Prismatics motor driver
Contents
1. Please review before installing your motion system Observe common industrial safety practices when installing and operating automated equipment o Have power connections made by qualified personnel o Keep fingers and other items out of any opening in the stage while it is in operation since injury or damage may result o Provide a safe access route and adequate room for servicing o Perform the recommended periodic maintenance described in this document o Verify that the work envelope is free of obstructions before the positioning stage IS powered o Only trained operators of the positioning stage should be allowed near the work environment o Identify emergency stop circuits and actuators in the workcell This cuts power to all axes amplifiers o Note the places in the workcell where pinch points occur and provide adequate safety clearance or safety curtain o Never operate the motor in a location that could be splashed by water exposed to corrosive or flammable gases or is near combustible substances since this may cause an electric shock fire or malfunction o Never touch the motor driver or peripheral devices when the power is on or immediately after the power is turned off The high temperature of these parts may cause burns PRR Se x JE R L E 5 Installation 5 1 Locating the MDM2200 A typical motion system consists of the MDM motion control card axis cables and positioning stages The motion cont2. is over it is advisable to save the settings to disk This can be done by selecting the Export Settings menu selection from the File Menu See Figure 7 3 Select Import Settings 24 MOM 200 IMA EE CR EOE S 8 Troubleshooting amp Service 8 1 Troubleshooting Symptom POWER ON indicator is off Verify that unit is plugged in to a powered outlet Verify that power switch is on Verify that input fuse near power switch is not blown POWER ON indicator This indicates a short in the power supply Disconnect anything flashes plugged into the axis connectors If the indicator stops flashing when a particular connector is removed verify that the external wiring to that connector does not short either the 5V encoder power or Limit V signals to DCCOM FAULT indicator is on Verify that the MOTION I O cable is connected between the MDM2200 and the NI motion controller and that the controller has power Verify that the ENABLE LOOP circuit is closed between the two terminals of the jumper AXIS OK indicator is off Verify that the FAULT indicator is off any FAULT will prevent an AXIS OK indicator from turning on Verify that the axis is enabled by the NI controller Verify that there are not short circuits between the step motor phases or between any phase and ground Step motor won t move when Verify that the AMP OK for the specific axis is ON commanded Verify that the motor is properly connected to the Axis connector Verify that t
3. MDM2200 AXIS 3 AXE 4 PRIMATICS INC ax ane Piae ie om oh MOTOR DRIVE MODULE Reference Maintenance Manual Linear Positioning Rotary Positioning Motion Controls Engineered Solutions MOMZZ O NS E R 1I 5 p Primatics 32114 Mallard Ave PO Box 409 Tangent OR 97389 0409 U S A Phone 541 791 9678 Fax 541 791 9410 Toll Free 888 754 3111 Web www primatics com E mail info primatics com Manual Revision Information Publication Date Notes September 2004 September 2004 Added Conventions Maintenance and Troubleshooting Revised Overview April 2005 Updated Look amp Formatting Notice Any descriptions drawings and specifications contained herein are subject to change Primatics is not responsible for errors or omissions herein or for incidental damages in connection with the furnishing or use of this information This document shall not be reproduced photocopied or duplicated in whole or in part without prior written approval of Primatics Corporation For additional specifications dimensioned drawings and additional information refer to the MDM2200 Datasheet available from our website at www primatics com Copyright 2005 by Primatics Inc All Rights Reserved Primatics the Primatics logo PrimaFlex PrimaSeal amp SimpleMatch are trademarks of Primatics Inc MOM 2O00 Ni SRE E E CR ob oe Manual Revision Information concconccncnoncco
4. NCA Encoder 2 H ENCB EncoderB gt SS O _P_ BRAKE Not used the MDM does not support a brake o lt R BRAKE Notused o O S CHASSIS Chassis ground T_ MOTA Mas AAA U _ MOT B COM Motor Phase B common no internal connection operation operation a MOTSHLD shield for motor cable b MOT ACOM Motor Phase common no internal connection d TEMP Not used SS e ne No connection 14 MOM 2O00 ee SNS E E CR ob oe 5 5 5 Motion Signal The Motion Signal connector provides access to the breakpoint trigger analog inputs etc of the NI motion controller Table 5 3 Motion Signals DB25S Mates with DB25P Name Function O S 1 2 Digital signal and power supply common Breakpoint output 1 5 7 1 Digital signal and power supply common Trigger input 2 1 1 0 J 3 N 15 MOMZZ RE E R 1I 5 5 5 6 Limit and Home Signals The NI motion controller monitors limit and home sensors through the MDM2200 The MDM2100 can be configured to supply either 5V or 12V DC power for the limit and home sensors The default setting is 12V For ease of setting the limit switch voltage jumper JP1 has been provided JP1 is located inside the MDM2200 on the main printed circuit board near the power switch The cover must be removed to access JP1 IMPORTANT Only qualified personnel should adjust JP1 Disconnect the power cord before removing the top cover R
5. O ent E Oe eR er enn ee eae 26 MOM 200 a SE EE CR EOE S 1 Overview This user guide is designed to help you install and maintain your MDM Series motion control Follow these steps to ensure correct installation and maximum life Step 1 Review this entire user manual Become familiar with all installation procedures prior to integrating your system Step 2 Review the safety summary to develop an understanding of standard safety practices when installing and operating automated equipment Step 3 Review installation procedures For best results follow these procedures carefully 1 1 Conventions Although this manual specifies Nl 7344 compatibility the MDM will communicate with motion cards that are members of the NI 73xx family Some restrictions apply for example the MDM2200 can be used with stepper motors 1 2 NI 7344 Motion Control Cards The MDM with NI 7344 communications interface is compatible with the following NI motion controllers Table 9 1 Compatible NI Controllers NI Ethernet Stepper motors Motion Control MOMZZ RE R 1 E S E 2 Introduction About the MDM2200 Family This manual is intended for use by application engineers and technicians involved in using Primatics positioning equipment The MDM2200 Motor Drive Module acts as an intermediary between a National Instruments motion controller and positioning stage s The MDM2200 is a one two three or four axis stepper motor driver wit
6. _PCI 7344_Ax Axis Configuration TA Axis 1 mal Axis 2 TA Axis 3 ma Axis 4 al Axis Settings ce Initialize a Change Settings st show Help g Apply EA Refresh 1 Defaults Axis 1 Type of Settings Axis Configuration Description Configures the asis depending on the type of motor and feedback device Avie Type f Serna f Stepper Axis Enabled Asis Resources amp Update Period Control Loop Update Period E None Y Stepper Output 1 Primary Feedback Primary Output a Trajectory Settings 53 Find Reference Settin 58 Digital 1 0 Settings al Gearing Settings ADC Settings 6 Encoder Settings El PWM Settings a Synchronization Settir a Interactive 1 D Interactive Ea 2 D Interactive Calibration Software E Remote Systems None None Eesti Secondary Feedback Disabled Secondary Output Encoder amp Stepper Resolution Stepper Specific Settings Stepper Polarity f Active Low Active High Encoder counts per stepper Loop Mode revolution 2000 Stepper steps per revolution 2000 i Open Loop f Closed Loop Stepper Dutput Mode f Step Direction a Clockwise Counter Clockwise C CFG Awis Configuration Figure 7 6 Axis Configuration Settings Each Axis of the controller should be assigned the Stepper Axis Type Each Axis of the MDM that is connected to a stepper motor should be enabled 7 3 2 Axis Settings The Mot
7. ar to that for the peak current Idle current is set according to the formula Ri Ohms 150 X Ip x li Ip li where Ri is the resistance between the RED REDuced test points for the step drive Ip is the peak current as set above and li is the idle current D5 drive option Factory Default is 1 54A corresponding to Ri 1K ohm D6 drive option Factory Default is 3 1A corresponding to Ri 2K ohm 5 4 5 Limit Home Sensor Voltage The voltage supplied on pin L of the axis connector is configured by JP1 shown in the Figure below Figure 5 7 JP1 Sensor Voltage Select 3 pin jumper marked 12V and 5V Shorting jumper is placed between center pin and end pins to select voltage FACTORY DEFAULT 12V 5 4 6 Replacing the Cover The MDM2200 is to be operated under power only when the cover is secured in place Replace the cover with the 10 retaining screws after any configuration changes 12 28 3 ee ee eB be Gok S 5 5 Connecting the NI card to the MDM2200 IMPORTANT ALL CONNECTIONS ARE TO BE MADE WITH NO POWER APPLIED TO THE MDM2200 OR THE NI MOTION CONTROLLER Refer to Figure 5 3 Use National Instrument SHC68 C68 S Cable NI P N 186380 02 to connect the MOTION I O connector of the NI motion control card to the MOTION I O connector of the MDM2200 5 5 1 Power Switch and Plug A standard 110VAC power cord is supplied with the MDM2200 Power input to the unit is 110VAC Single Phase 50 60Hz T
8. be selected as the current settings This is done by choosing the Change Current Settings menu selection from the File Menu See Figure 7 3 Select Import Settings From the Change Current Settings Dialog select the settings just imported and press the Change button 19 MOM 200 SO PR NS R I E S E Initialization Settings Select the Initialization Settings pon want to apply to the Motion Device o ption ck X FE 2040000 eal 720100009 1 fal MD41000D emo eal 720200005 eal 720200003 eal 720000162 eal 720000163 eal 720010005 fal MD 72020003 Stage3088 Astro MOM1000 500 eal 720200007 1 El Sages ee aes Settings type 7344 Settings Change Do not Change Figure 7 5 Select Initialization Settings Apply the settings to the Motion Controller by choosing Initialize from the File Menu See Figure 7 3 Select Import Settings 7 3 Verify Settings The File README TXT Describes which stages were assigned to which Controller Axis This applies to the case where stages are purchased with the MDM For the controller axes not associated with purchased stages a stepper motor is connected to the axis for testing at the factory 20 MOMOE SO eee R 1 E S E 7 3 1 Axis Configuration Settings Axis 1 Measurement amp Automation Explorer File Edit wiew Tools Help Configuration Fa My System E Devices and Interfaces PCI 7344 1 el Device Resources 2 A F20000216
9. d JD Following error occurred a Current direction is forward pi Axis is currently moving J Trajectory generation is complete ES Move is complete Current Trajectory Data 141 counts Load Velocity in counts steps sec E Velocity Fr00000 Acceleration 1000000 lt A 1000000 Target Position 00000 2 Applies trajectory parameters for the axis selected to the motion device Velocity fo counts s Reset Position Primary o counts gt counts oy Axis 2 Axis 3 qa Axis 4 mA Trajectory Settings 11 Home amp Index Settings a Digital 1 0 Settings ta Gearing Settings 1 ADC Settings 1 Encoder Settings ei PWM Settings gt counts s counts s 2 counts s 2 Secondary 0 Mation Function s Execution Status Ea Successful No Errors tal Main al Advanced Figure 7 9 1 D Interactive Cycle Mode In cycle mode the axis moves between the Cycle Position and the Target Position After reaching each position the program pauses the amount of time specified in the Cycle Dwell Time and then initiates the move to the other position When the parameters are set press the Apply button and then the Start Menu Item The Halt menu selection will terminate the cycling Note The program allows several stages to cycle simultaneously Just start one axis cycling and then under Trajectory Parameters select the next Axis 7 5 Saving the Settings When the session
10. eplace the top cover when the adjustment is complete Electrically each sensor should sink a minimum of 2mA from the sensor input pins N Y or Z to DCCOM pin M The sense or polarity of the signals is programmable in the NI motion controller Figure 5 8 shows an equivalent schematic for the limit home and temperature inputs MDC Sensor Typical for Forward Limit Reverse Limit Home and Temp Inputs Switch Shown Normally Open Figure 5 8 Sensor Input Circuit Diagram 16 MOM 200 a SE EE CR EOE S 6 Operation 6 1 Overview The MDM2200 is be configured as a one two three or four axis stepper motor drive with integrated interface to the National Instruments motion controller Two drive options are available The unit operates directly from line voltage to operate the motor at the specified bus voltage The interface to the NI motion controller is via the MOTION I O connector on the controller Connections to the axes are through the Primatics standard stepper axis connector described in section 5 4 4 For all the drive options there are no hardware or software drive configurations necessary 6 1 1 POWER ON Indicator The POWER ON indicator light is on whenever AC power is provided to the MDM2200 and the power switch is in the on state 6 1 2 FAULT The operation of the FAULT indicator is representative of a system fault When not illuminated it indicates that the system is in a state capable of running Any
11. following sections describe changing each of these parameters from their factory defaults IMPORTANT All of these configuration settings are to be performed by qualified personnel Disconnect the power cord prior to removing the cover and observe ESD precautions when handling any electronic components 5 4 1 Removing the Cover The top cover is secured to the base with 5 screws along both sides of the unit Remove all 10 screws and pull the cover off exposing the interior components 5 4 2 Micro Step Resolution The step drives are configured with a 4 bit DIP switch to set the micro step resolution The drives must be removed from the main circuit board to expose the DIP switch Each drive is held in place with 4 screws which must be removed before unplugging the drive from the circuit board see Figure 5 4 amp Figure 5 5 Figure 5 4 Unplugging Drive from the Circuit Board Polen CR NS x JE R L E Figure 5 5 Micro step driver removed from chassis exposing the micro step configuration DIP switch The DIP switch is set according to Table 5 1 for the desired resolution The factory default of is shown in bold Table 5 1 Micro step resolution db on po step 1 8 seg motor 40 ON ON ON ON EEEE 2 8 amp 8 1600 ON OF ON ON 16 3200 ON ON OF ON o 2 6400 ON ON OF ON o 64 12800 OFF ON OF ON 2 128 25600 250 FACTORY DEFAULT 256 51200 OFF OFF OFF I
12. h an integrated interface for a National Instruments motion controller The small package includes motor drives power supply NI interface and standard Primatics step axis connectors It can be directly connected to many Primatics positioning stages Third party positioning stages or axes can also be operated from a properly configured MDM A variety of cable assemblies are available to connect a positioning stage or axis to the MDM The diagram to the left shows the role of a MDM in a motion control system PC with NI Motion Control Card EEE EEE Custom versions of the MDM are also available to meet specific applications Positioning Stages Addendums to this manual will be included for custom configurations M DM2200 Reference amp Maintenance Manual RT E 3 S E 3 Model Configuration SAMPLE MODEL NUMBER MDM2200D 2 48VW1 CH D5 D6 Model Series Desktop Stepper Motor Controller MDM2200D Number of Axes n Te A O 1 EAN A ee ee re a TAITEET 2 SAKES Sete a Wake Reve heer 3 ON rita a don ia area date 4 Power Supply 2AM SOOW rara 24VW1 AI eroana ne a das 48VW1 Motion Control Interface NI 7344 C4 Drive Type configure one per axis Microstep drive 3A rms 4A peak D5 Microstep drive 5A rms 7A peak D6 D5 used with 24VW1 Power supply D6 used with 48VW1 Power supply PR eee CRA SE ee LEE S E A 4 Personal Safety A
13. he limit switches are not violated in the NI software A violated limit will prevent motion in the direction of the violated limit Verify that the axis is properly configured for a step motor in the NI software Limit switch is always The sense of the limit switches are configured with the NI violated software NOTE The factory default requires normally closed circuits between the limit switch inputs and DCCOM 29 RI SN Y ECN ob S 8 2 Troubleshooting Help For further assistance contact the factory M F 8AM to 5PM Pacific Time 541 791 9678 541 791 9410 Toll Free 888 754 3111 8 3 Service Should your device require factory service contact the factory for a Return Materials Authorization RMA When inquiring about an RMA please have the following information available o Your contact information name phone email address o Unit Serial Number located on label near the power switch o Symptom of problem o History of troubleshooting steps already taken 26
14. he power inlet also includes the power switch Optionally the MDM2100 may be configured for 220VAC operation at the factory This will be noted on the operating voltage label to the right of the power switch 5 5 2 Enable Loop The Enable Loop jumper is part of the Amplifier Enable circuit This loop must be closed to enable the motor driver amplifier If no external circuits are part of the Enable Loop the wire jumper installed at the factory must be maintained for normal operation 5 5 3 Motion I O connector All connections to the NI motion controller are made through the Motion I O connector A National Instruments SHC68 C68 S Cable NI P N 186380 02 is used for this connection There is no connection from the Digital I O connector on the NI motion control card to the MDM2200 13 MOM 2O00 CIMA SE E E CR LE 5 5 4 Axis Connector Primatics linear and rotary stages are connected to the MDM chassis using the Step Axis Cable accessory The standard cable is 12 ft long but cables up to 50 ft in length can be used Only those axes configured at the factory will include a connector Unused axes will include a blank plate in place of the connector If the MDM2100 is used with a Primatics stage a Primatics cable assembly is typically used If a user supplied axis mechanism is used use Table 5 1 for making connections Table 5 2 Step Axis Connector Motor encoder limits home temp Pin Name Function O p lt key gt o TO TE
15. ings r H a PWM Settings ea Y Ports Serial amp Parallel al ya Ml Instruments er Scales ef Software EE Remote Systems u Decelerate gt lt Kill 1 D Interactive Axis Status Limit switch is active oh Home switch is active Motor off axis 13 killed Apply trajectory commands to Single Axis Select Ares Trajectory Parameters Anis Ais 1 Stepper Loop Mode ben Loop Eosed oop Eros ams bebveen cycle postion O and loaded target position ah Following error occurred Current direction is forward JJ Ante le currently moving y Trajectory generation le complete D Move 12 complete Cycle Mode ele Position 0 I counts steps Eyele Ewell Time E milliseconds Curent Trajectory Data A ab lute Positi AL Operation Mode FOIRE Position Pasion 57155 reunie Load Velocity in AMARE Velocity 0 counts s e fonon counts s Reset Position Acceleration 100000 eile y Deceleration fi 00000 counts ts 2 Primary E counts Target Position jo counts Secondary z counts Motion Function s Execution Status Applies trajectory parameters for the axis selected to the motion device Apply Successtul No Errors Figure 7 8 1 D Interactive Utility tal Main tal Advanced Advanced The steps to cycling the axes are to move the axis to approximately the center of travel reset the position specif
16. ion I O Axis Settings will need to be set to match the Stepper Motor connected to the axis This has already been done for stages that are purchased with the MDM 21 Pe Y eee ee y E UR l E 3 Axis 1 Measurement amp Automation Explorer E app 2 FE Configuration F Axis 1 ERA My System E H Data Neighborhood m Devices and Interaces Er a PCI 7344 1 Device Resources E Interactive 4 5 Calibration Fig 720400002 5j E Asis Configuration 1073741824 1073741824 E ES A Trajectory Settings H Home amp Index Settings F a Digital 1 0 Settings A Gearing Settings H Encoder Settings Low to High E dge H Pl Settings Fa F Ports Serial amp Parallel p lt Do El la Ml Instruments H E Scales E Software Ese E Remote Systeme Figure 7 7 Motion I O Settings 7 4 Cycle Axes The 1 D Interactive Dialog can be used to cycle the axis between two points 22 PRR Se Js E Rk Il E 3 Measurement amp Automation Explorer File Edit View Tools Help gt Start ER Pes ua My Sustern H Data Neighborhood E T Devices and Interfaces E al PCI 7344 1 E ee 53 Device Resources E a tal Interactive ee Sl 1 0 Interactive an 2 D Interactive gg Calibration ii ga 720400002 E nie Asis Configuration ey Trajectory Settings H Home amp Index Settings 6 53 Digital 1 0 Settings H A Gearing Settings H a ADC Settings E ig Encoder Sett
17. nconnconncnanennnonnnnaronannanos 1 1 OVEN VICW suis 3 LI GIVEN en le lle oi en a leo 3 2 Introduction About the MDM2200 Family 4 3 MoGel CONTIQUrFATION caninas 5 A 4 Personal Safety Nr 6 5 Installing the MDM2200 Series Motion Control Error Bookmark not defined 5 1 Contisuine the Motion Control ads 9 2 CONH Unie the MON bis 9 SoZ REMOS R O tos 9 3 22 NEO Step RES aii 9 325 IIA on RT REY Ee cl ec ici ones 10 YN ES CA AS SS a 12 52 5 Li Ome CAS Or Old tae 12 52 0 Replicine MECO A neo E 12 5 3 Locating the MDM22002 8h Ne EEE eduoouuadau T A EE meet 7 5 4 Connecting the NI card to the MDM2200 iii 13 S4 Power SWwiteh and PIUS a 13 34 2 Enable LOOP isein A A E E E 13 JAS MOUON Y O CONE A E E O E 13 TATARS 0 01 Foi 6k 0 AS 14 A a a dada nel een Decne 15 340 Limitand Home MS A del ete A 16 6 Operator 17 OL COV CEV CW A A E A A Ec 17 CL POWER ON IDC A ada 17 OL PAL RC en ne Le ue lens One ONE Are 17 LSD RIVER Tita Or Seascale sarc dea Dun a satis See dec dr de ete cl Seca annee a 17 7 SOMWare ini 18 dad Start MAX PEO STAIN ai 18 72 Load Sethines irony Conti uration DISK aaa aaa 18 119 VERY ELIO para idad 20 PSN AIS COMIC UPA ONS cn aaa lala 21 TRAKI O 21 ATA oa 28 olen ee D E le el 22 Tg SAV UNS TRE Se UMA SS a o leas alse edad 24 8 Troubleshooting amp SCrviCe ccccsseccsseeceseeeeneecensesensesenseseaes 25 o o AAA nn de 25 0 2 FTOUDI S NOUS ECS ee A ie ann 26
18. nvalid OFF OFF OFF oe Invalid OFF OFF ON OFF 5 4 3 Peak Current Peak current is set for each axis with a potentiometer located near the step driver The resistance of the potentiometer circuit can be measured across test points marked PEAK located near each device For best readings the step driver should be un plugged from the main circuit board The figure below shows the locations of the potentiometers and a typical test point 10 MOM ZOOI CR R 1 E 5 S E Figure 5 6 Current adjustment potentiometers and test points PA oe o s EN AA O Es D Cle Us Each drive has two potentiometers yo a one for peak current adjustment PEAK and one for idle current adjustment RED for reduced Each potentiometer circuit can be measured at test points as indicated in the Figure at left Peak current is set according to the formula Rp ohms Peak Current Amps x 500 Where Rp is the resistance between the PEAK test points for the step drive D5 drive option Minimum current is 0 4A Maximum current is 4 0A Factory Default is 2A corresponding to Rp 1K ohm D6 drive option Minimum current is 1 4A Maximum current is 7 0A Factory Default is 4A corresponding to R peak 2K ohm 11 UP BN e y JE R L E 5 4 4 Idle Current After one second of inactivity no steps commanded from the NI controller the step driver enters an idle current mode Idle current is set with a potentiometer circuit simil
19. of the following errors will cause the FAULT indicator to be on o A broken connection to the NI controller o Open Enable Loop 6 1 3 DRIVE OK indicators The DRIVE OK indicators individually illuminate whenever the respective drive is enabled with no faults Any of the conditions listed below will prevent a given drive from being enabled All drive options Enable Loop jumper is open Motion I O cable disconnected from NI 7344 Power to the NI 7344 is off Axis is DISABLED from NI 7344 Phase to phase in the motor Phase to ground short in the motor O O O OOO 17 MOMOE CR Js E K ll E 3 7 Software This section describes how to use MAX National Instrument s Measurement amp Automation Explorer to confirm that the MDM2200 is operational Make the hardware connections described in Section 5 4 7 1 Start MAX program Measurement amp Automation Explorer File Edit View Tools Help My Sustern 4 oe National Instruments 2 Devices and Interfaces MA easureme nt amp Auto EA M Instruments E Scales SSS E a Software HER Remote Systems What is Measurement amp Autor Explorer Figure 7 1 MAX Opening Dialog 7 2 Load Settings from Configuration Disk Open the Devices and Interfaces selection of the Configuration Menu and highlight the PCI 73xx device E Measurement amp Automation Explorer File Edit View Tools Help Er hy System VI GJ Data Neighborhood a Devices and Inte
20. rfaces e dl E PCI 7344 1 E Ports Serial amp Parallel What is IVI a a AVL Instruments m Scales The ll category provides access to the Logical Name Wizard and all your Wl logical nas H Software name is a reference to a particular virtual instrument ra O Remote Systems What do you want to do Figure 7 2 Select the PCI 73xx Device Load the settings file from the configuration disk sent with the controller This is done by selecting the Import Settings selection from the File Menu 18 MOM ZOOI CR NS R 1 E S E PCI 7344 1 Measurement amp Automation Explorer File Edit View Tools Help ES Initialize Device PCI 7344 1 BY Esc Cwt Bei E Es Import Settings fy Board Family Flex otior E Export Settings Board Type 28 E Bus Type FCI Save Initialization Settings to FLASH Pal Closed Loop Capable es OB Device Serial Number C6993F Est ally Bal Device Status Working Properly Oi Ei Ports Serial amp Parallel hy Firmware Version 68331 5 20 0003 E M Instruments Shy Firmware Version DSP 5 20 0005 Figure 7 3 Select Import Settings The settings file has the same name as the serial number of the MDM Import Settings from HE Look in 3 Floppy 4 Ex m on a En Ko 7204 File name 720400002 Files of type ar Files 5 srl Cancel Figure 7 4 Selecting the Import Settings File Next the settings need to
21. roller card is typically housed inside a PC This card connects to the interface port in the MDM Along with the interface port the MDM has axis connectors for each axis of travel These axis connectors connect to stages with axis cables Figure 5 1 MDM2200 Motion System Motion Control Card in PC MPM DING MMMM OOOO Y A Axis Cables The MDM must be placed in a convenient location for connection to both the motion control and your stages M DM2200 Reference amp Maintenance Manual RT E 3 S E Figure 5 2 Dimensions of MDM2200 PRIMATES IMC 5 2 Rear Panel Information All connections to the MDM are made as shown in Figures 5 3 Note that the Axis Connectors are identified as Axes 1 through 4 Figure 5 3 MDM2200 Connections Axis Connector PRIMATICS INC Power Switch Motion Signals NI Motion Card PARR a x JE R L E 5 3 Configuring the Motion Control Card There are no jumpers or switches to configure for the NI series controllers Refer to the documentation that accompanies your NI motion control card for complete information 5 4 Configuring the MDM2200 The MDM2200 Is configured at the factory for the number of axes motor supply voltage and step driver type Each step driver is also configured with default values for micro step resolution peak current and idle current The voltage supplied for operating attached limit and home sensors is also configurable The
22. y the trajectory parameters for cycle mode apply the parameters and then start cycling To command the axis to move specify the Trajectory Parameters The README TXT file specifies the encoder ratios for each axis in counts mm or counts degree depending upon the stage After specifying the Trajectory Parameters press the Apply button Press the Start menu selection at the top of the dialog to initiate the move To cycle between two points check the Cycle Mode check box 23 MOMOE SO CR Js E K ll E 3 Y 1 D Interactive Measurement amp Automation Explorer File Edit View Tools Help Stat FR Blend Hat Configuration My System H Data Neighborhood E a Devices and Interfaces Exa PCI 7344 1 po GA Device Resources Em Interactive 38 1 D Interactive y 2 D Interactive 2 4 Calibration a Servo Tune E gt 23 720400002 Axis Configuration qa Axis 1 ql Axis 2 ql Axis 3 qa Axis 4 Egy Axis Settings ql Axis 1 Decelerate gt Kill 1 D Interactive c PCI 7344 Apply O Single Asis y commands to Trajectory Parameters Axis Axis 1 y Stepper Loop Mode ren loop ased loop Cycles axis between cycle position 4 and loaded position Cycle Mode Cycle Position counts steps Cycle Dwell Time code Operation Mode Absolute Position y Position Axis Status JJ Limit switch is active o Home switch is active y Motor off axis is kille
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