AXES button was pressed 5 Reserved for future use 6 COMMAND DOES NOT EXIST The issued command does not exist Check the Command Syntax 7 PARAMETER OUT OF RANGE The specified parameter is out of range Refer to
183. is Motion Controller Driver Real position ideal plot real plot Trajectory ideal position Figure 5 8 Real vs Ideal Position To justify a little more why we call this Hysteresis lets do the same graph in a different format Figure 5 8 Plotting the real versus the ideal position will give the user a familiar hysteresis shape 5 2 9 Pitch Roll and Yaw These are the most common angular error parameters for linear translation stages They are pure mechanical errors and represent the rotational error of a stage carriage around the three axes A perfect stage should not rotate around any of the axes thus the Pitch Roll and Yaw should be zero The commonly used representation of the three errors is shown in Figure 5 9 Pitch is rotation around the Y axis Roll is rotation around the X axis and Yaw is rotation around the Z axis Yaw Pitch Rol 7 Cw Zw Yr K Figure 5 9 Pitch Roll and Yaw Motion Axes The problem with this definition is that though correct it is difficult to remember A more graphical representation is presented in Figure 5 10 Imagine a tiny carriage driven by a giant lead screw When the carriage rolls sideways on the lead screw pitch we call that Pitch And when the carriage deviates left or right from the straight direction on an imaginary Y trajectory we call it Yaw QD Newport Experience Solutions Page 5 8 EDH0235En1030 08 15 ESP301 Integrated 3 Axis M
184. is command cannot be issued after enabling DAQ refer ASCH command DE If sign takes the place of nn value this command reports 1 if motion is done or 0 if motion is in progress OR home location search OH set home search speed 3MT move axis 3 to positive travel limit 3MT query motion status 0 controller returns 0 indicating motion is in progress Page 3 97 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver MV move indefinitely IMM PGM MIP USAGE SYNTAX xxMVnn or xxMV PARAMETERS Description xx int axis number nn char direction of motion Range XX 1 to MAX AXES nn for positive direction or for negative direction Units XX none nn none Defaults xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing positive direction out of range error xx04 POSITIVE HARDWARE LIMIT EXCEEDED out of range error xx05 NEGATIVE HARDWARE LIMIT EXCEEDED out of range error xx06 POSITIVE SOFTWARE LIMIT EXCEEDED out of range error xx07 NEGATIVE SOFTWARE LIMIT EXCEEDED DESCRIPTION This command initiates infinite motion When received the selected axis xx will move indefinitely with the predefined acceleration and velocity in the direction specified by nn If the requested axis is member of a group this command does not initiate the desired motion Instead error xx31 COMMAND NOT ALLOWED DUE TO GROUP ASSIGNMENT is ge
185. is used to set the average motor voltage output for a Newport Unidrive compatible programmable driver axis This command must to be followed by the QD update driver command to take affect If the sign takes the place of nn value this command reports the current setting QD QI QG QS QT 2QV 48 0 2QV 12 20D SM update driver set maximum motor current set gear constant set microstep factor set tachometer gain read average motor voltage setting of axis 2 controller returns a value of 48Volts for axis 2 set average motor voltage to 12 Volts for axis 2 update programmable driver with latest settings for axis 2 save all controller settings to non volatile memory Page 3 119 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver RQ generate service request SRQ USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GO Newport Experience Solutions IMM PGM MIP RQnn nn int interrupt number nn 0 to 31 nn none nn missing 0 out of range error 7 PARAMETER OUT OF RANGE This command generates an interrupt service request to the host computer The parameter nn is used to identify the RQ command which generated the interrupt Upon receiving the interrupt the host computer interrupt service routine should perform an IEFE 488 serial poll Ifthe interrupt was as a result of
186. it Ground 17 Travel Limit Input Travel Limit Input 18 Travel Limit Input Travel Limit Input 19 Encoder Channel A Encoder Channel A GD Newport Table C 2 Driver Card Connector Pin Outs Page C 2 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Pins 2 Phase Stepper Motor DC Motor 20 Encoder Channel B Encoder Channel B 21 Encoder Supply 5V Encoder Supply 5V 22 Encoder Ground Encoder Ground 23 Encoder Channel A Encoder Channel A 24 Encoder Channel B Encoder Channel B 25 Encoder Index Encoder Index Table C 2 Driver Card Connector Pin Outs Continued C 1 4 Signal Descriptions Motor Driver Card 25 Pin I O Connector DC Motor Phase Output This output must be connected to the positive lead of the DC motor The voltage seen at this pin is pulse width modulated with a maximum amplitude of 48V DC DC Motor Phase Output This output must be connected to the negative lead of the DC motor The voltage seen at this pin is pulse width modulated with a maximum amplitude of 48V DC Stepper Motor Phase 1 Output This output must be connected to Winding A lead of a two phase stepper motor The voltage seen at this pin is pulse width modulated with a maximum amplitude of 48V DC Stepper Motor Phase 2 Output This output must be connected to Winding A lead of a two phase stepper motor The vol
187. ith the controller the user must have a terminal or a computer capable of communicating through RS 232C USB or IEEE488 One approach is to use a computer with communications software that can emulate a terminal Windows XP provides an RS232 terminal emulation program named Hyper Terminal HyperTrm Exe located in Accessories HyperTrm allows the user to send ASCII commands to the motion controller The user can even download text files with stored programs Additionally it can be used to download controller firmware for future upgrades GD Newport Experience Solutions Page 3 6 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver For IEEE488 communications National Instruments Inc provides a program named IBIC with their products that allow the user to send and receive ASCII characters and download files This could be useful in determining that the interface is working 34 Command Syntax As mentioned previously the ESP301 controller utilizes an ASCII command set and also outputs system status in ASCII format Commands may be either upper or lower case characters The diagram below illustrates the ESP301 controller command syntax As indicated in this diagram a valid command consists of three main fields The first field consists of a numerical parameter xx the second field consists of a two letter ASCII mnemonic and the third field consists of numerical parameter nn The command is final
188. itive limit If any of these restrictions is not respected the controller will return PARAMETER OUT OF RANGE Note If the command is issued for an axis in motion the new limit should not be set inside the current travel Note Be careful when using this command The controller does not know the real hardware limits of the motion device Always set the software limits inside the hardware limits limit switches In normal operation a motion device should never hit a limit switch Ifthe sign takes the place of nn value this command reports the current setting OR search for home SR set right software limits 1SL41 4 set negative travel limit of axis 1 to 41 4 units Page 3 128 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver SM save settings to non volatile memory IMM PGM MIP USAGE SYNTAX SM PARAMETERS none DESCRIPTION This command is used to save system and axis configuration settings from RAM to non volatile flash memory It should be used after modifying system and or axis parameters and settings to assure that the new data will not be lost when the controller is powered off Note User programs created with EP command are automatically saved to non volatile memory RETURNS none REL COMMANDS none EXAMPLE 3VA12 5 set axis 3 velocity to 12 5 units sec 3AC50 0 set axis 3 acceleration to 50 unit sec SM save changes to non volatile memory GO Newport Experience
189. its Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions set linear compensation IMM PGM MIP xxCOnn or xxCO xx int axis number nn float linear compensation value xx 1 to MAX AXES mn 0 to 2e 9 xx none mn none Xxx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE This command allows users to compensate for linear positioning errors due to stage inaccuracies Such errors decrease or increase actual motion linearly over the travel range The linear compensation value nn is calculated according to the formula given below error travel where travel measured travel range error error accumulated over the measured travel range NOTE The command is affective only after a home search OR or define home DH is performed on the specified axis If sign takes the place of nn value this command reports the current setting None If a stage has a travel range of 100 mm and it accumulates an error of 0 003 mm over the complete travel range n 22 0 00003 100 1C00 00003 Set linear compensation value for axis 1 to 0 00003 1CO Query linear compensation value for axis 1 0 00003 Controller returns a value of 0 00003 1OR Perform home search on axis 1 1PA10 Move axis 1 to absolute 10 units
190. l Communication RS232 Config USB Config IEEE config Figure 2 4 Front Panel Menu Structure GD Newport EDH0235En1030 08 15 Page 2 4 garii ESP301 Integrated 3 Axis Motion Controller Driver 2 2 5 Detailed Description of Menu Items HOME This menu item allows the user to home each stage OR Search for home MOVE ABSOLUTE This menu item allows the user to move a stage to an absolute position PA Move to an absolute position MOVE RELATIVE This menu item allows the user to move a stage to a relative position PR Move to a relative position RUN PROGRAM Programs can be entered or downloaded to the ESP301 through its standard interfaces RS232 USB or IE488 The ESP301 is capable of storing up to 99 different programs in its non volatile program memory 64KB total This menu allows execution of any of the stored programs 1EX Execute program 1 RESET POSITION This menu item allows the user to reset the current position displayed to zero QD Newport Experience Solutions Page 2 5 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver DH Defines the current position HOME position GET ERRORS This menu item allows the user to get the errors that are stored in the error queue The error queue can store up to 10 errors If the number of errors exceeds ten the oldest errors are superseded TE or TB Tell error or Tell buffer
191. l bits will be at HIGH logic if not connected to external circuit and configured as input Furthermore the direction of all the ports is set to input by default following a controller reset The next section details the way in which these DIO bits can be used to initiate the motion of desired axes through stored programs The subsequent sections outline the way to inhibit the motion of desired axes and to monitor the motion status of these axes using DIO bits GD Newport Experience Solutions Page 4 11 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 4 4 2 Using DIO to Execute Stored Programs ESP series of motion controllers can synchronize the initiation of any motion profile to external events In order to accomplish this task users must write their desired motion profile as a stored program and assign this stored program to a desired DIO bit QD Newport The direction of the DIO port bit belongs to must then be set to input in order for the controller to detect the external event Once these preliminaries are completed the controller will execute the user specified stored program whenever it detects a change in the state HIGH to LOW logic level of the corresponding DIO hardware Please review the examples below for further clarifications Example 1 EP ABSOMM Define stored program called AbsOmm 1MO 2MO Turn axes 1 2 ON 1TJ1 2TJ1 Set trajectory mode for axes 1 2 to TRAPEZOID
192. ler is idling or motion is in progress or inside a program E stop deceleration is invoked upon a local e stop condition e g front panel Stop All push button interlock etc has occurred if configured to do so or if the AB abort motion command is processed RETURNS If sign takes the place of nn value this command reports the current setting REL COMMANDS HN create a new group HV set vectorial velocity for a group HA set vectorial acceleration for a group HD set vectorial deceleration for a group EXAMPLE 1HN1 2 create a new group 1 with physical axes I and 2 1HE100 set vectorial e stop deceleration of group 1 to 100 units second 1HE query vectorial e stop deceleration of group 1 100 controller returns a value of 100 units second GO Newport Experience Solutions Page 3 68 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HF group off IMM PGM MIP USAGE SYNTAX xxHF or xxHF PARAMETERS Description xx int group number Range XX 1 to MAX GROUPS Units XX none Defaults XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated DESCRIPTION This command turns power OFF of all axes assigned to a group Refer MF command to turn the power OFF of individual axes The group power is assumed to be OFF if power to any one of the axes
193. les see the Motion Control Tutorial section If the sign takes the place of nn value this command reports the current setting JK set s curve jerk rate GR set master slave gear ratio 1TJ report current trajectory mode setting on axis 1 1 controller returns trajectory mode I trapezoidal for axis 1 1TJ2 set trajectory mode on axis 1 to 2 s curve Page 3 137 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver TP USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions read actual position IMM PGM MIP xxTP xx int axis number XX 1 to MAX AXES xx none xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE This command is used to read the actual position It returns the instantaneous real position of the specified axis nn PA PR DP 3TP 5 322 where nn actual position in pre defined units move to an absolute position move to a relative position read instantaneous desired position read real position on axis 3 controller returns real position 5 322 for axis 3 Page 3 138 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver TS USAGE SYNTAX PARAMETERS DESCRIPTION read controller status IMM PGM MIP TS None This command is used to re
194. liable motion step The difficulty is in drawing the line between acceptable and unacceptable errors when performing a small motion step The most common value for the maximum acceptable error for small motions is 20 but each application ultimately has its own standard One way to solve the problem is to take a large number of measurements a few hundred at minimum for each motion step size and present them in a format that an operator can use to determine the Minimum Incremental Motion by its own standard Relative error 100 80 60 40 20 1 2 3 4 5 6 7 8 9 10 11 Motion step size in resolution increments Figure 5 6 Error vs Motion Step Size QD Newport Experience Solutions Page 5 6 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Figure 5 6 shows an example of such a plot The graph represents the maximum relative error for different motion step sizes In this example the Minimum Incremental Motion that can be reliably performed with a maximum of 20 error is one equivalent to 4 resolution encoder increments 5 2 7 Repeatability Repeatability is the positioning variation when executing the same motion profile Assuming that the user has a motion sequence that stops at a number of different locations the Repeatability is the maximum position variation of all targets when the same motion sequence is repeated a large number of times It is a relative not absolute error betw
195. limit If any of these restrictions is not respected the controller will return PARAMETER OUT OF RANGE Note If the command is issued for an axis in motion the new limit should not be set inside the current travel Note Be careful when using this command The controller does not know the real hardware limits of the motion device Always set the software limits inside the hardware limits limit switches In normal operation a motion device should never hit a limit switch If the sign takes the place of nn value this command reports the current setting OR search for home SL set left software limit 1SR41 4 set positive travel limit of axis 1 to 41 4 units Page 3 131 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver SS USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions define master slave relationship IMM PGM MIP xxSSnn or xxSS xx int axis number to be defined as a slave nn int axis number to be defined as a master xx 1 to MAX AXES nn 1 to MAX AXES xx none xx none Xxx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE This command defines master slave relationship between any two axes A few rules are
196. ll move slowly in the positive direction To move a single step at a time press this switch once See Section 2 2 4 for details If the lt lt gt gt key between the jog keys is pressed simultaneously with one of the jog keys the axis will jog fast in the selected direction See Section 2 for setting of high speed rate At this point you may proceed to Section 2 of this manual to get familiar with the controller and the local motion modes NOTE Remember that only motions inside the software travel limits are allowed see SL command in Section 3 Remote Mode Any move outside these limits will be ignored Page 1 13 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver GD Newport Experience Solutions EDH0235En1030 08 15 Page 1 14 ESP301 Integrated 3 Axis Motion Controller Driver Section 2 Modes of Operation 2 1 Overview of Operating Modes The ESP301 can be operated in two basic modes e LOCAL mode e REMOTE mode 2 1 1 LOCAL Mode In LOCAL Mode the user has access to a sub set of the ESP301 command set In this Mode the ESP301 is controlled by pressing the menu key and axis push buttons on the front panel Using this mode the user can adjust motion parameters like velocity and acceleration without using a computer or terminal NOTE See Section 2 2 for a detailed description of the front panel 2 1 2 REMOTE Mode In COMMAND Mode the ESP301 receives motio
197. ller Driver EX execute a program IMM PGM MIPO USAGE SYNTAX xxEXnn PARAMETERS Description xx int program number nn int number of times to execute the program Range XX 1 to 100 nn 1 to 2147385345 Units XX none nn none Defaults xx missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE nn missing 1 assumed out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command is used to start executing a program When the command is received the controller executes the program line by line or according to the flow control instructions During program execution only commands that ask for information and that stop the motion are still allowed Any of the following commands will terminate a program in one way or another AB AP MF RS and ST Most natural way to just stop a program execution is by using the AP command the other ones having a more drastic effect RETURNS none REL COMMANDS QP quit programming mode EP enter program mode AP abort stored program execution XX erase program EXAMPLE 3XX clear program 3 from memory if any 3EP activate program mode and enter following commands as program 3 QP end entering program and quit programming mode 3EX run stored program number 3 QD Newport Experience Solutions Page 3 56 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver FE USAGE SYNTAX PARAMETERS Descript
198. ller is idling or motion is in progress or inside a program Note Avoid changing acceleration during acceleration or deceleration phases of a move For better predictable results change acceleration only when all the axes assigned to this group are not in motion RETURNS If sign takes the place of nn value this command reports the current setting REL COMMANDS AU set maximum acceleration and deceleration for an axis HN create a new group HD set vectorial deceleration for a group GO Newport Experience Solutions Page 3 61 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver EXAMPLE 1HN1 2 create a new group 1 with physical axes 1 and 2 1AU query maximum acceleration of axis 1 50 controller returns a value of 50 units second 2AU query maximum acceleration of axis 2 60 controller returns a value of 60 units second 1HAS50 set vectorial acceleration of group 1 to 50 units second 1HA query vectorial acceleration of group 1 50 controller returns a value of 50 units second GO Newport Experience Solutions Page 3 62 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HB USAGE SYNTAX PARAMETERS DESCRIPTION RETURNS REL COMMANDS EXAMPLE GO Newport Experience Solutions read list of groups assigned IMM PGM MIP HB None This command is used to read the group numbers that have already been created or assigned
199. llowing error and a velocity overshoot In any case special consideration should be given when setting the acceleration Through in most cases no harm will be done in setting a high acceleration value avoid doing so if the application does not GD Newport Experience Solutions Page 5 11 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver require it The driver motor motion device and load undergo maximum stress during high acceleration 5 2 16 Combined Parameters Very often a user looks at an application and concludes that they need a certain overall accuracy This usually means that the user is combining a number of individual terms error parameters into a single one Some of these combined parameters even have their own name even though not all people mean the same thing by them Absolute Accuracy Bi directional Repeatability etc The problem with these generalizations is that unless the term is well defined and the testing closely simulates the application the numbers could be of little value The best approach is to carefully study the application extract from the specification sheet the applicable discrete error parameters and combine them usually add them to get the worst case general error applicable to the specific case This method not only offers a more accurate value but also gives a better understanding of the motion control system performance and helps pinpoint problems Also
200. ly terminated by a carriage return For example 3PA10 0 is a valid command If a command does not require parameter xx and or parameter nn that field may be skipped by leaving a blank character space For example BOI 3WS and AB are all valid commands If a command requires multiple parameters in the third field all these parameters must be comma delimited For example 1HN1 2 is a valid command In a similar fashion multiple commands can be issued on a single command line by separating the commands by a semi colon For example 3MO 3PA10 0 3WS 3MF is a valid command line E arameter 1 W arameter y i command terminator carriage return nn parameter separator separator 3 Figure 3 1 Command Syntax Diagram GD Newport Experience Solutions Page 3 7 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver NOTE A controller command or a sequence of commands has to be terminated with a carriage return character However responses from the controller are always terminated by a carriage return line feed combination This setting may not be changed If the IEEE interface is used the IEEE controller has to be configured to terminate the input read function when it senses the line feed character 3 4 1 Summary of Command Syntax COMMAND FORMAT AA nn The general format of a command is a two character mnemonic AA
201. matically reduces the specified step motor s current i e torque output to the requested percentage nn2 after motion has stopped and the specified time nn1 has expired The purpose of this command is to help reduce the motor heating typically generated by stepper motors If xx is equal to 0 the torque reduction parameters get applied to all axes Note This command does not affect DC servo motors and pulse stepper motors If sign is issued along with command the controller returns the torque reduction settings for the specified axis QM set motor type QI et motor current 2QR1000 50 reduce motor 2 torque to 50 1000 msec after a move done 2QR query motor 2 torque reduction settings 1000 50 controller returns 1000 msec and 50 Page 3 116 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver QS set microstep factor IMM PGM MIP USAGE SYNTAX xxQSnn or xxQS PARAMETERS Description xx int axis number nn int microstep value Range XX 1 to MAX AXES nn 1 to 250 for step motors 1 to 1000 for commutated step motors or to read current setting Units XX none nn none Defaults xx missing error 37 AXIS NUMBER MISSING out of range nn missing out of range error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command is used to set the microstep factor for a Newport Unidrive compatibl
202. move commands are pulled out of the buffer on a FIFO basis The via point buffer can hold a maximum of 10 group move commands If more than 10 group move commands are issued by a user the excess commands are flow controlled by the firmware GD Newport Experience Solutions Page 4 5 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver GD Newport Experience Solutions This mechanism will block the portal through which the commands were issued until all the commands issued have been executed It is therefore recommended that the user take advantage of ASCII command HQ which tells the number of commands that can be put in the via point buffer at any given time This allows a user to control the flow of commands manually while ensuring the availability of that portal for other commands such as HP TP etc The trajectory generator checks if the via point buffer has a new target position 1 e any new move segments pending while the current move is in progress If via point buffer is empty the group comes to a stop upon completion of current move segment Otherwise it begins a new move segment without stopping after completing the current move The group transitions from current move segment to a new move segment smoothly if the tangential velocity at the transition is ensured to be constant The ASCH command HQ is used to query the available via point buffer space The commands HL a
203. n ESP301 Version 3 0 1 6 1 99 controller returns model ESP301 version 3 0 and release date 6 1 99 Page 3 147 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver F set velocity feed forward gain IMM PGM MIP USAGE SYNTAX xxVFnn or xxVF PARAMETERS Description xx int axis number nn float velocity feed forward gain factor Vf Range XX 1 to MAX AXES nn 0 to 2e9 or to read current setting Units XX none nn none Defaults xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command sets the velocity feed forward gain factor Vf It is active for any DC servo based motion device See the Feed Forward Loops in Motion Control Tutorial section to understand the basic principals of feed forward Note The command can be sent at any time but it has no effect until the UF update filter is received RETURNS If the sign takes the place of nn value this command reports the current setting REL COMMANDS KI set integral gain factor KS set saturation gain factor KD set derivative gain factor KP set proportional gain factor AF set acceleration feed forward gain UF update filter EXAMPLE 3AF0 8 set acceleration feed forward gain factor for axis 3 to 0 8 3VF report present axis 3 velocity feedforward setting 1 4
204. n EXAMPLE 2MO WT400 2PA2 3 turn axis motor ON wait an additional 400 ms and then move axis 2 to position 2 3 units GO Newport Experience Solutions Page 3 152 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver XM USAGE SYNTAX PARAMETERS DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions read available memory IMM PGM MIP XM None This command reports the amount of unused program memory The controller has 61440 bytes of non volatile memory available for permanently storing programs This command reports the amount not used Note Available memory space is updated only after the stored program memory is purged using XX command Available storage space EP enter program download mode EX execute a stored program LP list stored program XX delete a stored program XM read available memory Available storage space 61440 controller reports available storage space Page 3 153 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver XX erase program IMM PGM MIP USAGE SYNTAX XxXXX PARAMETERS Description xx int program number Range XX 1 to 100 Units XX none Defaults XX missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command makes the program xx loaded in controller s non volatile memory unavailable to user It doe
205. n is called a trapezoidal motion Page 5 17 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Desired Velocity Time The position and acceleration profiles relative to the velocity are shown in Figure 5 21 Desired Velocity Acceleration Figure 5 21 Position and Acceleration Profiles Besides the destination the acceleration and the velocity of the motion the constant portion of it can be set by the user before every move command Advanced controllers like the ESP301 allow the user to change them even during the motion 5 4 2 Jog When setting up an application it is often necessary to move stages manually while observing motion The easy way to do this without resorting to specialized input devices such as joysticks or track wheels is to use simple push button switches This type of motion is called a jog When a jog button is pressed the selected axis starts moving with a pre defined velocity The motion continues only while the button is pressed and stops immediately after its release The ESP301 offers two jog speeds Both high and low jog speeds are user programmable The jog acceleration is also ten times smaller than the programmed maximum acceleration values GD Newport Experience Solutions Page 5 18 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 5 4 3 Home Search Home search is a specific motion routine that is useful for most t
206. n Controller Driver TABLE 3 5 2 Command List Alphabetical Continued Ina PDF format you may click on a page number to automatically be connected to the corresponding Command Page Cmd Description IMM PGM MIP Page OR Search for home 3 104 PA Move to absolute position 3 106 PH Get hardware status 3 107 PR Move to relative position 3 110 QD Update motor driver settings 3 111 QG Set gear constant 3 112 QI Set maximum motor current 3 113 QM Set motor type 3 114 QP Quit program mode 3 115 QR Reduce motor torque 3 116 QS Set microstep factor 3 117 QT Set tachometer gain 3 118 QV Set average motor voltage 3 119 RQ Generate service request 3 120 RS Reset the controller 3 121 SA Set device address 3 122 SB Set get DIO port A B C bit status 3 123 SH Set home preset position 3 125 SI Set master slave jog velocity update interval 3 126 SK Set master slave jog velocity scaling coefficients 3 127 SL Set level travel limit 3 128 SM Save settings to non volatile memory 3 129 SN Set axis displacement units 3 130 SR Set right travel limit 3 131 SS Define master slave relationship 3 132 ST Stop motion 3 133 SU Set encoder resolution 3 134
207. n commands through one of its interfaces IEEE488 RS232 C or USB using a computer or terminal In this mode the ESP301 employs a set of over 100 commands Please refer to Section 3 Remote Mode for a detailed description of the ESP301 command set In Program Execution Mode internally stored programs are executed See Section 3 1 2 2 Operation in LOCAL Mode This section provides a detailed explanation of the LOCAL mode Typical parameters that can be set are velocity acceleration and the computer interface Please remember that all menu items can also be accessed with remote commands See Section 3 Remote Mode GD Newport Experience Solutions Page 2 1 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 2 2 1 Accessing the Menu Figure 2 1 shows the menu section of the front panel The menu listing can be accessed by pressing the Menu key to the bottom right of the display Scroll Up Down Menu Numeric Keypad Escape Menu GD Newport Motion Controller Model m 106 KVP AO mmm La bom a es ENABLE DISABLE 1 s d MENU ENTER os ee Ty Los Select Menu Figure 2 1 Menu Section 2 2 2 Navigating the Menu Once in the menu listing use four buttons to access all available menu items and change values where applicable Keep in mind that these buttons serve multiple functions The UP and DOWN buttons scroll through the current Menu list The UP DOWN and ESC DEL butto
208. n eos neieacisrssiccctateteeniakatectuneiieesretsbearstaverasens 106 PH get hardware S AUUS isc kcnncaicawcnae ade 107 GO Newport Experience Solutions Page xvii EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver EDH0235En1030 08 15 PR move to relative position 3 cpies csstssiccssaxsncnsaeatecoviarndesttiabeeeadncnwet 110 QD update motor driver SCN GS 2 220s cinidnewcedieensnaunns 111 QG set gear constant cisssiscisadsioniecsintinne Gorineinanohngatianaiuinaminnain 112 QI Set maximum Motor CUITEN eee eee cece eee cece ceeeeeeeteceeeeeees 113 QM set motor type vests cecwes nists opus ennintocs aso tasentin apne eson od ateacanede ato 114 QP quit program TONS aces ic secens seanectedeeetestcineeesdetnesemeenanGndetmatis 115 QR reduce motor 1O1QUG igen cede 116 QS set microstep factor sectcecscsosacecatnose aosbinenatansasemutaceresshavbumtaenutsids 117 QT settachometer gain sssssssssesssoessorssosissessttssiesrtesstssissressresreesrerrrens 118 OV setaverage motor voltage saiarisrassisaaniedtieousspamiernbisxiestarinnntanainn 119 RS reset the COnMON Sires ccc cain cicneene nee 121 SB set get DIO port A B bit status scssicecxisesssotsesaveredbueasstensadoesseaecthe 123 SI set master slave jog velocity update interval 01100110010210 126 SK set master slave jog velocity scaling coefficients 127 SL Set lett travel IMitessessncersiesenninnnnmmnnnnennni nn 128 SM save
209. n measuring device The difference the Error represents the positioning Accuracy for that particular motion Because every application is different the user needs to know the errors for all possible motions Since this is practically impossible an acceptable compromise is to perform the following test GD Newport Experience Solutions Page 5 3 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Starting from one end of travel the user can make small incremental moves and at every stop the user should record the position Error The user performs this operation for the entire nominal travel range When finished the Error data is plotted on a graph similar to Figure 5 2 Error Position Figure 5 2 Position Error Test The difference between the highest and the lowest points on the graph is the maximum possible Error that the motion device can have This worst case number is reported as the positioning Accuracy It guaranties the user that for any application the positioning error will not be greater than this value 5 2 4 Local Accuracy For some applications it is important to know not just the positioning Accuracy over the entire travel but also over a small distance To illustrate this case Figure 5 3a and Figure 5 3b shows two extreme cases Error i max error Position Figure 5 3a High Accuracy for Small Motions GD Newport Experience Solutions
210. nals but the digital type are more widely used Both channels have a 50 duty cycle and are out of phase by 90 Using both channels and an appropriate decoder a motion controller can identify four different points within one encoder cycle This type of decoding is called X4 or quadrature decoding meaning that the encoder resolution is multiplied by 4 For example and encoder with 10 um phase period can offer a 2 5 um resolution when used with a X4 type decoder Physically an encoder has two parts a scale and a read head The scale is an array of precision placed marks that are read by the head The most commonly used encoders optical encoders have a scale made out of a series of transparent and opaque lines placed on a glass substrate or etched in a thin metal sheet Figure 5 27 Figure 5 27 Optical Encoder Scale The encoder read head has three major components a light source a mask and a detector Figure 5 28 The mask is a small scale like piece having identically spaced transparent and opaque lines GO Newport Experience Solutions Page 5 22 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver il gt mask Figure 5 28 Optical Encoder Read Head Combining the scale with the read head when one moves relative to another the light will pass through where the transparent areas line up or blocked when they do not line up Figure 5 29 The detector signal is similar to a sine wa
211. nce Solutions Page 3 122 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver SB USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION QD Newport Experience Solutions set get DIO port A B bit status IMM PGM MIP SBnn or SB nn int hardware limit configuration nn 0 to OFFFFFFH hexadecimal with leading zero 0 or to read current setting nn None nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE This command is used to either set all digital I O DIO port A B and C logic level or read its present status Bits 0 7 correspond to port A and bits 8 15 to port B Each 8 bit port can be set as either input or output with the BO command A DIO within a port configured as an input can only report its present HIGH or LOW logic level Whereas a DIO bit within a port configured as an output can set 1 or clear 0 the corresponding DIO hardware to HIGH or LOW logic level Reading the status of a port configured as output returns its present output status NOTE All direction bits are automatically zeroed or cleared after a system reset Therefore all DIO ports default to input by default NOTE Each DIO bit has a pulled up resistor to 5V Therefore all bits will be at HIGH logic level if not connected to external circuit and configured as input BIT VALUE DEFINITION 0 0 port A bit 0 at logic
212. nd HC are used to queue linear move or circular move commands into the via point buffer Refer to the description of these commands in the commands section See Section 3 Remote Mode for correct syntax parameter ranges etc New group move command Move In Progress No Initiate the move Yes lt Are there 10 gt m gt lt move commands in gt No via point buffer Queue the move command in via point buffer Yes v Command flow control Figure 4 3 Block Diagram of Via Point Data Handling by Command Processor Page 4 6 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Begin gt i 9 Process current move ls there a move gt lt Move In Progress Yes gt lt command pending in the gt No command via point buffer No v Process new move command Current move Do not bring the current move target reached to a halt when target is reached Yes Dias nh e Ae a i Bring the current move to a ha buffer and caer when target is reached Figure 4 4 Block Diagram of Via Point Data Handling by Trajectory Generator 4 1 5 Miscellaneous Commands The following commands are available to operate on a group of axes simultaneously e HO and HF These commands are used to turn ON and turn OFF the power to all axes in a group respec
213. ne switch is installed they should be connected in series The minimum rating for the switches should be 50mA at 5V The ESP301 is supplied with a dust cap that automatically provides the proper connection for operation if no switch is connected See Figure C 3 Pin Description Center Pin Input MOTOR ON OFF must always be connected to the shell GND during normal controller operation An open circuit is equivalent to pressing MOTOR ON OFF on the front panel Connector Shield Provides GND for switch Connector BNC with Dust Cap Figure C 3 Motor Interlock Connector BNC with dust cap Page C 8 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Appendix D Binary Conversion Table Some of the status reporting commands return an ASCII character that must be converted to binary To aid with the conversion process the following table converts all character used and some other common ASCII symbols to decimal and binary To also help in working with the I O port related commands the table is extended to a full byte all 256 values Number ASCII Binary decimal Code Code 0 Null 00000000 1 Soh 00000001 2 Stx 00000010 3 Etx 00000011 4 Eot 00000100 5 Enq 00000101 6 Ack 00000110 7 Bel 00000111 8 Bs 00001000 9 Tab 00001001 10 Lf 00001010 11 Vt 00001011 12 Ff 00001100 13 Cr 00001101 14 So 000
214. nerated Refer HL and HC commands to move along a line or an arc If this command is issued when trajectory mode for this axis is not in trapezoidal or s curve mode the controller returns error xx32 INVALID TRAJECTORY MODE FOR MOVING Note Although the command is accepted while a motion is in progress care should be taken not to reverse direction of motion RETURNS If the sign takes the place of nn value this command reports the motion done status QD Newport Experience Solutions Page 3 98 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver REL COMMANDS PA move to absolute position PR move to relative position ST stop motion MD move done status EXAMPLE 3MV move axis 3 indefinitely in positive direction 3MV query status of move 0 controller returns 0 meaning motion is in progress 3ST stop axis 3 motion 3MV move axis 3 indefinitely in negative direction GD Newport Experience Solutions Page 3 99 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver MZ move to nearest index USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions IMM PGM MIP xxMZnn or xxMZ xx int axis number nn char direction of motion xx 1 to MAX AXES nn for positive direction or for negative direction XX
215. nge error xx1 PARAMETER OUT OF RANGE This command is used to disable or enable notification of requested axis motion status through DIO bits If the sign takes the place of nn value this command reports the current status BM Assign DIO bits to notify motion status BO Set DIO port A B direction BK Assign DIO bits to inhibit motion BL Enable DIO bits to inhibit motion BO 06H Set DIO port A to input and port B to output 2BM 9 1 Use DIO bit 9 to indicate motion status of axis 2 This DIO bit should be HIGH when axis 2 is not moving 2BN 1 Enable notification of motion using DIO bits for axis 2 2BM Query the DIO bit assignment for axis 2 9 1 The controller responds with the assigned values 2BN Query the status of notifying motion status of axis 2 through DIO bits 1 The controller responds with 1 indicating feature is enabled Page 3 36 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver BO USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE BO QD Newport Experience Solutions set DIO port A B C direction IMM PGM MIP BOnn or BO nn int hardware limit configuration nn 0 to 05H hexadecimal with leading zero 0 or to read current setting nn None nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE This command is used to set d
216. nge nn 1 to 1000 Units nn milliseconds Defaults nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command sets the jog velocity update interval for slave axis The jog velocity of slave axis is computed once every interval using user specified scaling coefficients and the master axis velocity at the time of computation Refer SK command to specify slave jog velocity scaling coefficients Note that appropriate trajectory mode has to be specified using TJ command before this command becomes effective RETURNS If sign is issued along with command the controller returns slave axis jog velocity update interval REL COMMANDS SS define master slave relationship Sk set slave axis jog velocity scaling coefficients EXAMPLE 2SS1 set axis 2 to be the slave of axis 1 2SS query the master axis number for axis 2 1 controller returns a value of 1 2TJ6 set axis 2 trajectory mode to 6 S110 set the jog velocity update interval of slave axis to 10 msec SI query the jog velocity update interval of slave axis 10 controller returns a value of 10 SK0 5 0 set the jog velocity scaling coefficients to 0 5 and 0 SK query the jog velocity scaling coefficients 0 5 0 controller returns 0 5 and 0 QD Newport Experience Solutions Page 3 126 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver SK set master slave jog velocity scaling coefficients IMM PG
217. nn or xxDO xx int DAC channel number nn float DAC offset value XX 1 to MAX AXES nn 10 0 to 10 0 or to read the current setting XX None nn Volts xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx16 MAXIMUM DAC OFFSET EXCEEDED This command is used to set the DAC offset compensation for the specified DAC channel There are two DAC channels associated with every axis DAC channels 1 and 2 are associated with axis 1 DAC channels 3 and 4 with axis 2 etc In order for the DAC offset to take affect this command must be followed by the ASCII command UF Update Filter This offset may be saved to non volatile flash memory by issuing the ASCI command SM This will cause the DSP to automatically use the saved value after system reset or reboot NOTE DAC offset compensation is necessary on servo axes to prevent motor drift during motor off conditions If the sign takes the place of nn value this command reports the current setting None Set the offset for DAC channel 1 to 0 05V 1UF Update the filter settings SM Save parameters to non dvolatile flash memory Page 3 51 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver DP read desired position USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS
218. ns a value 2 millimeter for axis 2 set displacement unit to 0 encoder count for axis 2 Page 3 130 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver SR USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions set right travel limit IMM PGM MIP xxSRnn or xxSR xx int axis number nn float right positive software limit xx 1 to MAX AXES nn 2e9 encoder resolution to 0 xx none nn defined motion units xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE This command defines the value for the positive right software travel limit It should be used to restrict travel in the positive direction to protect the motion device or its load For instance if traveling full range a stage could push its load into an obstacle To prevent this the user can reduce the allowed travel by changing the software travel limit Since a motion device must be allowed to find its home position the home switch and or sensor must be inside the travel limits This means that both positive and negative travel limits cannot be set on the same side of the home position A more obvious restriction is that the negative limit cannot be greater than the positive
219. ns a value of 60 units second 1HDS50 set vectorial deceleration of group 1 to 50 units second 1HD query vectorial deceleration of group 1 50 controller returns a value of 50 units second GO Newport Experience Solutions Page 3 67 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HE set group e stop deceleration IMM PGM MIP USAGE SYNTAX xxHEnn or xxHE PARAMETERS Description xx int group number nn float vector e stop deceleration value Range XX 1 to MAX GROUPS nn maximum of deceleration values assigned to all axes in the group to 2e9 encoder resolution Units XX none nn predefined units second Defaults XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated nn missing error 7 PARAMETER OUT OF RANGE negative error 22 GROUP PARAMETER OUT OF RANGE out of range error 22 GROUP PARAMETER OUT OF RANGE DESCRIPTION This command is used to set the vectorial e stop deceleration value for a group This value will be used during coordinated motion of axes assigned to the group It will override any original e stop deceleration values specified for individual axes using AE command The axes original values will be restored when the group to which they have been assigned is deleted This command takes effect immediately It can be executed when control
220. ns are assigned to the axis only in Position submenu where each button can be used to turn on or off that specific axis The MENU button selects a menu item the ESC button brings up the previous menu The MENU ENT button also executes an action for the selected axis Home Absolute or Relative moves 2 2 3 Changing Values This example is an illustration of how to change values within a menu item 1 Press MENU to enter the menu listing 2 Press the Down repeatedly until the cursor diamond shaped is aligned with the CONFIGURATION menu item 3 Press the MVENU ENTER button once Now a sub menu list becomes available 4 Press the MENU ENTER button to select the SET VELOCITIES menu item 5 Press the MENU ENTER button to select the SET LOW JOG VEL menu item The screen shown below is displayed at this time GD Newport Experience Solutions EDH0235En1030 08 15 Page 2 2 ESP301 Integrated 3 Axis Motion Controller Driver Figure 2 2 Set Low Jog Vel Menu Item 6 Use the numeric keypad on the right to enter the value desired Use ESC DELETE to delete entries 7 Then press MENU ENTER to save the new value 2 2 4 Motion from the Front Panel As shown in Figure 2 3 the right side of the front panel accommodates simple manual notion capabilities Move in Negative Move with High Move in Positive Direction Speed Direction QAD Newport Motion Controller Model ESP301 G Escorte letas ies
221. o Low Value Set Too High Kp Determines Servo loop too soft Servo loop too tight stiffness of servo with high following and or causing loop errors oscillation Kd Main damping Uncompensated Higher frequency factor used to oscillation caused oscillation and or eliminate by other parameters audible noise in the oscillation being high motor caused by large ripple in the motor voltage Ki Reduces following Stage does not reach Oscillations at lower error during long or stay at the desired frequency and higher motions and at stop stop position amplitude Vif Reduces following Negative following Positive following error during the error during the error during the constant velocity constant velocity constant velocity phase of a motion phase of a motion phase of a motion Stage lags the Stage is ahead of the desired trajectory desired trajectory Aff Reduces following Negative following Position following error during the acceleration and deceleration phases of a motion error during the acceleration phase of a motion Stage lags the desired trajectory error during the acceleration phase of a motion Stage is ahead of the desired trajectory GO Newport Table 6 1 Servo Parameter Functions Page 6 5 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver GD Newport Experience Solutions Page 6 6 EDH0235En1030 08 15 ESP301 Integrated 3 Ax
222. o MAX AXES mn 0 to 60000 xx none nn milliseconds XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE This command is used to set the closed loop update interval for an axis This will be the time duration between position error corrections during closed loop stepper positioning Note that this command is effective only for steeper motors Furthermore note that encoder feedback and closed loop positioning must be enabled for this command to be effective Refer to feedback configuration ZB command for enabling these features in the case of stepper motors If 0 is used as an axis number this command will set the specified interval to all the axes If sign takes the place of nn value this command reports the current setting ZB set feedback configuration DB set position deadband value 3ZB300 enable encoder feedback and closed loop positioning of axis 3 3DB1 set position deadband value to 1 encoder count 3DB query deadband value 1 controller returns a value of 1 encoder count 3CL100 set closed loop update interval to 100 milliseconds 3CL query closed loop update interval 100 controller returns a value of 100 milliseconds Page 3 40 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver CO USAGE SYNTAX PARAMETERS Description Range Un
223. of motion using DIO bits for axis 2 2BK Query the DIO bit assignment for axis 2 1 1 The controller responds with the assigned values 2BL Query the status of inhibiting motion for axis 2 through DIO 1 The controller responds with 1 indicating feature is enabled GO Newport Experience Solutions Page 3 34 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver BM USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions assign DIO bits to notify motion status IMM PGM MIP xxBMnn1 nn2 or xxBM xx int axis number nni int bit number for notifying motion status nn2 int bit level when axis is not moving xx 1 to MAX AXES nni 0to15 nn2 0 LOW and 1 HIGH or to read current setting None Xxx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nni missing error 38 COMMAND PARAMETER MISSING out of range error xx1 PARAMETER OUT OF RANGE nn2 missing error 38 COMMAND PARAMETER MISSING out ofrange error xx1 PARAMETER OUT OF RANGE This command is used to assign DIO bits for notifying the motion status moving or not moving of a selected axis When the selected axis is not moving the DIO bit state changes to the level specified with this command refer parameter nn2 NOTE The direction of the DIO port A B th
224. ol signal to cover the motor s nominal voltage range while also supplying the motor s nominal current This type of driver is used mostly in low cost applications where following error is not a great concern The controller does all the work in trying to minimize the following error but load variations make this task very difficult The second type of DC motor driver is the current driver also called a torque driver Figure 5 50 In this case the control signal voltage defines the motor current The driver constantly measures the motor current and always keeps it proportional to the input voltage This type of driver is usually preferred over the previous one in digital control loops offering a stiffer response and thus reduces the dynamic following error control signal 10V MA Figure 5 50 DC Motor Current Driver But when the highest possible performance is required the best choice is always the velocity feedback driver This type of driver requires a tachometer an expensive and sometimes difficult to add device Figure 5 51 QD Newport Page 5 35 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver control signal 10V Kal Figure 5 51 DC Motor Velocity Feedback Driver The tachometer connected to the motor s rotor outputs a voltage directly proportional with the motor velocity The circuit compares this voltage with the control signal and drives the motor
225. ommand changes the flow of the program execution by jumping to a predefined label xx This a flow control command that alters the normal sequential flow of a program It must be used in conjunction with the DL command which defines a label Parameter nn determines the number of times to repeat the jump before allowing the program to flow passed none JL jump to label 3XX clear program 3 from memory if any 3EP create program 3 IDL define label 1 1JL 5 jump to label 1 five 5 times QP end entering program and quit programming mode 3EX run stored program number 3 Page 3 86 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver JW USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions set jog low speed IMM PGM MIP xxJWnn or xxJW xx int nn float xx nn xx nn XX missing out of range nn missing out of range axis number low speed value 1 to MAX AXES 0 to maximum value allowed by VU command or to read present setting none reset units second error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx10 MAXIMUM VELOCITY EXCEEDED This command is used to set the low speed for jogging an axis Its execution is immediate meaning that the value is changed when the command is pro
226. on nn 0 to OFFFFH hexadecimal with leading zero 0 or to read current setting nn none nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE This command is used to configure system fault checking event handling and general setup for all axes NOTE If bit 0 or both bits 1 and 2 are set to zero 0 then no action will be taken by the controller NOTE The controller always interprets the nn value as a hexadecimal number even when the letter H is not appended to the desired value Since nn is a hexadecimal number it is possible that the most significant character left most character is an alphabet A F depending on the choice of values for various bits In order for the controller to distinguish between an ASCII command and its value it is recommended that the users always add a leading zero 0 to the nn value See table below for clarification Example Command Issued Controller Interpretation 1ZZ123H nn 123H 0001 0010 0011 Binary 1ZZ123 nn 123H 0001 0010 0011 Binary 1ZZ0F25H nn F25H 1111 0010 0101 Binary 1ZZF25H Invalid command Page 3 170 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver BI VAL DEFINITION T UE 0 0 disable 100 pin interlock error checking 0 1 enable 100 pin interlock error checking 1 0 do not disable all axes on 100 pin interlock error event 1 disable all axes on 10
227. one nn defined motion units Defaults xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx01 PARAMETER OUT OF RANGE DESCRIPTION This command defines the value that is loaded in the position counter when home is found The default value for all motion devices is 0 This means that unless a new value is defined using this command the home position will be set to 0 when a home search is initiated using the OR command or from the front panel if available Note The change takes effect only when a subsequent home search routine is performed To make the change permanent use the SM command to save it in the non volatile memory RETURNS If the sign takes the place of nn value this command reports the current setting REL COMMANDS DH define home EXAMPLE 3MO turn axis 3 motor power ON 3SH75 0 set axis 3 home position to 75 0 units 30R1 perform a home search on axis 3 3MD query axis 3 motion status 1 controller returns a value of 1 when motion is done 3TP query axis 3 position 75 0 controller returns a value of 75 0 units GO Newport Experience Solutions Page 3 125 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver SI set master slave jog velocity update interval IMM PGM MIP USAGE SYNTAX SInn or SI PARAMETERS Description nn int jog velocity update interval Ra
228. onfiguration to 5H for axis 2 save all controller settings to non volatile memory Page 3 163 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver ZH set hardware limit configuration IMM PGM MIP USAGE SYNTAX xxZHnn or xxZH PARAMETERS Description xx int axis number nn int hardware limit configuration Range XX 1 to MAX AXES nn 0 to OFFFFH hexadecimal with leading zero 0 or to read current setting Units XX none nn none Defaults XX missing error 37 AXIS NUMBER MISSING DESCRIPTION QD Newport Experience Solutions out of range nn missing out of range error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE critical setting error xx17 ESP CRITICAL SETTINGS ARE PROTECTED This command is used to set the hardware limit checking polarity and event handling for axis specified with xx NOTE If bit 0 or both bits 1 and 2 are set to zero 0 then no action will be taken by the controller NOTE The controller always interprets the nn value as a hexadecimal number even when the letter H is not appended to the desired value Since nn is a hexadecimal number it is possible that the most significant character left most character is an alphabet A F depending on the choice of values for various bits In order for the controller to distinguish between an ASCII command and its value it is recommended that the user
229. op update interval EXAMPLE ZB300 enable encoder feedback and closed loop positioning of axis 3 3DB1 set position deadband value to 1 encoder count 3DB query deadband value 1 controller returns a value of 1 encoder count 3CL100 set closed loop update interval to 100 milliseconds 3CL query closed loop update interval 100 controller returns a value of 100 milliseconds QD Newport Experience Solutions Page 3 42 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver DC setup data acquisition IMM PGM MIP USAGE SYNTAX DCnn1 nn2 nn3 nn4 nn5 nn6 PARAMETERS Description nni int data acquisition mode nn2 int axis used to trigger data acquisition nn3 int data acquisition parameter 3 nn4 in data acquisition parameter 4 nn5 int data acquisition rate nn int number of data samples to be acquired Range nni 0 Start data acquisition immediately 1 Start data acquisition when trigger axis starts motion 2 Start data acquisition when trigger axis reaches slew speed nn2 1 to MAX AXES nn3 Refer table below nn4 Refer table below nn5 0 to 1000 nn6 to 1000 Units None Defaults nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command is used to setup data acquisition analog data acquisition ADC as well as acquisition of certain trace variables using ESP motion controller PARAMETER nn1 Data acquisition mod
230. oportional gain factor set derivative gain factor update filter set saturation level for axis 3 to 0 01 update PID filter only now the KS command takes effect Page 3 91 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver LC USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions lock unlock keyboard IMM PGM MIP LC nn nn int Lock option nn 0 2 0 unlocked 1 all but Motor ON OFF locked 2 all locke nn none error 38 COMMAND PARAMETER MISSING error xx01 PARAMETER OUT OF RANGE nn missing out of range This command is used to lock unlock the keyboard of the ESP301 The parameter value means 0 unlock the keyboard 1 lock all buttons but the Motor ON OFF 2 lock all buttons If the 2 sign takes the place of nn value this command reports the current setting LC1 Zock the keyboard LC get lock status 1 returns current setting Page 3 92 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver LP list program USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions IMM PGM MIP xxLP xx int rogram number xx 1 to 100 xx none xx missing error 38 COMMAND PARAMETER M
231. or to read current setting Units XX none nn predefined units second2 Defaults xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx11 MAXIMUM ACCELERATION EXCEEDED error xxl PARAMETER OUT OF RANGE DESCRIPTION This command is used to set the maximum acceleration and deceleration value for an axis This command remains effective even if the requested axis is member of a group In this case two error messages GROUP MAXIMUM ACCELERATION EXCEEDED or GROUP MAXIMUM DECELERATION EXCEEDED are generated if the commanded value is less than group acceleration or deceleration respectively Refer to Advanced Capabilities section for a detailed description of grouping and related commands RETURNS If the sign takes the place of nn value this command reports the current REL COMMANDS EXAMPLE QD Newport Experience Solutions setting VA set velocity PA execute an absolute motion PR execute a relative motion AG set deceleration AC et acceleration AU read maximum allowed acceleration deceleration of axis 2 10 controller returns a value of 10 units s2 2AC9 set acceleration to 9 units s2 2AG6 set deceleration to 6 units s 2AU15 set axis 2 maximum acceleration deceleration to 15 units s 2AU read maximum allowed acceleration amp deceleration of axis 2 15 controller returns a value
232. oratory use Part 1 General requirements was designed and built in accordance with the following other standards NF EN 61000 4 2 NF EN 61000 4 3 NF EN 61000 4 4 NF EN 61000 4 5 NF EN 61000 4 6 NF EN 61000 4 11 Date 26 06 2015 Dominique DEVIDAL Quality Director MICRO CONTROLE Spectra Physics Zone Industrielle F 45340 Beaune La Rolande France DC2 EN rev A Page iii EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Warranty Newport Corporation warrants that this product will be free from defects in material and workmanship and will comply with Newport s published specifications at the time of sale for a period of one year from date of shipment If found to be defective during the warranty period the product will either be repaired or replaced at Newport s option To exercise this warranty write or call your local Newport office or representative or contact Newport headquarters in Irvine California You will be given prompt assistance and return instructions Send the product freight prepaid to the indicated service facility Repairs will be made and the instrument returned freight prepaid Repaired products are warranted for the remainder of the original warranty period or 90 days whichever comes first Limitation of Warranty The above warranties do not apply to products which have been repaired or modified without Newport s written approval or products subjected to unu
233. ors is that their rotors have no permanent magnets The variable reluctance motors are easy and inexpensive to make but suffer from higher inefficiency and require a unipolar driver They are used in low cost low power applications Permanent magnet motors have each tooth made out of a permanent magnet each one having alternate polarity They are more efficient but the step size is very large due to the physical size of the pole teeth They are also being used in low cost and in particular miniature applications The most common type of stepper motor is the Hybrid stepper motor It is the fine teeth and stepping angle of a variable reluctance motor QD Newport Experience Solutions Page 5 29 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver and the efficiency of the permanent magnet motor The rotor is made out of one or more stacks that consist of a pair of magnetically opposite polarized sections These motors offer the best combination of efficiency and fine stepping angles and can be driven by both unipolar and bipolar drivers Advantages Stepper motors are primarily intended to be used for low cost microprocessor controlled positioning applications Due to some of their inherent characteristics they are preferred in many industrial and laboratory applications Some of their main advantages are Low cost full step open loop implementation No servo tuning required Good position lock
234. otion Controller Driver Pitch Figure 5 10 Pitch Yaw and Roll Motion Axes 5 2 10 Wobble This parameter applies only to rotary stages It represents the deviation of the axis of rotation during motion A simple form of Wobble is a constant one where the rotating axis generates a circle Figure 5 11 4 Figure 5 11 Wobble Generates a Circle A real rotary stage may have a more complex Wobble where the axis of rotation follows a complicated trajectory This type of error is caused by the imperfections of stage s bearing way machining and or ball bearings 5 2 11 Load Capacity There are two types of loads that are of interest for motion control applications static and dynamic loads The static Load Capacity represents the amount of load that can be placed on a stage without damaging or excessively deforming it Determining the Load Capacity of a stage for a particular application is more complicated than it may first appear The stage orientation and the distance from the load to the carriage play a significant role For a detailed description on how to calculate the static Load Capacity please consult the motion control catalog tutorial section The dynamic Load Capacity refers to the motor s effort to move the load The first parameter to determine is how much load the stage can GD Newport Experience Solutions Page 5 9 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller D
235. ove axis 3 2 34 units away from the current position Page 3 110 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver QD update motor driver settings IMM PGM MIP USAGE SYNTAX xxQD PARAMETERS Description xx int axis number Range XX 1 to MAX AXES Units XX none Defaults xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE missing Unidrive error xx23 UNIDRIVE NOT DETECTED DESCRIPTION This command is used to update Newport programmable driver i e Unidrive settings into working registers Note This command should not be issued during motion since the motor power is automatically turned OFF RETURNS none REL COMMANDS QS set microstep factor QG set gear constant QT set tachometer gain QV z set average motor voltage EXAMPLE 2QI read maximum motor current setting of axis 2 1 6 controller returns a value of 1 6 Amp for axis 2 2QI 1 2 set maximum motor current to 1 2Amp for axis 2 2QD update programmable driver with latest settings for axis 2 SM save all controller settings to non volatile memory GO Newport Experience Solutions Page 3 111 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver QG set gear constant USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions IM
236. p command and to visualize the results 6 2 1 Hardware and Software Requirements Hardware Requirements Tuning is best accomplished when the system response can be measured This can be done with external monitoring devices but can introduce errors The ESP301 controller avoids this problem by providing an internal tune capability When tune mode is activated the controller records a number of different parameters The parameters can include real instantaneous position desired position desired velocity desired acceleration DAC output value etc The sample interval can be set to one servo cycle 400 us or any multiple of it and the total number of samples can be up to 1000 points This is a powerful feature that the user can take advantage of to get maximum performance out of the motion system Software Requirements Users can write their own application s or use the ESP tune exe Windows utility Please refer to the description of ASCII command DC to setup data acquisition 6 2 2 Correcting Axis Oscillation There are three parameters that can cause oscillation The most likely to induce oscillation is Ki followed by Kp and Kd Start by setting Ki to zero and reducing Kp and Kd by 50 If oscillation does not stop reduce Kp again When the axis stops oscillating system response is probably very soft The following error may be quite large during motion and non zero at stop Continue tuning the PID with the proce
237. p of Intellectual Property Rights in and to all development process align or assembly technologies developed and other derivative work that may be developed by Newport Customer shall not challenge or cause any third party to challenge the rights of Newport Preservation of Secrecy and Confidentiality and Restrictions to Access Customer shall protect the Newport Programs and Related Materials as trade secrets of Newport and shall devote its best efforts to ensure that all its personnel protect the Newport Programs as trade secrets of Newport Corporation Customer shall not at any time disclose Newport s trade secrets to any other person firm organization or employee that does not need consistent with Customer s right of use hereunder to obtain access to the Newport Programs and Related Materials These restrictions shall not apply to information 1 generally known to the public or obtainable from public sources 2 readily apparent from the keyboard operations visual display or output reports of the Programs 3 previously in the possession of Customer or subsequently developed or acquired without reliance on the Newport Programs or 4 approved by Newport for release without restriction GD Newport Experience Solutions Page v EDH0235En1030 08 15 EDH0235En1030 08 15 Integrated 3 Axis Motion Controller Driver Sales Tech Support amp Service North America amp Asia Newport Corporation 1791 Deere A
238. p update interval 3 40 DB Set position deadband 3 42 KD Set derivative gain Kd 3 88 KI Set integral gain Ki 3 89 KP Set proportional gain Kp 3 90 KS Set saturation coefficient Ks 3 91 UF Update Filter Parameters 3 142 VF Set velocity feed forward gain 3 148 MASTER SLAVE MODE DEFINITION Cmd Description IMM PGM MIP Page GR Set master slave Ratio 3 60 SI Set master slave jog update 3 126 interval SK Set slave axis jog velocity 3 127 coefficients SS Set master slave mode 3 132 GO Newport Experience Solutions Page 3 14 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver TABLE 3 5 2 Command List Alphabetical Cmd Description IMM PGM MIP Page AB Abort Motion 3 21 AC Set acceleration 3 22 AE Set e stop deceleration 3 24 AF Set acceleration feed forward gain 3 26 AG Set deceleration 3 27 AP Abort program 3 29 AU Set maximum acceleration and deceleration 3 30 BA Set backlash compensation 3 31 BG Assign DIO bits to execute stored programs 3 32 BK Assign DIO bits to inhibit motion 3 33 BL Enable DIO bits to inhibit motion 3 34 BM Assign DIO bits to notify motion status 3
239. pensation 3 31 CO Set linear compensation 3 41 JH Set jog high speed 3 84 JK Set jerk rate 3 85 JW Set jog low speed 3 87 OL Set home search low speed 3 102 OH Set home search high speed 3 101 OM Set home search mode 3 103 SH Set home preset position 3 125 UF Update filter parameters 3 142 VA Set velocity 3 145 VB Set base velocity for step motors 3 146 VU Set maximum speed 3 149 FLOW CONTROL amp SEQUENCING Cmd Description IMM PGM MIP Page DL Define label 3 50 JL Jump to label 3 86 RQ Generate service request 3 120 SA Set device address 3 ee WP Wait for absolute position 3 150 crossing WS Wait for stop 3 151 WT Wait for time 3 152 T O FUNCTIONS Cmd Description IMM PGM MIP Page BG Assign DIO bits to execute stored 3 32 programs BK Assign DIO bits to inhibit motion 3 33 Q Newport Experience Solutions Page 3 12 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver BL Enable DIO bits to inhibit motion 3 34 BM Assign DIO bits to notify motion 3 35 status BN Enable DIO bits to notify motion 3 36 status BO Set DIO Port Direction 3 ST BP
240. perience Solutions Page 3 108 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 7 1 reserved 8 0 axis 1 index signal low 8 1 axis 1 index signal high 9 0 axis 2 index signal low 9 1 axis 2 index signal high 10 0 axis 3 index signal low 10 1 axis 3 index signal high 11 0 axis 4 index signal low 11 1 axis 4 index signal high 12 0 axis 5 index signal low 12 1 axis 5 index signal high 13 0 axis 6 index signal low 13 1 axis 6 index signal high 14 0 reserved 14 1 reserved 15 0 reserved 15 1 reserved 16 0 digital input A low 16 1 digital input A high 17 0 digital input B low 17 1 digital input B high 18 0 digital input C low 18 1 digital input C high eee 31 0 reserved 31 1 reserved RETURNS This command reports the current status in hexadecimal notation REL COMMANDS ZU get ESP system configuration ZZ get system configuration EXAMPLE PH read hardware status 18000404H 4H controller returns the status of the two hardware regsisters QD Newport Experience Solutions Page 3 109 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver PR USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions move to relative position IMM PGM MIP xxPRnn xx int axis number nn float relative motion increment
241. perience Solutions Page 3 172 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Section 4 Advanced Capabilities E p Grouping 4 1 1 Introduction Advanced Capabilities Coordinated motion of multiple axes is required to produce a desired contour in a multi dimensional space For instance if we want to move from one point to another along a line or along a circle or a combination of both line and circle we require coordinated motion of multiple axes One way to facilitate such coordinated motion is grouping the axes involved in producing the desired motion This is akin to defining the coordinate system in which the desired contour is being made Coordinated motion on a 2 D plane therefore requires a group comprised of any two axes while a similar motion in a 3 D space requires a group consisting of any three axes For sake of simplicity all further discussion of coordinated motion will be restricted to a 2 D plane The procedure for defining a group and all the group parameters required for making coordinated motion is described in Section 4 1 3 discusses the commands that actually make the coordinated motion The procedure for making long moves or contours that involve a combination of circular and linear moves is described in Section 4 1 4 Miscellaneous grouping commands are discussed in Section 4 1 5 4 1 2 Defining a Group and Group Parameters This subsection discusses the me
242. positioners When a positioner is said to be ESP incompatible all that really means is that it does not have the integrated memory device that allows for automatic configuration Therefore it will have to be configured manually as is customary with all non ESP controllers There are two 2 basic levels of positioner configuration The first level assumes that the stage is Newport controller compatible That is to say that hardware travel limits encoder feedback counting etc are designed to operate with Newport controllers In this case only a certain amount of commands are necessary to setup the axis before moving the stage The second level is when a stage is not a standard Newport stage and various compatibility issues need to be addressed This scenario requires additional command configurations The following are examples of how to configure an ESP controller axis for a standard Newport stage that is not equipped with the ESP Compatible memory device i e level 1 Example 1 DC Servo on axis 1 lqm1 set motor type to DC servo 1qi0 15 set motor maximum current to 0 15 amps 1qv30 set motor voltage to 30 volts Isn7 set user units to degrees 1su0 005 set resolution to 0 005 degrees Ivul5 set maximum velocity to 15 deg sec lva7 set working velocity to 7 deg sec loh7 set homing speed to 7 deg sec 1jh7 set jog high speed to 7 deg sec ljwl set jog low speed to 1 deg sec lau40 set maximum accelerat
243. programmed value in AU command or to read current setting xx none nn predefined units second2 Xxx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx11 MAXIMUM ACCELERATION EXCEEDED This command is used to set the acceleration value for an axis Its execution is immediate meaning that the acceleration is changed when the command is processed even while a motion is in progress It can be used as an immediate command or inside a program If the requested axis is a member of a group the commanded acceleration becomes effective only after the axis is removed from the group Refer to Advanced Capabilities section for a detailed description of grouping and related commands Avoid changing the acceleration during the acceleration or deceleration periods For better predictable results change acceleration only when the axis is not moving or when it is moving with a constant speed If the sign takes the place of nn value this command reports the current setting VA set velocity PA execute an absolute motion PR execute a relative motion AU set maximum acceleration and deceleration AG set deceleration 2AU read maximum allowed acceleration deceleration of axis 2 10 controller returns a value of 10 units s 2AC9 set acceleration to 9 units s2 Page 3 22 EDH0235En1030 08 15 ESP301
244. quals nn As commands in the buffer get executed on a FIFO basis and the buffer level equals nn commands issued subsequent to this one get executed If sign takes the place of nn value the controller returns the room available in via point buffer for more commands HN create a new group HL move group to target position along a line HC move group to target position along an arc 1HN1 2 create a new group 1 with physical axes 1 and 2 1HV10 set vectorial velocity of group 1 to 10 units second 1HASO set vectorial acceleration of group 1 to 50 units second 1HD50 set vectorial deceleration of group 1 to 50 units second 1HO enable group 1 1HL10 10 move group 1 to target pos 10 10 ax 1 10 2 10 units 1HL20 20 move group 1 to target pos 20 20 ax 1 20 2 20 units This command gets enqueued in the via point buffer if it was received prior completion of the previous move command 1HL50 50 move group 1 to target pos 50 50 ax 1 50 2 50 units 1HQ10 wait until the via point buffer level equals 10 commands 1HC40 60 180 move group 1 along an arc with center of arc at 40 60 units by a sweep angle of 180 deg from current position Page 3 77 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HS stop group motion USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport
245. quisition status returns of samples collected DD data acquisition done status EXAMPLE DC10 1 1 1 0 1000 Acquire trace variable data for axis 1 in scaled integer format Collect 1000 samples one sample servo cycle 400 us DEI Enable trace variable data acquisition DD Query data acquisition done status 1 true 0 false If true DEO Disable trace variable data acquisition DG Get data collected QD Newport Experience Solutions Page 3 48 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver DH define home IMM PGM MIP USAGE SYNTAX xxDHnn PARAMETERS Description xx int axis number nn float position value Range XX 1 to MAX AXES nn 0 to 2e 9 Units XX none nn predefined units Defaults xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command is used to define current position HOME position This means that the current position will be preset to the value defined by parameter nn RETURNS If the sign takes the place of nn value this command reports the current setting REL COMMANDS OR execute a home search cycle EXAMPLE 3OR1 perform a home search on axis 3 3DH define current position on axis 3 HOME as 0 units 3DH 20 0 define current position on axis 3 HOME as 20 0 units GO Newport Experience
246. r to read current setting xx none nn none xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx17 ESP CRITICAL SETTINGS ARE PROTECTED This command is used to set the emergency stop e stop configuration fault checking and event handling for axis specified with xx The following table shows the meaning of each bit of nn value BIT 0 0 1 2 2 3 to 31 VALUE DEFINITION 0 disable E stop checking 1 enable E stop checking 0 do not disable motor power on E stop event 1 disable motor power on E stop event 0 do not abort motion on E stop event 1 abort motion on E stop event x reserved default setting Page 3 160 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Below are ESP301 controller different behaviors depending on the ZE configuration set by xxZEnn command ZE Interlock cap removed configuration Axis in moving state Axis in stop state Axis in stop state binary Motor is ON Motor is OFF notation biases xx0 Continue moving Motor stays ON Motor stays OFF Motor stays ON after Every motion will be No further motion move executed will be executed apes 001 Continue moving Motor stays ON Motor stays OFF 01H Motor stays ON after No further motion No further motion move will be executed will be executed enere 011
247. r Driver EXAMPLE GO Newport Experience Solutions 2AU 10 2AC9 2AG6 2AG read maximum allowed acceleration deceleration of axis 2 controller returns a value of 10 units s set acceleration to 9 units s2 set deceleration to 6 units s2 read maximum current deceleration of axis 2 controller returns a value of 6 units s2 Page 3 28 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver AP USAGE SYNTAX PARAMETERS DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions abort program IMM PGM MIP AP none This command is used to interrupt a motion program in execution It will not stop a motion in progress It will only stop the program after the current command line finished executing It can be used as an immediate command or inside a program Inside a program it is useful in conjunction with program flow control commands It could for instance terminate a program on the occurrence of a certain external event monitored by an I O bit none EX execute a program 3EX execute program 3 AP stop program execution Page 3 29 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver AU set maximum acceleration and deceleration IMM PGM MIP USAGE SYNTAX xxAUnn or xxAU PARAMETERS Description xx int axis number nn float acceleration value Range XX 1 to MAX AXES nn 0 to 2e 9
248. r enabling DAQ refer ASCII command DE RETURNS none REL COMMANDS DH define home OH set home search speed OM set home search mode MD read motion done status SH set home preset position EXAMPLE 3MO turn axis 3 motor power ON 3SHO set axis 3 home position to 0 units 3ORI1 perform a home search on axis 3 3MD query axis 3 motion status 1 controller returns a value of 1 when motion is done 3TP query axis 3 position 0 controller returns a value of 0 units GO Newport Experience Solutions Page 3 105 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver PA USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions move to absolute position IMM PGM MIP xxPAnn or xxPA xx int axis number nn float absolute position destination xx 1 to MAX AXES nn any position within the travel limits and within 2e9 encoder resolution XX z none nn defined motion units error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE xx missing out of range error 38 COMMAND PARAMETER MISSING error xx04 POSITIVE HARDWARE LIMIT EXCEEDED error xx05 NEGATIVE HARDWARE LIMIT EXCEEDED error xx06 POSITIVE SOFTWARE LIMIT EXCEEDED error xx07 NEGATIVE SOFTWARE LIMIT EXCEEDED nn missing out of range out of range out of range out of
249. r on query the program number executed on power on controller returns program 3 executed once on power on Reset automatic program execution no program is executed on power on Page 3 54 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver EP enter program mode IMM PGM MIP USAGE SYNTAX xxEP PARAMETERS Description xx int program number Range XX 1 to 100 Units XX none Defaults xx missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command sets the controller in programming mode All the commands following this one will not be executed immediately but stored in memory as part of program number xx To exit program entry mode and return to immediate mode use QP command Programs can be entered in any order If a program already exists then it must be first deleted using XX command Note Programs are automatically stored into non volatile memory when created RETURNS none REL COMMANDS QP quit programming mode EX execute stored program AP abort stored program execution XX erase program EXAMPLE 3XX clear program 3 from memory if any 3EP activate program mode and enter following commands as program 3 QP end entering program and quit programming mode 3EX run stored program number 3 GO Newport Experience Solutions Page 3 55 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Contro
250. rance Sales Tel 33 0 1 60 91 68 68 e mail france newport com Technical Support e mail tech_europe newport com Service amp Returns Tel 33 0 2 38 40 51 55
251. ration to non volatile memory The following commands should be reviewed for proper axis compatibility when connecting to a non Newport stage assuming that it is electrically compatible with the controller 1 e level 2 ZA set amplifier configuration ZB set feedback configuration ZH set hardware limit configuration GD Newport Experience Solutions Page G 2 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Appendix H Factory Service This section contains information regarding factory service for the ESP301 motion controller The user should not attempt any maintenance or service of the system or optional equipment beyond the procedures outlined in the Trouble Shooting appendix of this manual Any problem that cannot be resolved should be referred to Newport Corporation For service contact information is listed in Table H 1 below Telephone 1 800 222 6440 Fax 1 949 253 1479 Email service newport com Web Page URL www hewport com servicesupport Table H 1 Technical Customer Support Contacts Contact Newport to obtain information about factory service Telephone contact number s are provided on the Service Form see next page Please have the following information available Equipment model number ESP301 Equipment serial number for the ESP301 Distribution revision number from a floppy disk Problem description document using the Service Form following
252. re sent to the controller the controller will set DIO bit 9 to a HIGH logical level when axis 2 is not in motion Commands related to utilizing DIO for initiating inhibiting motion of desired axis and notifying motion status of these axes are listed in the table below refer to Section 3 Remote Mode for additional details Command Description BG Assign DIO bits to execute stored programs BK Assign DIO bits to inhibit motion BL Enable DIO bits to inhibit motion BM Assign DIO bits to notify motion status BN Enable DIO bits to notify motion status BO Set DIO port A B direction Table 4 5 Commands to Synchronize Motion to External Events GO Newport Experience Solutions Page 4 14 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Section 5 Motion Control Tutorial Motion Systems A schematic of a typical motion control system is shown in Figure 5 1 Controller oy X Y Stage Driver Figure 5 1 Typical Motion Control Systems Its major components are Controller An electronic device that receives motion commands from an operator directly or via a computer verifies the real motion device position and generates the necessary control signals Driver An electronic device that converts the control signals to the correct format and power needed to drive the motors GD Newport Experience Solutions Page 5 1 EDH0235En1030 08
253. rent and thus the torque approaches its normal value exponentially Figure 5 45 B B BE QQ Qe Figure 5 44 Simple Stepper Motor Driver When the pulse rate is flat the current does not have time to reach the desired value before it is turned off and the total torque generated is only a fraction of the nominal one Figure 5 46 How fast the current reaches its nominal value depends on three factors the winding s inductance resistance and the voltage applied to it The inductance cannot be reduced But the voltage can be temporarily increased to bring the current to its desired level faster The most widely used technique is a high voltage chopper Current Figure 5 45 Current Build up in Phase GD Newport Experience Solutions Page 5 32 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver When the pulse rate is fast the current does not have time to reach the desired value before it is turned off and the total torque generated is only a fraction of the nominal one Figure 5 46 How fast the current reaches its nominal value depends on three factors the winding s inductance resistance and the voltage applied The inductance cannot be reduced But the voltage can be temporarily increased to bring the current to its desired level faster The most widely used technique is a high voltage chopper Phase ON nominal current Figure 5 46 Eff
254. ription Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions enable DIO bits for jog mode IMM PGM MIP xxBQnn or BQ xx int nn int xx nn xx nn XX missing out of range nn missing out of range axis number disable or enable 1 to MAX AXES 0 disable and 1 enable none one error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE This command is used to disable or enable jogging of a requested axis through DIO bits If sign is issued along with command the controller returns the status of jog through DIO bits BP 1BP3 4 1BP 3 4 1BQ1 assign DIO bits for jog mode set DIO bit 3 to jog axis 1 in negative direction and DIO bit 4 to jog axis 1 in positive direction query the DIO bits assigned for jogging controller returns the bit assignment enable axis 1 jogging through DIO bits Page 3 39 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver CL USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions set closed loop update interval IMM PGM MIP xxCLnn or xxCL xx int axis number nn int closed loop update interval xx 0 t
255. river push or pull In some cases the two values could be different due to internal mechanical construction The second type of dynamic Load Capacity refers to the maximum load that the stage could move with the nominal acceleration This parameter is more difficult to specify because it involves defining an acceptable following error during acceleration 5 2 12 Maximum Velocity The Maximum Velocity that could be used in a motion control system is determined by both motion device and driver Usually it represents a lower value than the motor or driver is capable of In most cases including the ESP301 the default Maximum Velocity may be increased The hardware and firmware are tuned for a particular maximum velocity that cannot be exceeded 5 2 13 Minimum Velocity The Minimum Velocity usable with a motion device depends on the motion control system but also on the acceptable velocity regulation First the controller sets the slowest rate of motion increments it can make The encoder resolution determines the motion increment size and then the application sets a limit on the velocity ripple To illustrate this take the example of a linear stage with a resolution of 0 1 um If the user sets the velocity to 0 5 m sec the stage will move 5 encoder counts on one second But a properly tuned servo loop could move the stage 0 1 um in about 20 ms The position and velocity plots are illustrated in Figure 5 12 average veloci
256. roceeding e Turn off power switch and unplug the unit from its power source e Disconnect cables if their function is not understood e Remove jewelry from hands and wrist e Expect hazardous voltages to be present in any unknown circuits CAUTION Verify proper alignment before inserting connectors Refer to Appendix H Factory Service for information about repair or other hardware corrective action GD Newport Experience Solutions Page B 1 EDH0235En1030 08 15 ESP301 EW Trouble Shooting Guide A list of the most common problems and their corrective actions is provided in Table B 1 Use it as a reference but remember that a perceived error is open to an operator error or has some other simple Integrated 3 Axis Motion Controller Driver solution PROBLEM CAUSE CORRECTIVE ACTION Display does not Power switch is Turn on the main power switch come on turned off located on the front panel No electrical power Verify with an adequate tester or another electrical device lamp etc that power is present in the outlet If not contact an electrician to correct the problem Power cord not plugged in Plug the power cord in the appropriate outlet Observe all caution notes and procedures described in the System Setup section Error message or Bad connection Turn power off and verify the physically present motion device connection stage is declared unconnected B
257. rror message 0 controller returns no error 8PA12 3 move axis 8 to position 12 3 TE read error message 9 controller returns error code 9 meaning incorrect axis number Page 3 136 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver TJ USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE QD Newport Experience Solutions set trajectory mode IMM PGM MIP xxTJnn or xxTJ xx int nn int XX nn xx nn xx missing out of range nn missing out of range during motion axis number trajectory mode 1 to MAX AXES 1 to 6 where 1 trapezoidal mode 2 s curve mode 3 jog mode 4 slave to master s desired position trajectory 5 slave to master s actual position feedback 6 slave to master s actual velocity for jogging none none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE error xx26 PARAMETER CHANGE NOT ALLOWED DURING MOTION This command sets the trajectory mode nn on the axis specified by xx Changing trajectory during motion is not allowed Change trajectory mode only when the axis is not moving If the requested axis is member of a group the controller returns error xx31 COMMAND NOT ALLOWED DUE TO GROUP ASSIGNMENT For a detailed description of motion profi
258. s 1 indefinitely in negative direction QP Quit program mode GO Newport Experience Solutions Page 3 144 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver VA set velocity IMM PGM MIP USAGE SYNTAX xxVAnn or xxVA PARAMETERS Description xx int axis number nn float velocity value Range XX 1 to MAX AXES nn 0 to maximum value allowed by VU command or to read current setting Units XX none nn preset units second Defaults xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx10 MAXIMUM VELOCITY EXCEEDED DESCRIPTION This command is used to set the velocity value for an axis Its execution is immediate meaning that the velocity is changed when the command is processed even while a motion is in progress It can be used as an immediate command or inside a program If the requested axis is member of a group the commanded velocity becomes effective only after the axis is removed from the group Refer the Advanced Capabilities section for detailed description of grouping and related commands Avoid changing the velocity during the acceleration or deceleration periods For better predictable results change velocity only when the axis is not moving or when it is moving with a constant speed RETURNS If the sign takes the place of nn value this command reports the
259. s reversing the current polarity will cause the motor to move in the opposite direction Of course there is a lot more to the DC motor theory but this description gives the user a general idea on how they work A few other characteristics to keep in mind are e Fora constant load the velocity is approximately proportional to the voltage applied to the motor e For accurate positioning DC motors need a position feed back device e Constant current generates approximately constant torque e IfDC motors are tuned externally manually etc they act as generators Advantages DC motors are preferred in many applications for the following reasons Smooth ripple free motion at any speed High torque per volume No risk of loosing position in a closed loop Higher power efficiency than stepper motors No current requirement at stop Higher speeds can be obtained than with other types of motors Disadvantages Some of the DC motor s disadvantages are e Requires a position feedback encoder and servo loop controller e Requires servo loop tuning e Commutator may wear out in time e Not suitable for high vacuum application due to the commutator arcing e Hardware and setup are more costly than for an open loop stepper motor full stepping 5 7 Drivers Motor divers must not be overlooked when judging a motion control system They represent an important part of the loop that in many cases could increase or reduce the overall
260. s always add a leading zero 0 to the nn value See table below for clarification Example Command Issued Controller Interpretation 1ZH123H nn 123H 0001 0010 0011 Binary 1ZH123 nn 123H 0001 0010 0011 Binary 1ZHOF25H nn F25H 1111 0010 0101 Binary 1ZHF25H Invalid command Page 3 164 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver BIT VALUE DEFINITION 0 0 disable hardware travel limit error checking 0 1 enable hardware travel limit error checking 0 do not disable motor on hardware travel limit event 1 1 disable motor on hardware travel limit event 2 0 do not abort motion on hardware travel limit event x2 1 abort motion on hardware travel limit event 3 0 reserved 3 1 reserved 4 0 reserved 4 1 reserved 5 0 hardware travel limit input active low 5 1 hardware travel limit input active high 6 0 reserved 6 1 reserved 7 0 reserved 7 1 reserved eoo 31 0 reserved 31 1 reserved default setting RETURNS If the sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS ZA set amplifier I O configuration ZE set e stop configuration ZF set following error configuration ZB set feedback configuration ZS set software limit configuration ZZ set general system configuration EXAMPLE 2ZH read hardware limit configuration of axis 2 25H controller returns a val
261. s not delete the program from memory Consequently the program space does not become available to user immediately after deleting the program It becomes available to user only after the entire stored program memory is purged by issuing the command 0xx Note Purging the stored program memory takes approximately 3 seconds for completion RETURNS None REL COMMANDS EP enter program download mode EX execute a stored program LP list stored program XM read available memory EXAMPLE 1XX delete program 1 XM read available memory Available storage space 60228 controller reports available storage space 2XX delete program 2 XM read available memory Available storage space 60228 controller reports available storage space 0XX purge stored program memory XM read available memory Available storage space 61440 controller reports available storage space QD Newport Experience Solutions Page 3 154 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver ZA set amplifier I O configuration IMM PGM MIP USAGE SYNTAX xxZAnn or xxZA PARAMETERS Description xx int axis number nn int amplifier I O configuration Range XX 1 to MAX AXES nn 0 to OFFFFH hexadecimal with leading zero 0 or to read current setting Units XX none nn none Defaults XX missing error 37 AXIS NUMBER MISSING out of range nn missing out of range critical setting during motion error 9
262. s that the motor will move only half a step at a time This method of driving a stepper motor is called half stepping The advantage is that we can get double the resolution from the same motor with very little effect on the QD Newport Experience Solutions Page 5 26 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver driver s side The timing diagram for half stepping is shown in Figure 5 35 12345678 Figure 5 35 Timing Diagram Half Stepping Motor Now what happens if we energize the same two phases simultaneously but with different currents For example lets say that phase A has the full current and phase B only half This means that phase A will pull the rotor tooth twice as strongly as B does The rotor tooth will stop closer to A somewhere between the full step and the half step positions Figure 5 36 EHn FAAA Figure 5 36 Energizing Two Phases with Different Intensities The conclusion is that varying the ratio between the currents of the two phases the user can position the rotor anywhere between the two full step locations To do so the user needs to drive the motor with analog signals similar to Figure 5 37 ANONS BS N_ G i aa DNN Figure 5 37 Timing Diagram Continuous Motion Ideal But a stepper motor should be stepping The controller needs to move it in cert
263. sadseastelsdeeereatraianassmaene 41 DB set position deadband icccceverasisscieseenctasensaiamiaingadeedanaerts 42 DC setup data acquisition encso sccshsxccecsantsoeaasbenseesadeseanasesteeampaccisteecnesuaueee 43 DD get data acquisition done status c eccecccecesesseesececeeeeesteseeeenenens 45 DE enable disable data acquisition ses scccssccscecd sansnedsessiatestavncedvorsaedecione 46 DF get data acquisition sample count eccccceesseseeesteseeseseeeeseetens 47 DG get acquisition data ssssossseosseossooseoeseestoresstessttssesrrsressressnesseereens 48 DH define NOME eiren enee eepe are E ENARE TE EER 49 DL define VAC 1st cacstiturnsmassphoricaseniosa Geta omnescracitueditoiesonesiis lame Seen dereeted 50 DO EU dac Oil istics terns a A aan ea eet 51 DP read desired POSTON ssicsscssdesciescoacssstniarsteeigesdianaienatteaniveewiecsi ites 52 DV read desired V CIO GUY ss crsasctovsdiessessaousecdusin vahcas Mewtaherd sonenaeesserntcnanaaend 53 EO automatic execution ON POWET ON e eeeececceeseseeeseseeeeeeeeeseseetenees 54 EP enter program MOE pocess ss teecsasasatiansordeviatnnncnesd anekeentenrnesumbnemdaae 55 EX exec tea progra issiesiiira ii iretsi ri rE EEEa R EEEa 56 FE set maximum following error threshold uu ceceeeeeteeeeee 57 FP set position display resOlUtion nec cececcccceeseeseeeeeseeeeeeeeteseseenenenees 58 FR set encoder full step resolution ceeesesssesseseseseeesessesesseeseesens 59 Page xvi ESP301 In
264. se 5 20 Figure 5 23 Slow Speed Home Origin Switch Search 0000 5 20 Figure 5 24 High Low Speed Home Origin Switch Search 5 20 Figure 5 25 Home Origin Search From Opposite Direction enrenar 5 21 QD Newport Experience Solutions Page xiii EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Figure 5 26 Encoder Quadrature Output cccccccccccctseteetseeteees 5 22 Figure 5 27 Optical Encoder SCLC 5 sesstesncrsbuescessieriaessiaeinastueiavteen 5 22 Figure 5 28 Optical Encoder Read Head cccccccecceesesseeseeeseeteenees 5 23 Figure 5 29 Single Channel Optical Encoder Scale and Read Head Assembly cccccccccccccetcetseetseetetnses 5 23 Figure 5 30 Two Channel Optical Encoder Scale and Read Head Assembly cist concnrtiactirvaeans 5 24 Figure 5 31 Stepper Motor Operation 5 25 Figure 5 32 Four Phase Stepper Motor cscccccsseesseeseeseeeteenseeees 5 25 Figure 5 33 Phase Timing Diagram o on 5 26 Figure 5 34 Energizing Two Phases Simultaneously 000010010n 5 26 Figure 5 35 Timing Diagram Half Stepping Motor c0000006 5 27 Figure 5 36 Energizing Two Phases with Different Titernsitis ssrerconioniesnii e ii 5 27 Figure 5 37 Timing Diagram Continuous Motion Ideal 5 27 Figure 5 38 Timing Diagram Mini Stepping eeeeeeeeeeee 5 28 Figure 5 39 Single Phase Enereization i ccccsivaseriisesvrinisrn
265. sest rotor tooth to phase B will be pulled in and the motor moves one step forward If on the other hand the next energized phase is D the closest rotor tooth is in the opposite direction thus making the motor to move in reverse Phase C cannot be energized immediately after A because it is exactly between two teeth so the direction of movement is indeterminate To move in one direction the current in the four phases must have the following timing diagram Figure 5 33 AT LL B c l a A e Figure 5 33 Phase Timing Diagram One phase is energized after another in a sequence To advance one full rotor tooth the user needs to make a complete cycle of four steps To make a full revolution the user needs a number of steps four times the number of rotor teeth These steps are called full steps They are the largest motion increment the stepper motor can make Running the motor in this mode is called full stepping What happens if the user energizes two neighboring phases simultaneously Figure 5 34 rc TB Ce D sA Figure 5 34 Energizing Two Phases Simultaneously Both phases will pull equally on the motor will move the rotor only half of the full step If the phases are always energized two at a time the motor still makes full steps But if the user alternates one and two phases being activated simultaneously the result i
266. set motor type IMM PGM MIP USAGE SYNTAX xxQMnn or xxQM PARAMETERS Description xx int axis number nn int motor type Range XX 1 to MAX AXES nn 0 to4 where 0 motor type undefined default 1 DC servo motor single analog channel 2 step motor digital control 3 commutated step motor analog control 4 commutated brushless DC servo motor or to read current setting Units XX none nn none Defaults xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command is used to set the motor type the for axis xx Defining motor type is necessary because the ESP needs to apply different control algorithms for different motor types Note It will not be possible to control an axis if its motor type is undefined ESP301 motion controller does not support this motor type RETURNS If the sign takes the place of nn value this command reports the current setting REL COMMANDS QV set average motor voltage QD update driver QI set maximum motor current QT set tachometer gain QG et gear constant EXAMPLE 2QM read motor type of axis 2 0 controller returns a value of 0 motor undefined for axis 2 2QM 1 set motor type to value of 1 DC servo motor for axis 2 2QD update programmable driver with latest settings for axis 2 SM save all controller set
267. settings to non volatile MEMOTY eee eeeteteeeeeees 129 SN set axis displacement UNIS secs cheesssbancacoredecsshessentrecdianabtoonadonanieceeee 130 SR set right travel O08 ev 131 ss define master slave relationship cceeeceeeseeeeseeeeeeeteeeeeeeees 132 ST stop MOUN jaiaie an enieeie ace eee 133 SU set encoder TOS IIO Ie cu hvcacscansasnisnyneeuiseinssasaedelacnestaccaunteptaaianntarie 134 TB read error Message sccsaiscicevensssaonrsuerisneedanaeausnvierwoniarteas orn Odeentvagestinwndioe 135 TE read error Coderen ae aspera aie EE es 136 TJ set trajectory mode ssussssessseesseossosssesstestesstesrtesetssessresstesreesrerrrens 137 TP read actual position ccc eceteas asec ceacesaeeceshenevcntencaaeaeecaearsies shares 138 TS read controller status sg scxcvscsersiusessdscuncrscasvsesstecucnetashoreteeeiseenteytesaunbiiens 139 TV read actual velocity sais accssacsscctstacaceserescecitietecensietmeremeenunwGndetmats 140 TX read controller activity ciaeeeseeieeniniaee 141 UF update servo TNGh acne eet eaten eee 142 UH waitfor DIO bit I cette ct pce anes eta epee eres aces ensoeeenarein peer ses 143 UL wait for DIO bit 10W ce cscaate coerce dace pentdite eacerecnasan nackte ticendeceeees 144 VA SL Velocity ct pict weak pb accep adsense EERE EE 145 VB set base velocity for step MOTOTS wisndiccasieieeneceuansirnnanavcease 146 VE read controller firmware version c cccceeeseseeseeeeeseseeeeteeeeees 147 VF set velocity fe
268. sition move to a relative position move to home position read axis 3 move done status controller returns status 1 motion done for axis 3 start a relative motion of 2 2 on axis 3 read axis 3 move done status controller returns status 0 motion not done for axis 3 Page 3 94 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver MF USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions motor off IMM PGM MIP xxMF or xxMF xx int xx xx Xx missing out of range axis number 1 to MAX AXES none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE This command turns power OFF of the specified motor axis If sign is issued along with command the controller returns 1 0 AB ST MO 2MF 2MF 2MO 2MF motor power is ON motor power is OFF abort motion stop motion urn motor power ON turn axis 2 motor power OFF query axis 2 motor power status controller returns a value of 0 turn axis 2 motor power ON query axis 2 motor power status controller returns a value of 1 Page 3 95 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver MO motor on USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPL
269. sitioning of stepper motors to eliminate such errors The next subsection details the implementation of this feature in the ESP301 4 3 2 Feature Implementation While closed loop control of stepper motors can be done during tracking as well as regulation ESP301 controllers closed loop stepping feature is effective only during regulation i e desired motion is completed and the motor is holding position This was done in order to avoid tuning of control gains such as proportional Kp integral Ki derivative Kd gains etc Users need to only enable the feature and define two 2 parameters desired deadband and closed loop update interval The following block diagram illustrates this feature When the desired motion is completed the controller calculates position error and evaluates if the error is within the user specified deadband If it is no further corrective actions are commanded On the other hand if the error is larger than the desired value the controller starts the closed loop update interval timer and issues commands to make necessary corrections GD Newport Experience Solutions Page 4 9 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver It then waits for the timer to reset before checking the position error again This process is repeated until the position error reduces to the desired value deadband The corrective actions taken by the controller to reduce positioning
270. sual physical thermal or electrical stress improper installation misuse abuse accident or negligence in use storage transportation or handling This warranty also does not apply to fuses batteries or damage from battery leakage THIS WARRANTY IS IN LIEU OF ALL OTHER WARRANTIES EXPRESSED OR IMPLIED INCLUDING ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR USE NEWPORT CORPORATION SHALL NOT BE LIABLE FOR ANY INDIRECT SPECIAL OR CONSEQUENTIAL DAMAGES RESULTING FROM THE PURCHASE OR USE OF ITS PRODUCTS First printing 2008 Copyright 2015 by Newport Corporation Irvine CA All rights reserved No part of this manual may be reproduced or copied without the prior written approval of Newport Corporation This manual is provided for information only and product specifications are subject to change without notice Any change will be reflected in future printings GD Newport Experience Solutions EDH0235En1030 08 15 Page iv ESP301 Integrated 3 Axis Motion Controller Driver Preface Confidentiality amp Proprietary Rights Reservation of Title The Newport Programs and all materials furnished or produced in connection with them Related Materials contain trade secrets of Newport and are for use only in the manner expressly permitted Newport claims and reserves all rights and benefits afforded under law in the Programs provided by Newport Corporation Newport shall retain full ownershi
271. t all The cause for this is in the mechanics Elasticity Motor Encoder Load a m Stiction Figure 5 4 Effect of Stiction and Elasticity on Small Motions QD Newport Experience Solutions Page 5 5 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Figure 5 4 shows how excessive stiction and elasticity between the encoder and the load can cause the motion device to deviate from ideal motion when executing small motions The effect of these two factors has a random nature Sometimes for a small motion step of the motor the load may not move at all Other times the accumulated energy in the spring will cause the load to jump a larger distance The error plot will be similar to Figure 5 5 Error motion increments Motion steps Position 1 Figure 5 5 Error Plot Once the Maximum Incremental Motion is defined the next task is to quantify it This more difficult for two reasons one is its random nature and the other is in defining what a completed motion represents Assume that the user has a motion device with a 1 um resolution If every time the user commands a 1 um motion the measured error is never greater than 2 the user will probably be very satisfied and declare that the Minimum Incremental Motion is better than 1 um If on the other hand the measured motion is sometimes as small as 0 1 um a 90 error the user could not say that 1 um is a re
272. t an error can be read only once with either command aa bb cc where aa error code ce error message bb timestamp see Appendix for complete listing TE read error code TB read error message 0 451322 NO ERROR DETECTED controller returns no error 8PA12 3 move axis 8 to position 12 3 TB read error message 9 451339 AXIS NUMBER NOT AVAILABLE controller returns error code timestamp and description Page 3 135 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver TE USAGE SYNTAX PARAMETERS Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions read error code IMM PGM MIP TE questions mark timeout error 2 RS 232 COMMUNICATION TIME OUT This command is used to read the error code The error code is one numerical value up to three digits long see Appendix for complete listing In general non axis specific errors numbers range from 1 99 Axis 1 specific errors range from 100 199 Axis 2 errors range from 200 299 and so on Note Errors are maintained in a FIFO buffer ten 10 elements deep When an error is read using TB or TE the controller returns the last error that occurred and the error buffer is cleared by one 1 element This means that an error can be read only once with either command aa where aa error code number see Appendix for complete listing TB read error message TE read e
273. t of closed loop system understanding First review the Control Loops paragraph in the Motion Control Tutorial Section If needed consult additional servo control theory books Start the tuning process using the default values supplied with the stage These values are usually very conservative favoring safe and oscillation free operation To achieve the best dynamic performance possible the system must be tuned for the specific application Load acceleration stage orientation and performance requirements all affect how the servo loop should be tuned 6 2 Tuning Procedures Servo tuning is usually performed to achieve better motion performance such as reducing the following error statically and or dynamically or because the system is malfunctioning oscillating and or shutting off due to excessive following error Acceleration plays a significant role in the magnitudes of the following error and overshoot especially at start and stop Rapid velocity changes represent very high acceleration causing large following errors and overshoot Use the smallest acceleration the application can tolerate to reduce overshoot and make tuning the PID filter easier GD Newport Experience Solutions Page 6 1 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver NOTE In the following descriptions it is assumed that a software utility is being used to capture the response of the servo loop during a motion ste
274. tage seen at this pin is pulse width modulated with a maximum amplitude of 48V DC Stepper Motor Phase 3 Output This output must be connected to Winding B lead of a two phase stepper motor The voltage seen at this pin is pulse width modulated with a maximum amplitude of 48V DC Stepper Motor Phase 4 Output This output must be connected to Winding B lead of a two phase stepper motor The voltage seen at this pin is pulse width modulated with a maximum amplitude of 48V DC Common Phase 3 4 This output can be connected to the center tab of Winding B of a two phase stepper motor The voltage seen at this pin is pulse width modulated with maximum amplitude of 48V DC GD Newport Experience Solutions Page C 3 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Common Phase 1 2 This output can be connected to the center tab of Winding B of a two phase stepper motor The voltage seen at this pin is pulse width modulated with a maximum amplitude of 48V DC Travel Limit Input This input is pulled up to 5V with a 4 7KQ resistor by the controller and represents the stage negative direction hardware travel limit The active true state is user configurable default is active HIGH Travel Limit Input This input is pulled up to 5V with a 4 7KQ resistor by the controller and represents the stage negative direction hardware travel limit The active true state is user configurable default
275. tegrated 3 Axis Motion Controller Driver GR set master slave reduction ratio oo ee eeeecceseseeeeteeeseeeeeeeeteseseeeenenees 60 HA set group 2CCClSraNON cio sencenscarncsiewieeearimwane 61 HB read list of groups assigned 1 c3cicananianiitnanwasumearens 63 HC move group along an arc sss csanisnssastucncamvintetanedenanienisanavioysiantmanrasshinns 64 HD set group deceleration s sssssssssssesssiossnenssossstostessreessressseessressrrssene 66 HE set group e stop deceleration asi 505saccatacsacensdesancaetaaneiaratriecivtiecndiannd 68 HP Group Ol henerreneseninn a a eae 69 HJ set group jerk nssnsesseessesseosseessisstessoesstestesrrsstesstesstssrsrrssressresererenns 70 HL move group along a line sss cecsiacccnentreteranierrsvnatatneietca acetone 71 HN create new group s ssesssssisssstiessstiessstttsssttssssttsstttssntessttestrtes trens 73 HO GrOUp Olesin E A E E E 75 HP read group position a cestarscyscicuseinecoinewsseasgetnnssienstareeesbecxsetuniadeesienanisions 76 HQ wait for group command buffer level oo eeeteteteeeeteee 77 HS stop group Motion gsi cis ets yon scativsstcesaees eeaielsdeeeeaetets ioc emeeahe 78 HV set group velocity 2 aceon nee mae 79 HW wait for group MOTION StOPh ceeececccscsesesseseeseseseeseseseeeseeteseseseensnenees 80 HX delete group roronercronenmena Ei a A i 81 HZ read group Size ec neem rennt 82 ID read stage model and serial number eee eeeeeeeteteeeeeeee 83 JH Set joe high speed aio
276. terminal they are placed into the command buffer When a carriage return ASCII 13 decimal terminator is received the command is interpreted If the command is valid and its parameter is within the specified range it will be executed If the command contains an error it will not be executed and a corresponding error message will be stored in the error buffer NOTE The ESP301 power up state is command mode An example of a typical command sequence is shown below Example 1 1PA 30 move axis 1 to absolute position 30 units 1WS wait for axis I to stop 2PR 10 move axis 2 to relative position 10 units GD Newport Experience Solutions Page 3 1 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Assuming that axis 1 and 2 are configured Example 1 instructs the ESP controller to move axis 1 to absolute position 30 units wait for it to stop and then move axis 2 motor to relative 10 units Note that a command prefix identifies the axis or group that should execute a command Commands received without an axis prefix generate an error If a command is referenced to a non existing axis an error is also generated See Section 3 4 for further details on the command syntax Also note that it is necessary to explicitly instruct the ESP controller with the WS Wait for Stop command to wait for axis 1 motion to stop This is necessary because the ESP controller executes commands continuously
277. tes appropriate protection devices Refer to the installation requirements of your facility and local applicable Standards concerning the use of RCDs residual current device Weight e 14 3 lb max 6 5 Kg max Operating conditions e Temperature 0 C to 40 C e Humidity 20 to 85 RH non condensing 1 4 3 Description of Front Panel Version The ESP301 is available with a front panel with LCD display and manual control buttons A menu allows the user to change velocities accelerations and more without a computer interface GD Newport Experience Solutions Page 1 7 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver FRONT PANEL DISPLAY A general view of the front panel is shown in Figure 1 2 There are two distinct areas a display menu section and a motion section that allows simple low and high speed manual JOG motion Up Down EscapeButton Numerical Buttons Keyboard QD Newport Motion Controller E a L vow Motor On Off MENU ENTER Menu Enter Butt Display Window Bustion Jog Buttons Figure 1 2 ESP301 Front Panel Power Section The black switch at the rear of the ESP301 controller is used to turn power On or Off 1 4 4 Rear Panel Description NOTE See Appendix C for pin outs AXIS CONNECTORS AXIS 1 AXIS 3 There are up to three 25 pin D Sub connectors on the rear panel one for each axis Unused axes have blank panels GPIO CONNECTOR This is
278. th a 1KQ resistor by the controller The Home signal originates from the stage and is used for homing the stage to a repeatable location Index Input The Index input is pulled up to 5V with a 1KQ resistor by the controller and is buffered with a 26LS32 differential receiver The Index signal originates from the stage and is used for homing the stage to a repeatable location Index Input The Index input is pulled up to 5V and pulled down to ground with 1KQ resistors by the controller This facilitates both single and double ended signal handling into a 26LS32 differential receiver The Index signal originates from the stage and is used for homing the stage to a repeatable location Encoder Supply 5V 250mA Maximum A 5V DC supply is available from the ESP301 This supply is provided for stage home index travel limit and encoder feedback circuitry Limit Ground Ground for stage travel limit signals Limit ground is combined with digital ground at the controller side Shield Ground Motor cable shield ground Page C 5 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver C 1 5 TEEE488 Interface Connector 24 Pin The IEEE488 Interface Connector has a standard configuration as shown in Table C 3 Description Pin Pin Description DIO1 1 13 DIO5 DIO2 2 14 DIO6 DIO3 3 15 DIO7 D104 4 16 DIO8 EOI 5 17 REN DAV 6 18 GND NR
279. the RQ command then bit 6 of the response is 1 and the lower five bits equal the parameter nn This command can be used to notify the host computer of the progress or flow of command execution in the motion controller None SA set device address 2PR200 2WS 1PR100 1WS RQ3 generate interrupt when RO command is encountered and set bit 0 and 2 Page 3 120 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver RS USAGE SYNTAX PARAMETERS DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions reset the controller IMM PGM MIP RS None This command is used to perform a hardware reset of the controller It performs the following preliminary tasks before resetting the controller 1 Stop all the axes that are in motion The deceleration value specified using the command AG is used to stop the axes 2 Wait for 500 ms to allow the axes to settle 3 Disable all the axes by turning the power OFF 4 Reset to the controller card Once the command to reset the controller is detected by the DSP the controller will stay in reset for a minimum of 200 ms After the reset condition has occurred i e after the 200 ms reset time the controller firmware reboots the controller At this point all the parameters last saved to the non volatile flash memory on the controller will be restored Furthermore the controller will detect any stages ESP compatible or o
280. the board Therefore a missing signal will cause the wait to complete and subsequent commands will continue to be executed RETURNS none REL COMMANDS UL Wait for DIO bit low EXAMPLE 1EP Enter stored program 1 IMO Turn axis 1 motor power ON IMV Move axis 1 indefinitely in positive direction 13UH Wait for DIO bit 13 to go HIGH before executing any subsequent commands ie Stop axis 1 WT500 Wait for 500 ms IMV Move axis 1 indefinitely in negative direction QP Quit program mode GO Newport Experience Solutions Page 3 143 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver UL wait for DIO bit low IMM PGM MIP USAGE SYNTAX XxUL PARAMETERS Description xx int DIO bit number Range xx 0 to 15 Units XX none Defaults XX missing error 38 COMMAND PARAMETER MISSING out ofrange error 7 PARAMETER OUT OF RANGE DESCRIPTION This command causes a program to wait until a selected I O input bit becomes low It is level not edge sensitive This means that at the time of evaluation if the specified I O bit xx is low already the program will continue to execute subsequent commands RETURNS none REL COMMANDS UL Wait for DIO bit low EXAMPLE 1EP Enter stored program 1 IMO Turn axis 1 motor power ON IMV Move axis 1 indefinitely in positive direction 13UL Wait for DIO bit 13 to go LOW before executing any subsequent commands jS Stop axis 1 WT500 Wait for 500 ms IMV Move axi
281. the motor driver If the scaling is done properly the right amount of voltage is sent to the motor to get the desired velocities without the need for a closed loop GD Newport Experience Solutions Page 5 15 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Because the signal is derived from the velocity profile and it is being sent directly to motor driver the procedure is called velocity feed forward Of course this looks like an open loop and it is Figure 5 18 But adding this signal to the closed loop has the effect of significantly reducing the work the PID has to do thus reducing the overall following error The PID now has to correct only for the residual error left over by the feed forward signal Desired Velocity Motor Voltage be NS Time Figure 5 17 Trapezoidal Velocity Profile Servo Controller Trajectory Generator Motor Motion Controller Encoder Figure 5 18 PID Loop with Feed Forward There is another special note that has to be made about the feed forward method The velocity is approximately proportional to the voltage and only for constant loads but this true only if the driver is a simple voltage amplifier or current torque driver A special case is when the driver has its own velocity feedback loop from a tachometer Figure 5 19 The tachometer is a device that outputs a voltage proportional with the velocity Using its signal th
282. therwise and drivers connected to the controller This process can take anywhere up to 20 seconds depending upon the controller configuration NOTE This command is affective only when the watchdog timer is enabled through appropriate jumper setting on the controller card default factory setting is enabled The following figure illustrates the jumper settings to enable the watchdog timer P5 RS232 P2 For ESP301 Motion Controllers None None RS Reset the controller Page 3 121 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver SA set device address IMM PGM MIP USAGE SYNTAX SAnn or SA PARAMETERS Description nn int address number Range nn 1 to 30 Units nn none Defaults nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command is used to set and report the device i e ESP controller address for use with IEEE 488 or USB communications if equipped The address change takes affect immediately after the command is processed Note Use the SM command to save new address setting to non volatile memory RETURNS If the sign takes the place of nn value this command reports the current setting REL COMMANDS none EXAMPLE SA 3 set device address to 3 SA read present device address setting 3 controller returns device address 3 SM save all settings to non volatile memory GO Newport Experie
283. third term of the PID Loop is the derivative term It is defined as the difference between the following error of the current servo cycle 400 us and of the previous one If the following error does not change the derivative term is zero Figure 5 16 sows the PID servo loop diagram The derivative term is added to the proportional and integral one All three process the following error in their own way and added together form the control signal The derivative term adds a damping effect that prevents oscillations and position overshoot Servo Controller Trajectory Generator Motion Controller Figure 5 16 PID Loop 5 3 2 Feed Forward Loops As described in the previous paragraph the main driving force in a PID loop is the proportional term The other two correct static and dynamic errors associated with the closed loop Taking a closer look at the desired and actual motion parameters and at the characteristics of the DC motors some interesting observations can be made For a constant load the velocity of a DC motor is approximately proportional with the voltage This means that for a trapezoidal velocity profile for instance the motor voltage will have also a trapezoidal shape Figure 5 17 The second observation is that the desired velocity is calculated by the trajectory generator and is known ahead of time The obvious conclusion is that we could take this velocity information scale it by Kvt factor and feed it to
284. thod for defining a group and all the group parameters 4 1 2 1 Creating a Group The ASCII command used to create a new group is HN For instance the command 1HN2 3 assigns axis numbers 2 and 3 to group number 1 One such group must be defined first before those axes can be moved in a coordinated fashion A group can comprise of axes anywhere from one to three GD Newport Experience Solutions Page 4 1 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver If a group has only one axis assigned to it a linear motion of the group is similar to moving that axis from one point to another Circular motion of a group with only one axis cannot be made If a group has more than two axes assigned to it circular motion of the group is made using the first two axes in the group The order in which axes are assigned to a group is very important This is because it specifies the frame of reference in which coordinated motion of axes takes place For instance the command 1HN2 3 assigns axis numbers 2 and 3 to group number 1 where axis 2 is equivalent to X axis and axis 3 is equivalent to Y axis in a traditional Cartesian coordinate system Reversing the order of axes E G 1HN3 2 reverses the axis assignment A few rules that are in place for easy management of group are as follows e An axis cannot be a member of different groups at the same time e An axis cannot be assigned more than once in a group
285. tic flux will counter this effect The more teeth misalignment exists the larger the generated torque a Figure 5 39 Single Phase Energization Figure 5 40 External Force Applied GD Newport Experience Solutions Page 5 28 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver If the misalignment keeps increasing at some point the torque peaks and then starts diminishing again such that when the stator is exactly between the rotor teeth the torque becomes zero again Figure 5 41 This is an unstable point and any misalignment or external force will cause the motor to move one way or another Jumping from one stable point to another is called missing steps one of the most critiqued characteristics of stepper motors The torque diagram versus teeth misalignment is shown in Figure 5 42 The maximum torque is obtained at one quarter of the tooth spacing which is equivalent to one full step J Figure 5 41 Unstable Point Figure 5 42 Torque and Tooth Alignment This torque diagram is accurate even when the motor is driven with half mini or micro steps The maximum torque is still one full step away from the stable desired position 5 6 1 1 Stepper Motor Types To simplify the explanation the examples above are based on a variable reluctance stepper motor The main characteristic of these mot
286. til the wait condition has been satisfied RETURNS None REL COMMANDS WT wait WS wait for motion stop EXAMPLE 2PA 10 2WS move axis 2 to position 10 units and wait for stop 2PA10 2WP0 3PA5 move axis 2 to position 10 units wait for axis 2 to reach position 0 units and then move axis 3 to position 5 units QD Newport Experience Solutions Page 3 150 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver WS wait for motion stop USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions IMM PGM MIP xxW Snn xx int axis number nn int delay after motion is complete XX 0 to MAX AXES nn 0 to 60000 xx none nn milliseconds xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE This command stops the program execution until a motion is completed The program is continued only after axis xx reaches its destination If xx is not specified the controller waits for all motion in progress to end If nn is specified different than 0 the controller waits an additional nn milliseconds after the motion is complete and then executes the next commands Note Wait commands are primarily intended for use in internal program exec
287. tine allows user to observe the various digital input signals as they appear to the controller HARDWARE STATUS REGISTER 1 BIT 0 OO WMOAANIAIANADANANKHAAPHPWWNNRK KF CO VALUE DEFINITION 0 S Or Or Oe Ore Ore Ore Or Or Ore Ore Or Or Or Or Ore axis 1 thardware travel limit low axis 1 hardware travel limit high axis 2 thardware travel limit low axis 2 t hardware travel limit high axis 3 thardware travel limit low axis 3 hardware travel limit high axis 4 thardware travel limit low axis 4 hardware travel limit high axis 5 thardware travel limit low axis 5 t hardware travel limit high axis 6 thardware travel limit low axis 6 t hardware travel limit high reserved reserved reserved reserved axis hardware travel limit low axis hardware travel limit high axis 2 hardware travel limit low axis 2 hardware travel limit high axis 3 hardware travel limit low axis 3 hardware travel limit high axis 4 hardware travel limit low axis 4 hardware travel limit high axis 5 hardware travel limit low axis 5 hardware travel limit high axis 6 hardware travel limit low axis 6 hardware travel limit high reserved reserved reserved reserved Page 3 107 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver 16 0 axis amplifier fault input low 16 1 axis amplifier fault input high 17 0 axis 2 amplifier fault input low 17
288. tings to non volatile memory GO Newport Experience Solutions Page 3 114 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver QP quit program mode IMM PGM MIP USAGE SYNTAX QP PARAMETERS None DESCRIPTION This command quits the controller from programming mode All the commands following this one will be executed immediately RETURNS none REL COMMANDS EX execute stored program AP abort stored program execution XX erase program EXAMPLE 3XX clear program 3 from memory if any 3EP activate program mode and enter following commands as program 3 QP end entering program and quit programming mode 3EX run stored program number 3 GO Newport Experience Solutions Page 3 115 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver OR USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions missing parameter reduce motor torque IMM PGM MIP xxQRnnl nn2 or xxQR xx int axis number nni int delay period nn2 float motor current reduction percentage XX 1 to MAX AXES nni 0 to 60000 nn2 0 to 100 xx none nni milliseconds nn2 percent of max motor current XX missing error 37 AXIS NUMBER MISSING error 38 COMMAND PARAMETER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE This command auto
289. tively The axes assigned to a group can be powered ON or OFF individually using MO and MF commands also A group is considered to be ON if all axes assigned to that group are ON e HP This command is used to read the actual position of all axes in a group e HS This command is used to stop the group motion e HW This command is used to wait for the group motion to stop and a user settable delay period thereafter e HX This command is used to delete a group e HZ This command is used to read the size or the number of axes assigned to group 4 2 Slaving a Stage to Joystick or a Different Stage 4 2 1 Introduction Slaving a Stage ESP301 motion controller allow three different methods in which a slave axis can respond to a master axis They are 1 Slave to master s desired position trajectory 2 Slave to master s actual position feedback 3 Slave to master s actual velocity for jogging GD Newport Experience Solutions Page 4 7 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver The first two methods may be used when absolute or relative move commands can be issued to the master This is the situation when both master and slave axes are driven by valid motor types The third method may be used when move commands cannot be issued to the master This is the situation when the slave axis is driven by a valid motor type but the master such as a joystick is not In any case a seri
290. tput SB OFFH set all port A DIO output HIGH Page 3 37 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver BP USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions assign DIO bits for jog mode IMM PGM MIP xxBPnn1 nn2 or xxBP xx int axis number nni int bit number for jogging in negative direction nn2 int bit number for jogging in positive direction xx 1 to MAX AXES nni 0 to 15 xx none nni none XX missing error 37 AXIS NUMBER MISSING out ofrange error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out ofrange error xx2 PARAMETER OUT OF RANGE This command is used to assign DIO bits for jogging axes in either negative or positive directions If sign is issued along with command the controller returns the DIO bits used for jogging in negative and positive directions respectively BO enable usage of DIO bits for jogging axes 1BP3 4 set DIO bit 3 to jog axis 1 in negative direction and DIO bit 4 to jog axis 1 in positive direction 1BP query the DIO bits assigned for jogging 3 4 controller returns the bit assignment 1BQ1 enable axis 1 jogging through DIO bits Page 3 38 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver BQ USAGE SYNTAX PARAMETERS Desc
291. troduction Closed Loop Stepper 4 9 4 3 2 Feature Implementation 4 9 4 4 Synchronize Motion to External and Internal BVT S rosee ieueinc esri pateus ceenetedectacence 4 11 4 4 1 Introduction Synchronize Motion 4 11 4 4 2 Using DIO to Execute Stored ProgtaMS ueniren 4 12 4 4 3 Using DIO to Inhibit Motion 4 13 4 4 4 Using DIO to Monitor Motion STAS reread tabucedadeerteatassadanantens 4 13 Section 5 Motion Control Tutorial cssssssssseoees 5 1 5 1 Motion SYStEINS s sis0iscisivscasiaccecstancorenasenresiuntese 5 1 5 2 Specification Definitions ce eeeeeeeeeeeeeees 5 2 5 2 1 Following Error eeeeeeereees 5 3 522 MOE ecenasacedeietaen dade 5 3 5 223 ACCUTACY a coiceceestdacsnaevqacscaeravonccvanessaetes 5 3 5 2 44 Local Accuracy csmamiscritccitoscenieas 5 4 3 2 5 ResolUtion siotseririestois asete 5 5 5 2 6 Minimum Incremental Motion 5 5 5 2 7 Repeatability swcsiertnsvcsecnsosenissscnssoasureds 5 7 Page x ESP301 Integrated 3 Axis Motion Controller Driver 5 2 8 Backlash Hysteresis 5 7 5 2 9 Pitch Roll and Yaw uu eee 5 8 5210 Wobble serenon liana 5 9 5 2 11 Load Capacity scisssssccssstssccanssssaisesanecss 5 9 5 2 12 Maximum Velocity ccscasseticcazondcs 5 10 5 2 13 Minimum Velocity cece 5 10 5 2 14 Velocity Regulation csccetecsesieassaenes 5 11 5 2 15 Maximum Acceleration 04 5 11 5 2 16 Combined Parameters 005
292. trol system was purchased all necessary hardware for set up is included With ESP compatible stages the configuration of each axis is identified automatically by the ESP301 at power up ESP compatible stages are visually identified with a blue ESP Compatible sticker on the stage GD Newport Experience Solutions Page 1 11 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Carefully connect one end of the supplied cable to the stage and the other end to the appropriate axis connector on the rear of the controller Secure both connectors with the locking thumb screws 1 6 2 Motor On After the controller and the stages are connected as described the motors can be powered on Make sure that the motion devices are placed on a flat surface and their full travel is not obstructed CAUTION Be prepared to quickly turn the motor power off by pressing the MOTOR ON OFF STOP ALL button or power switch if any abnormal operation is observed After the power switch is pushed in the controller performs the start up sequence as described in Section 1 5 2 The default state after start up is motor power off To apply power to the motors press the Motor ON OFF button to the left of the display or press each button on the right of the display to enable power for each individual axis The ON state of the motor power is indicated on the display 1 6 3 Homing HOME Search The HOME Search routin
293. ty positon velocity m 1s Figure 5 12 Position Velocity and Average Velocity The average velocity is low but the velocity ripple is very high Depending on the application this may be acceptable or not With increasing velocity the ripple decreases and the velocity becomes smoother This example is truer in the case of a stepper motor driven stage The typical noise comes from a very fast transition from one step position to another The velocity ripple in that case is significantly higher GD Newport Experience Solutions Page 5 10 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver In the case of a DC motor adjusting the PID parameters to get a softer response will reduce the velocity ripple but care must be taken not to negatively affect other desirable motion characteristics 5 2 14 Velocity Regulation In some applications for example scanning it is important for the velocity to be very constant In reality there are a number of factors besides the controller that affect velocity As described in the Minimum Velocity definition the speed plays a significant role in the amount of ripple generated especially at low values Even if the controller does a perfect job by running with zero following error imperfections in the mechanics friction variation transmission ripple etc will generate some velocity ripple that can be translated to Velocity Regulation problems Dependin
294. ue of 25H for axis 2 2ZH 23H set hardware limit configuration to 23H for axis 2 SM save all controller settings to non volatile memory QD Newport Experience Solutions Page 3 165 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver ZS set software limit configuration IMM PGM MIP USAGE SYNTAX xxZSnn or xxZS PARAMETERS Description xx int axis number nn int hardware limit configuration Range XX 1 to MAX AXES nn 0 to OFFFFH hexadecimal with leading zero 0 or to read current setting Units XX none nn none Defaults xx missing error 37 AXIS NUMBER MISSING DESCRIPTION QD Newport Experience Solutions out of range nn missing out of range critical setting error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE error xx17 ESP CRITICAL SETTINGS ARE PROTECTED This command is used to set the software limit checking and event handling for axis specified with xx NOTE If bit 0 or both bits 1 and 2 are set to zero 0 then no action will be taken by the controller NOTE The controller always interprets the nn value as a hexadecimal number even when the letter H is not appended to the desired value Since nn is a hexadecimal number it is possible that the most significant character left most character is an alphabet A F depending on the choice of values for various bits In order for the controll
295. uick Start Unpacking and Handling It is recommended that the ESP301 Controller Driver be unpacked in your lab or work site rather than at the receiving dock Unpack the system carefully small parts and cables are included with the equipment Inspect the box carefully for loose parts before disposing of the packaging You are urged to save the packaging material in case you need to ship your equipment Inspection for Damage ESP301 Controller Driver has been carefully packaged at the factory to minimize the possibility of damage during shipping Inspect the box for external signs of damage or mishandling Inspect the contents for damage If there is visible damage to the equipment upon receipt inform the shipping company and Newport Corporation immediately WARNING Do not attempt to operate this equipment if there is evidence of shipping damage or you suspect the unit is damaged Damaged equipment may present additional hazards to you Contact Newport technical support for advice before attempting to plug in and operate damaged equipment This section serves as a quick start for ESP301 The following paragraphs guide you through a very basic motion sequence that verifies that the ESP301 unit is working properly 1 6 1 Connecting Motion Devices NOTE Never connect disconnect stages while the ESP301 is powered on Always verify that the power to the ESP301 is off before connecting disconnecting stages If an ESP301 motion con
296. umber for axis 2 1 controller returns a value of 1 2TJ5 set axis 2 trajectory mode to 5 2GR0 5 set the reduction ratio of axis 2 to 0 5 2GR query the reduction ratio of axis 2 0 5 controller returns a value of 0 5 QD Newport Experience Solutions Page 3 60 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HA set group acceleration IMM PGM MIP USAGE SYNTAX xxHAnn or xxHA PARAMETERS Description xx int group number nn float vector acceleration value Range XX 1 to MAX GROUPS nn 0 to minimum of the maximum acceleration values of all axes assigned to this group Units XX none nn predefined units second Defaults XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated nn missing error 7 PARAMETER OUT OF RANGE negative error 22 GROUP PARAMETER OUT OF RANGE out of range error 24 GROUP MAXIMUM ACCELERATION EXCEEDED DESCRIPTION This command is used to set the vectorial acceleration value for a group This value will be used during coordinated motion of axes assigned to the group It will override any original acceleration values specified for individual axes using AC command The axes original values will be restored when the group to which they have been assigned is deleted This command takes effect immediately It can be executed when contro
297. up along an arc 3 64 HD Set group deceleration 3 66 HE Set group e stop deceleration 3 68 HF Group motor power off 3 69 HJ Set group jerk 3 1 70 HL Move group along a line 3 71 HN Create new group 3 73 HO Group on 3 75 HP Read group position 3 76 HQ Wait for group command buffer level 3 77 HS Stop group motion 3 78 HV Set group velocity 3 79 HW Wait for group motion stop 3 80 HX Delete group 3 8l HZ Read group size 3 82 ID Read stage model and serial number 3 83 JH Set jog high speed 3 84 JK Set jerk rate 3 85 JL Jump to label 3 86 JW Set jog low speed 3 87 KD Set derivative gain 3 88 KI Set integral gain 3 89 KP Set proportional gain 3 90 KS Set saturation level of integral factor 3 91 LP List program 3 92 LC Lock unlock keyboard 3 92 MD Read motion done status 3 94 MF Motor power off 3 95 MO Motor power on 3 96 MT Move to hardware travel limit 3 97 MV Move indefinitely 3 986 MZ Move to nearest index 3 100 OH Set home search high speed 3 101 OL Set home search low speed 3 102 OM Set home search mode 3 103 GO Newport Experience Solutions Page 3 16 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motio
298. urns characters and P indicating axes 1 2 and 4 are in motion and motor power of at least one axis is ON GO Newport Experience Solutions Page 3 139 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver TV USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE GD Newport Experience Solutions read actual velocity IMM PGM MIP xxTV xx int xx xx Xx missing out of range axis number 1 to MAX AXES none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE This command is used to read the actual velocity of an axis The command can be sent at any time but its real use is while motion is in progress nn where nn actual velocity of the axis in pre defined units PA PR 3TP 5 32 3PR2 2 3DV 0 2 3TV 0 205 3DP 7 52 move to an absolute position move to a relative position read position on axis 3 controller returns position 5 32 units for axis 3 start a relative motion of 2 2 units on axis 3 read desired velocity on axis 3 controller returns velocity 0 2 units sec for axis 3 read actual velocity on axis 3 controller returns velocity 0 205 units sec for axis 3 read desired position on axis 3 controller returns desired position 7 52 units for axis 3 Page 3 140 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driv
299. uses all axes assigned to the group to move with predefined vectorial tangential velocity acceleration and deceleration along an arc The group target position is determined based on the position of axes at the beginning of move center of arc and sweep angle If this command is received while a group move is in progress the new command gets enqueued into a via point buffer Please refer to Advanced Capabilities section for a detailed description of via point buffer implementation The enqueued commands get executed on a FIFO basis when the move already in progress has reached its destination The group does not come to a stop at the end of last move Instead there will be a smooth transition to the new move command just as if it were one compound move combination of multiple moves Note Only trapezoid velocity profile is employed linear interpolation motion Note The transition from last move to new move will be smooth if tangential velocity at the end of last move is the same as that at the beginning of new move Page 3 64 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver RETURNS REL COMMANDS EXAMPLE GO Newport Experience Solutions If sign takes the place of nn values this command reports the commanded center position of arc and sweep angle HN HV HA HD HO HF HL 1HN1 2 1HV10 1HASO 1HDSO 1HO 1HP 50 50 create a new group s
300. ution or in combination with the RQ command If used in command mode it is important to note that input command processing is suspended until the wait condition has been satisfied none WT wait WP wait for position 2PA10 2WS500 3PA5 move axis 2 to position 10 units wait for axis 2 to reach destination wait an additional 500ms and then move axis 3 to position 5 units Page 3 151 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver WT wait IMM PGM MIP USAGE SYNTAX WTnn PARAMETERS Description nn int wait time delay Range nn 0 to 60000 Units nn milliseconds Defaults xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command causes the controller to pause for a specified amount of time This means that the controller will wait nn milliseconds before executing the next command Note Even though this command can be executed in immediate mode its real value is as a flow control instruction inside programs Wait commands are primarily intended for use in internal program execution or in combination with the RQ command If used in command mode it is important to note that input command processing is suspended until the wait condition has been satisfied RETURNS none REL COMMANDS WS wait for stop WP wait for positio
301. utput 10 14 Digital Input Output 11 15 Digital Input Output 12 Table C 1 Digital Connector Pin Outs GD Newport Experience Solutions Page C 1 EDH0235En1030 08 15 Integrated 3 Axis Motion Controller Driver Pin Description 16 Digital Input Output 13 17 Digital Input Output 14 18 Digital Input Output 15 19 Digital Input Output 16 20 DGND 21 DGND 22 DGND 23 DGND 24 DGND 25 DGND 26 DGND 27 DGND 28 DGND 29 DGND 30 DGND 31 DGND 32 DGND 33 DGND 34 DGND 35 DGND 36 DGND 37 DGND Table C 1 Digital Connector Pin Outs Continued C 1 3 Motor Driver Card 25 Pin I O Connector This connector interfaces an ESP301 driver card to motorized stages Cabling to the connector is provided with the applicable stage Connector pin outs are listed in Table C 2 Pins 2 Phase Stepper Motor DC Motor 1 Stepper Phase 1 Tachometer 2 Stepper Phase 1 Tachometer 3 Stepper Phase 2 Tachometer 4 Stepper Phase 2 Tachometer 5 Stepper Phase 3 DC Motor Phase 6 Stepper Phase 3 DC Motor Phase 7 Stepper Phase 4 DC Motor Phase 8 Stepper Phase 4 DC Motor Phase 9 Common Phase 3 4 N C 10 N C N C 11 Common Phase 1 2 N C 12 N C N C 13 Home Signal Home Signal 14 Shield Ground Shield Ground 15 Encoder Index Encoder Index 16 Limit Ground Lim
302. ve Irvine CA 92606 USA Sales Tel 800 222 6440 e mail sales newport com Technical Support Tel 800 222 6440 e mail tech newport com Service RMAs amp Returns Tel 800 222 6440 e mail service newport com Service Information Europe MICRO CONTROLE Spectra Physics S A 9 rue du bois sauvage 91055 Evry Cedex France Sales France Tel 33 0 1 60 91 68 68 e mail france newport com Sales Germany Tel 49 0 61 51 708 0 e mail germany newport com Sales UK Tel 44 0 1635 521757 e mail uk newport com Technical Support e mail tech_europe newport com Service amp Returns Tel 33 0 2 38 40 51 55 The user should not attempt any maintenance or service of the ESP301 Controller Driver system beyond the procedures outlined in this manual Any problem that cannot be resolved should be referred to Newport Corporation When calling Newport regarding a problem please provide the Tech Support representative with the following information e Your contact information e Unit s serial number or original order number e Description of problem faults or messages e Environment in which the system is used e State of the system before the problem e Frequency and repeatability of problem e Can the product continue to operate with this problem e Can you identify anything that may have caused the problem Page vi GY Newport Experience Solutions
303. ve Converting it to a digital waveform the user will get the desired encoder signal But this is only one phase only half of the signal needed to get position information The second channel is obtained the same way but from a mask that is placed 90 out of phase relative to the first one Figure 5 30 Figure 5 29 Single Channel Optical Encoder Scale and Read Head Assembly There are two basic types of encoders linear and rotary The linear encoders also called linear scales are used to measure linear motion directly This means that the physical resolution of the scale will be the actual positioning resolution This is their main drawback since technological limitations prevent them from having better resolutions than a few microns To get higher resolutions in linear scales a special delicate circuitry must be added called scale interpolator Page 5 23 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Other technologies like interferometry or halography can be used but they are significantly more expansive and need more space Figure 5 30 Two Channel Optical Encoder Scale and Read Head Assembly The most popular encoders are rotary Using gear reduction between the encoder and the load significant resolution increases can be obtained at low cost But the price paid for this added resolution is higher backlash In some cases rotary encoders offer high resolution without the backlash penalt
304. ve will be smooth if tangential velocity at the end of last move is the same as that at the beginning of new move If sign takes the place of nn values this command reports the target positions of axes assigned to the group Page 3 71 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver REL COMMANDS EXAMPLE GO Newport Experience Solutions HN HV HA HD HO HF HC 1HN1 2 1HV10 1HASO 1HDSO 1HO 1HP 0 0 1HLS50 50 1HL 50 50 create a new group set vectorial velocity for a group set vectorial acceleration for a group set vectorial deceleration for a group enable a group disable a group move a group of axes to desired position along an arc create a new group 1 with physical axes 1 and 2 set vectorial velocity of group 1 to 10 units second set vectorial acceleration of group 1 to 50 units second set vectorial deceleration of group 1 to 50 units second enable group 1 query current group position controller returns axis 1 0 units and axis 2 0 units move axis 1 to a target position 50 units move axis 2 to a target position 50 units query target position of the commanded move controller returns axis 1 50 units and axis 2 50 units Page 3 72 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver HN create new group IMM PGM MIP USAGE SYNTAX xxHNnn nns nn or xxHN PA
305. ved from the group Refer to Advanced Capabilities section for a detailed description of grouping and related commands E stop deceleration is invoked upon a local e stop condition e g front panel Stop All pushbutton Interlock etc has occurred if configured to do so or if the AB abort motion command is processed Note E stop deceleration value cannot be set lower than the normal deceleration value Refer the description of AG command for range of deceleration values If the sign takes the place of nn value this command reports the current setting VA set velocity PA execute an absolute motion PR execute a relative motion AU set maximum acceleration and deceleration Page 3 24 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver EXAMPLE GD Newport Experience Solutions AG AC 2AE 100 2AE150 set deceleration set acceleration read e stop deceleration of axis 2 controller returns a value of 100 units s2 set e stop deceleration to 150 units s2 Page 3 25 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver AF set acceleration feed forward gain IMM PGM MIP USAGE SYNTAX xxAFnn or xxAF PARAMETERS Description xx int axis number nn float acceleration feed forward gain factor Range XX 1 to MAX AXES nn 0 to 2e9 or to read current setting Units XX none nn none Defaults xx missing error
306. with the same accuracy as the encoder pulses If the motion device is using a linear scale as position encoder the home switch is usually placed on the same scale and read with the same accuracy If on the other hand a rotary encoder is used the problem becomes more complicated To have the same accuracy a mark on the encoder disk could be used called index pulse but because it repeats itself every revolution it does not define a unique point over the entire travel An origin switch on the other hand placed in the travel of the motion device is unique but not accurate repeatable enough The solution is to use both following a search algorithm A home switch Figure 5 22 separates the entire travel in two areas one for which it has a high level and one for which is low The most important part of it is the transition between the two areas Also looking at the origin switch level the controller knows on which side of the transition it currently is and which way to move to find it origin switch encoder index pulse Page 5 19 EDH0235En1030 08 15 QD Newport Experience Solutions ESP301 Integrated 3 Axis Motion Controller Driver Figure 5 22 Home Origin Switch and Encoder Index Pulse The task of the home search routine is to identify one unique index pulse as the absolute position reference This is done by the first finding the home switch transition and then the very first index pulse Fi
307. y For instance a linear translation stage with a rotary encoder on the lead screw can easily achieve 1m resolution with negligible backlash NOTE For rotary stages a rotary encoder measures the output angle directly In this case the encoder placed on the rotating platform has the same advantages and disadvantages of the linear scales Ea Motors There are many different types of electrical motors each one being best suitable for certain kind of applications The ESP301 supports two of the most popular types stepper motors and DC motors Other technologies like interferometry or halography can be used but they are significantly more expansive and need more space Page 5 24 EDH0235En1030 08 15 ESP301 Integrated 3 Axis Motion Controller Driver Another way to characterize motors is by the type of motion they provide The most common ones are rotary but in some applications linear motors are preferred 5 6 1 Stepper Motors The main characteristic of a stepper motor is that each motion cycle has a number of stable positions This means that if current is applied to one of its windings called phases the rotor will try to find one of these stable points and stay there In order to make a motion another phase must be energized which in turn will find a new stable point thus making a small incremental move a step Figure 5 31 shows the basics of a stepper motor When the winding is energized the magneti
308. ype e Trapezoidal velocity profile e S curve velocity profile Motion device compatibility e Family of motorized Newport motion devices using either stepper or DC motors e Custom motion devices contact Technical Support for compatibility DC motor control e 16 bit DAC resolution e 5 MHz maximum encoder input frequency e Digital PIDFF servo loop 0 4 ms update rate Stepper motor control e Up to 1000 microstep resolutions per full step Computer interface e RS232 C 19200 baud 8 bits 8 N 1 e USB 921600 baud 8bits 8 N 1 e JEEE488 optional GD Newport Experience Solutions Page 1 6 ESP301 Integrated 3 Axis Motion Controller Driver Utility interfaces e 16 bit digital inputs outputs user definable in blocks of 8 e Remote motor off input interlock User memory e 64 KB non volatile program memory e 512 byte command buffer Operating modes e Local mode stand alone operation executing motion from the front panel e Remote mode executing commands received over one of the computer interfaces e Program execution mode execution of a stored program Display e 80 character alpha numeric LCD display e Displays position status utility menus and setup screens Dimensions e 3 0 Hx 16 9 W x 12 6 D 76 2 x 429 5 x 320 mm without feet Rating AC e 100 240 VAC e 60 50 Hz e 32 2 1A The controller should be connected to a power installation that incorpora
309. ypes of applications Its goal is to find a specific point in travel relative to the mounting base of the motion device very accurately and repeatable The need for this absolute reference point is twofold First in many applications it is important to know the exact position in space even after a power off cycle Secondly to protect the motion device from hitting a travel obstruction set by the application or its own travel limits the controller uses programmable software limits To be efficient though the software limits must be placed accurately in space before running the application To achieve this precise position referencing the ESP301 motion controller executes a unique sequence of moves First let s look at the hardware required to determine the position of a motion device The most common and the one supported by the ESP301 are incremental encoders By definition these are encoders that can tell only relative moves not absolute position The controller keeps track of position by incrementing or decrementing a dedicated counter according to the information received from the encoder Since there is no absolute position information position zero is where the controller was powered on and the position counter reset To determine an absolute position the controller must find a switch that is unique to the entire travel called a home switch or origin switch An important requisition is that this switch must be located

ESP301 - Newport Corporation

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