NAI MC-CQ-B Motion Controller User Manual 2.5
Contents
1. MA USER MANUAL M C C Q B Motion Controller MC CQ B www naimotion com Manual Revision 2 5 Contents Using this Manual 3 What Your MC CQ B Purchase Includes 3 Introduction to the MC CQ B Motion Controller 4 Getting Started 4 Selecting and Installing the FUSE o oocccccocccocccocncocnncocnoncncnnnonnnonnnannnonnnos 4 Making Hardware Connections A Configuration and Operation with Faulhaber Motion Manager Software o AON AAA I UU A daa daddies 5 Installing Motion Manager Software ApplicatiOn ooocoocccoccncoc o 5 Establishing COMMUNICA ION ococococcconcccnnoccnoncnnonconnconncnnnconnannnnns 6 Setting Baud Rate and Node Address ooooccoccccoccccccccccccnccncnnnnnos 9 Setting Operating Parameters ococcccccoccccoccnoccncoconocnnconnnnnnnnncnnnnnnnos 11 Recommended Setup Parameters for Various NAl Stages 15 Basic Motion Commands and Examples oocococcccccoccncoccnoccnconcnocnnoos 19 Using the Faulhaber MCDC Controller Documentation 21 Supported MCDC Controller Functionality ococcccccoccncccccncoccncocnconnnno 21 E e e eo O E aaa a Eaa a Operating MOJES cronica 22 Specifications 23 Mating Connectors 24 Support 25 Appendix A Determining COM Port Numbering 26 MC CQ B www naimotion com MW Using this Manual The MC CQ B Motion Controller is a PWM motor controller designed to drive National Aperture MM series stages and other systems utilizing DC2. place at the rate defined by the AC parameter Peak and continuous current limits are also provided on pages 15 18 and should be strictly adhered to The Acceleration parameter may be set as desired keeping in mind that extremely abrupt acceleration can result in premature stage wear The maximum speed parameter is used as the steady state velocity for position mode moves It may be set as desired but should not exceed the relevant value provided on pages 15 18 Click on Send to transfer the settings to the controller Drive Configuration Proportional term POR 2 Gain of Position Controller PF 40 Integral term l Peak current limit LPC 250 70 Di term of Position Controller PO lo sl T Cont current limit LEC 1190 Acceleration AC Maximum speed SPI 10142 ET M C C Q B 1512 teresa MEF 1512 E ase EEPSAY fer Figure 7 Digital Filter Settings www naimotion com 13 MW Configuring the MC CQ B Motion Controller continued Select the Inputs Outputs page shown in Figure 8 The Homing Speed should be set to the desired value without exceeding the speed rating for the stage The remaining settings should match those shown below to provide the necessary limit switch functionality When using rotary stages you may choose to uncheck the Hard blocking check boxes to allow motion past the limit homing switch If you choose to do this care
3. support contact National Aperture at 603 893 7393 and ask for technical support for the MC CQ B motion controller Although the MC CQ B incorporates a Faulhaber motion controller neither Faulhaber nor Micromo provide technical support for the MC CQ B and will refer any inquiries to National Aperture MC CQ B wWww naimotion com 20 MW Appendix A Determining COM Port Numbering If you don t know the COM port numbers for the COM ports to which your motion controllers are connected you may gain some insight into this question using the following approaches For Edgeport type USB to serial converters you may determine the COM port number for each of the converter s numbered physical ports using the Edgeport Configuration Utility which is installed when the converter installation setup is run It can be started by clicking on Start All Programs Inside Out Networks and Edgeport Configuration Utility On the General tab click on the before the converter of interest to view the COM port assignments Information on all of your computer s COM ports may also be displayed using the Windows Device Manger by clicking on Start Control Panel System Hardware Device Manager and Ports The lowest numbered ports will usually correspond to your computers native COM ports Following installation USB to serial converters such as the Edgeport 4 will show four sequent
4. 0 mA Acceleration AC 1000 revs s typical Maximum Speed SP lt 18 142 rpm or rpm for rated stage speed Homing Speed HOSP lt 18 142 rom or rpm for rated stage speed For NAl MM 4M stages with standard torque 10mm motors and standard 10 line 40 count per revolution encoders Resolution of External Encoder ENCRES 40 Velocity Proportional Term POR 2 Velocity Integral Term I 70 Position Proportional Term PP 40 Position Derivative Term PD 0 Peak Current Limit LPC 190 mA Continuous Current Limit LCC 250 mA Acceleration AC 1000 revs s typical Maximum Speed SP lt 18 142 rom or rpm for rated stage speed Homing Speed HOSP lt 18 142 rom or rpm for rated stage speed MC CQ B www naimotion com 16 MW Recommended Setup Parameters for Various NAI Stages continued For NAl MM 4M stages with high torque 10mm motors and standard 10 line 40 count per revolution encoders Resolution of External Encoder ENCRES 40 Velocity Proportional Term POR 2 Velocity Integral Term l 70 Position Proportional Term PP 40 Position Derivative Term PD 0 Peak Current Limit LPC 280 mA Continuous Current Limit LCC 370 mA Acceleration AC 1000 revs s typical Maximum Speed SP lt 18 142 rom or rpm for rated stage speed Homing Speed HOSP lt 18 142 rom or rpm for rated stage speed For NAl MM 4M stages with high torque 10mm motors and 12 line 48 count per revolution
5. 000 LA 0 M SP 5000 LR 5600 M SP 10000 LR 5600 M SP 15000 LR 5600 M POS LA 0 M DI MC CQ B www naimotion com 20 MW Further instructions for commanding and controlling motion are available in the MCDC controller Instruction Manual which should be used in conjunction with this document and in the Motion Manager help section Using the Faulhaber MCDC Controller Documentation The NAI MC CQ B motion controller incorporates a Faulhaber MCDC3006 controller and has been implemented with a packaging and connectivity approach that allows for rapid and user friendly deployment in desktop benchtop and industrial automation applications with no wiring required The MC CQ B is designed to be controlled using serial commands from a host computer and supports the MCDC3006 serial command based functionality which is a subset of the MCDC3006 s functionality The supported MCDC3006 connectivity and operating modes are outlined in detail in this section Supported MCDC Controller Functionality Connectivity MC CQ B The Faulhaber MCDC controller incorporated in the MC CQ B supports connectivity to a subset of the MCDC controller s inputs and outputs as described below MCDC3006 Pin TxD RxD AGND Fault Anin 24V GND Input 3 Mot Mot SGND 5V Enc Ch A Enc Ch B Input 4 Input 5 MC CQ B Support Fully Supported Fully Supported Separate Connectivity Not Supported tied to GND Supported D
6. 00000000 Activate Position Limits APL Allowed Deviation DEV 30000 rpm Target win CORRIDOR 1 Analog velocity Control Direction of Rotation Start voltage MAY 25 ri T right hand ADR Minimum velocity M o pm C lett hand ADL Stepper Motor and Gearing Mode Step width ST 1 Step number STM 1 O00 steps per revolution DC motor and EC motor in Encoder Mode Resolution of external encoder ENCRES 40 Inc Rev quad pulse number me EEPSAY Help Figure 6 Drive Parameters The remaining settings on the Drive Parameters page should be made as shown in Figure 6 Click on Send to transfer the settings to the controller MC CQ B www naimotion com 12 MW Configuring the MC CQ B Motion Controller continued Select the Digital Filter Settings page shown in Figure 7 The controller s feedback loop gains determine the controller s ability to accurately and responsively produce commanded motion in a stable manner Recommended settings for the POR I PP and PD gain terms for various NAI stages are provided on pages 15 18 In some instances you may wish to fine tune the settings of these two parameters for optimal performance in your application but this will usually not be necessary if the recommended settings are used It should be noted that when the Compatibility Mode check box on the Basic Seitings tab page is checked deceleration will take
7. 2 Be sure that the Serial Interface check box is checked and that the COM ports you are using are checked If you need assistance in determining the COM port numbers for the COM ports to which your motion controller s is are connected refer to Appendix A Determining COM Port Numbering Click on OK A new scan will be initiated If your controller s appear in the Node Explorer proceed to Setting Baud www naimotion com MC CQ B MW Configuration and Operation with Faulhaber Motion Manager Software Application continued Rate and Node Address below If not the current baud rate setting for each controller must be identified caca toe Figure 2 Connections The controller baud rate is stored in the controller s non volatile memory and can only be set through the serial port It cannot be determined for certain without establishing a serial connection with the controller unless the controller s history is known Controllers will usually be configured for operation at 9600 or 19200 baud but other baud rates are possible The baud rate may be determined by trial and error by clicking once again on Terminal in the top menu bar selecting Connections and clicking on the tab labeled with the COM port of interest as shown in Figure 3 For each COM port corresponding to a motion controller with an undetermined baud rate select the next baud rate guess then click on OK to initiate
8. O HO 12500 EN DI POS gt 500 SP 14000 LA 10000 LR 2500 M AC 1000 V 10000 POR 2 70 PP 40 PD 0 HOSP 90 GOHOSEQ GSP gt 14000 GAC gt 1000 www naimotion com 19 MW Command Function Description Example GPOR Get Calls up controller proportional gain GPOR gt 1 Proportional Term Gl Get Integral Calls up controller integral gain Gl gt 4 Term GHOSP Get Homing Calls up the homing speed GHOSP gt 90 Speed SOR Velocity Source Must use SOR 0 RS 232 is Velocity Source SOR 0 Example Commanding Motion with Text Commands After powering up the motion system starting motion manager and configuring the controller the user may send motion commands to the motion controller by typing them into Motion Manager s Enter Command box This is a small text box on the upper left portion of the main Motion Manager interface Assume the user wants to enable the controller s power stage execute the homing sequence to establish a known position set the position following the homing sequence to 25000 counts move to the absolution position of 0 counts make three relative moves of 5600 counts the first at 5 000 rom the second at 10 000 rpm and the third at 15 000 rpm display the current position of 16 800 counts return to the zero position and disable the controller power stage These operations may be achieved by typing the following sequence of commands into the Enter Command box EN GOHOSEQ HO 25
9. a new scan at the selected rate s Repeat this process until communication with your controller s is established or until all baud rates have been tried If communication with your controller was not successfully established verify that the controller s fuse is not blown verify that the computers COM port is operational cycle the power to the controller and repeat this process www naimotion com MC CQ B MW Configuration and Operation with Faulhaber Motion Manager Software Application continued Interface Plug ir Mocom3 dl Protocol Plug in Difreprot dll Baudrate 13200 Baud Scan Range a to i D Cancel Help Figure 3 Baud Rate Setting Baud Rate and Node Address Communication with the controller should now be established The node address may be but need not be changed since the node search process will identify nodes with any node address regardless of the node scan range setting Node addresses need not be used at all since each controller will have its own serial port Serial commands not preceded by a node address will be processed by the motion controller regardless of the node address that the controller has been assigned If you would like to assign node addresses anyway they may be changed along with the baud rate as described below If the node address is changed settings between 0 and 254 are possible but settings between 1 and 254 are recommended If your controller s baud ra
10. brush type motors with single ended quadrature AB encoders The MC CQ B incorporates a Faulhaber MCDC3006S series motor controller and provides connectivity and packaging suitable for ease of use and rapid deployment in desk top bench top and industrial automation applications This manual provides information necessary to set up and configure the MC CQ B controller and is intended to be used in conjunction with the user manual for the Faulhaber MCDC3006S controller The MC CQ B controller provides the connectivity required for RS 232 serial port based control of National Aperture motion equipment using a subset of the Faulhaber MCDC controller connectivity Since aspects of the Faulhaber MCDC3006S controller connectivity and functionality are not supported in the MC CQ B implementation portions of the MCDC3006S documentation will not be applicable to the MC CQ Supported and unsupported functionality is described in the section of this user manual entitled Using the Faulhaber MCDC Controller Documentation What your MC CQ B Purchase Includes MC CQ B Your MC CQ B Motion Controller purchase includes the following MC CQ B Motion Controller Null Modem Cable 9 pin female DSub to 9 pin female DSub crossover 15 V Power Supply Power Cord Extension Ribbon Cable 10 Conductor Fuses 2 each 25 Amp Littlefuse 0312 250HXP 5 Amp Littlefuse 0312 500HXP for MM3 stages 10mm motors 1 Amp Littleftuse 0312001 HXP for most MM4 sta
11. count per revolution encoders Resolution of External Encoder ENCRES 40 Velocity Proportional Term POR 2 Velocity Integral Term I 70 Position Proportional Term PP 40 Position Derivative Term PD 0 Peak Current Limit LPC 190 mA Continuous Current Limit LCC 250 mA Acceleration AC 1000 revs s typical Maximum Speed SP lt 18 142 rom or rpm for rated stage speed Homing Speed HOSP lt 18 142 rom or rpm for rated stage speed For NAl MM 3M stages with high torque motors and standard 10 line 40 count per revolution encoders Resolution of External Encoder ENCRES 40 Velocity Proportional Term POR 2 Velocity Integral Term I 70 Position Proportional Term PP 40 Position Derivative Term PD 0 Peak Current Limit LPC 280 mA Continuous Current Limit LCC 370 mA Acceleration AC 1000 revs s typical Maximum Speed SP lt 18 142 rpm or rpm for rated stage speed Homing Speed HOSP lt 18 142 rom or rpm for rated stage speed MC CQ B www naimotion com 15 MW Recommended Setup Parameters for Various NAI Stages continued For NAI MM 3M stages with high torque motors and 12 line 48 count per revolution encoders Resolution of External Encoder ENCRES 48 Velocity Proportional Term POR 2 Velocity Integral Term I 70 Position Proportional Term PP 40 Position Derivative Term PD 0 Peak Current Limit LPC 280 mA Continuous Current Limit LCC 37
12. edicated to Limit Switch Functionality Connectivity Not Supported Fully Supported utilizes 15V supply Fully Supported Supported Dedicated to Limit Switch Functionality Fully Supported Fully Supported Fully Supported Fully Supported Fully Supported Fully Supported Connectivity Not Supported Connectivity Not Supported www naimotion com 21 MW Supported MCDC Controller Functionality continued Operating Modes MC CQ B SORO 3 The MC CQ B controller supports only the RS 232 based SORO mode for velocity and current control Analog and PWM means of velocity and current control associated with SOR1 SOR2 and SOR3 are not supported CONTMOD Supported MCDC3006 s normal operating mode STEPMOD APCMOD VOLTMOD IXRMOD Not Supported Fault Pin REFIN Required Fault Pin is dedicated to limit switch DIRIN ERROUT DIGOUT ENCOUT Not Supported DEV fault pin speed deviation Not Supported DCE fault pin signaled delayed current error Not Supported www naimotion com 22 Specifications Supply Voltage PWM Switching Frequency Efficiency Max Continuous Motor Current Max Peak Motor Current Controller Current Consumption With no Motor Encoder or Limit Switch Current 5 V Outputs Max Combined Load from Encoder Vcc and Limit Vcc Limit Switch Configuration Limit Switch Logic Levels Encoder Input Logic Levels Encoder Input Max Frequency Maximum Motor Velocity Baud Rate Serial EEPROM Program M
13. emory Operating Temperature Storage Temperature MC CQ B MW 12 30 V DC 15V DC recommended for NAI stages 78 12 kHz 95 6 A with sufficient conductors for motor connection 1 A with 28 gauge ribbon cable 10 A with sufficient conductors for motor connection and sufficient power supply current 2 A with 28 gauge ribbon cable 60 mA 50 mA Switches to ground expected controller incorporates 1k pullup resistors to 5V low 0 0 5 V high 4 0 5 0 V low 0 0 5 V high 4 0 5 0 V 400 kHz 30 000 rpm do not exceed stage speed rating 600 1200 2400 4800 9600 19200 38400 9 600 115200 6656 bytes O to 70 C 25 to 85 C www naimotion com 23 Mating Connectors For motor encoder and limits MW Pin Name Pin Name 1 Motor 6 Motor 2 Encoder Vcc 5V 7 Limit Ground 3 Encoder Ch A 8 Limit Vcc 5V 4 Encoder Ch B 9 Reverse Limit 5 Encoder Case Ground 10 Forward Limit Motion Controller End of Stage or Motor Cable ITW Pancon 050 010 415A or equivalent For RS 232 9 pin female Dsub For DC Power Input Switchcraft 760K motion controller end of cable Pin Name Pin Name 2 RS 232 RXD Center Pin V 15V 1A min 3 RS 232 TXD Outside Ground 5 GND RS 232 Serial Cable L com CSNULL9FF 10 or equivalent Null modem type 9 pin female Dsub both ends Pin 2 to Pin 3 Pin 3 to Pin 2 Pin 5 to Pin 5 MC CQ B www naimotion com 24 MW Support For technical
14. encoders Resolution of External Encoder ENCRES 48 Velocity Proportional Term POR 2 Velocity Integral Term l 70 Position Proportional Term PP 40 Position Derivative Term PD 0 Peak Current Limit LPC 280 mA Continuous Current Limit LCC 370 mA Acceleration AC 1000 revs s typical Maximum Speed SP lt 18 142 rom or rpm for rated stage speed Homing Speed HOSP lt 18 142 rom or rpm for rated stage speed MC CQ B www naimotion com 17 MW Recommended Setup Parameters for Various NAI Stages continued For NAI MM 4M stages with 13mm motors and standard 16 line 64 count per revolution encoders Resolution of External Encoder ENCRES 64 Velocity Proportional Term POR 2 Velocity Integral Term I 70 Position Proportional Term PP 40 Position Derivative Term PD 0 Peak Current Limit LPC 590 mA Continuous Current Limit LCC 790 mA Acceleration AC 1000 revs s typical Maximum Speed SP lt 18 250 rpm or rpm for rated stage speed Homing Speed HOSP lt 18 250 rom or rpm for rated stage speed MC CQ B www naimotion com 18 MW Basic Motion Commands and Examples Some commonly used commands are provided below A complete list of commands is available in the MCDC3006 Instruction Manual and should only be utilized after reviewing the section of this document entitled Using the Faulhaber MCDC Controller Documentation Command Function HO Define Home P
15. ers should now be established at 19200 baud www naimotion com 10 MW Configuring the MC CQ B Motion Controller Setting Operating Parameters Operating parameters for each of your MC CQ B controllers must now be configured The Drive Configuration process must be repeated for each controller Select the controller by double clicking on it in the Node Explorer window Next on the Motion Manger menu bar click on Configuration and Drive Functions On the Basic Settings tab page select the settings shown in Figure 5 Drive Configuration Basic Settings Drive Parameters Digital Filter Settings Inputs Outputs Operating Mode 7 pa m m p p po m Motor Type Continuous Mode CONTMOD le Position control he Stepper Motor Mode 5TEPMOD 0 Velocity control Analog Position Control Mode APCMOD Controll d ontroller mode W Compatibility Mode Multiples Mode NET Command Source SOR f Digital Gearing Mode GESAMOD f Analog Voltage Voltage Mode VOLTMOD CPW on analog input KA Speed Control KAMOD f Current limiting on analog voltage IDC Motor Motor Resistance Ak 1300 m hm iw Drive enabled EM ao Program sequence enabled EMPAOG elite Cietislat idi p atin Notify commands enabled ANS Commands with confirmation AM SY Has EEPSAY te Figure 5 Basic Settings MC CQ B After these settings have been selected click o
16. f COM ports operating at the baud rate selected for each COM port Motion Manager may fail to establish communication with your controller s for the following reasons 4 5 and 6 being the most common 1 Power is not connected to the controller 2 The controller is not switched on 3 The controller is not connected to the computer s serial port with a null modem cable as described above 4 The controller is connected to a computer COM port that has not been selected for use in Motion Manager 5 The controller is configured to operate with a baud rate that is different than the baud rate selected in Motion Manager for the COM port it is connected to 6 The computer s COM port is in use by another software application 7 The controller needs to be restarted by switching the power off and on A subsequent node search is required and can be started by clicking on Motion Manager s Scan button 8 The controller s fuse is blown 9 The computer s COM port is not functioning Ensure that power is applied to the controller that it is switched on and that it is connected to a computer COM port with a null modem cable such as the one provided with the controller Also ensure that the COM ports you are using are not already in use by another running application Next click on Terminal in the top menu bar select Connections and click on the Connections tab to open the Connections window shown in Figure
17. ge apps 2 Amp Littlefuse 0312002 HXP 6 Amp Littlefuse 0312006 HXP CD Including National Aperture MC CQ B User Manual this manual Faulhaber Motion Manager Application Faulhaber MCDC Motion Controller Instruction Manual CD Including Evaluation Version of IMS Motion Console Motion Control Software Application www naimotion com MW Introduction to the MC CQ B Motion Controller The MC CQ B motion controller provides closed loop control for DC brush type motors incorporating AB quadrature encoders This PWM motion controller is designed to be controlled via an RS 232 serial interface accessed through the 9 pin male DSub connector labeled Serial The MC CQ B includes a 10 pin motor interface labeled Mot Enc Lim supporting motor drive AB quadrature encoder and limit switch connectivity National Aperture MM series stages may be plugged directly into this connector Power is provided at 15 volts through a threaded rear panel power jack The MC CQ B also includes a front panel power switch and user accessible fuse Getting Started MC CQ B Selecting and Installing the Fuse The MC CQ B can be used to drive DC motors operating at up to 30 volts and 5 amps When used with National Aperture MM series stages a 15 volt supply is used and load currents are well below the capabilities of the controller In order to protect the stage and controller from damage in the event of certain types of mis wiring or mis configu
18. ially numbered COM ports labeled EdgePort in the Device Manager Unless changed after installation the Edgeport serial port with the lowest COM port number will correspond to the Edgeport DSub connector labeled port 1 COM port and associated physical port numbers will proceed in sequence It is recommended that you do not change COM port settings using the Windows Device Manager lf the COM port numbers associated with the native serial ports on your computer are unknown they may be determined by trial and error or by using serial port test freeware in combination with a loopback connector MC CQ B www naimotion com 26 MC CQ B www naimotion com 21
19. l RS232 interface if it isn t already selected There is some chance that Motion Manager will be able to automatically identify connected controllers without further user interaction Click OK to allow the automated node search to start If the process succeeds the connected controller s will appear in the Node Explorer section on the left side of the user interface Identified motion controllers will appear as nodes under the COM port to which they are connected If all of your connected motion controller s appear in the node explorer proceed to Setting Baud Rate and Node Address below o FAULHABER Motion Manager 3 File Edit Commands Terminal Analysis Configuration Help D H Es E 8a amp Hew Open Save Print Scan Disable Enprog Script Trace C Enter command Motion Manager History File Upload E COMS Node 0 DC Motor at MCDC30065 Connected to node at COMS Online Figure 1 Motion Manager User Interface MC CQ B www naimotion com MC CQ B MW Configuration and Operation with Faulhaber Motion Manager Software Application continued If some or all of your controllers do not appear in the node explorer an understanding of Motion Manager s node search functionality must be established Motion Manager scans for MCDC and certain other controllers appropriately powered and appropriately connected with a null modem cable to any of a selected set o
20. must be used to recheck the Hard blocking check boxes when linear stages are connected Failure to do so may result in damage to the linear stage After settings have been made on the Inputs Outputs page click on Send to transfer the settings to the controller then click on EEPSAV to store all of the new settings to non volatile memory so that they are retained after power is removed The stage should now be connected to the motion controller Drive Configuration Basic Settings Drive Parameters Digital Filter Settings Inputs Outputs mee MEU pi Delayed current error DICE LI e e Fault output ERROUT DCE Pulse output ENCOUT Number of output pulses per revolution LPM q ste el Input level S4 TTL compatible SETTTL Direction of rot input DIARIA Input level 24 PLC compatible SE TPLC Input 1 Input 2 Input 3 fle fa Et Rising edge resp high level walid on HP ly E E Hard blocking on HB ne ya Right hand hard blocking on HD B we i Homing sequence else falling edge else left hand Zeroize position counter SHA if edge on E w Stop motor SHL if edge on E iw Notify SAN if edge on ae oe Homing Speed HOSP 1 014 rpm Power On Homing Sequence Figure 8 Inputs Outputs MC CQ B www naimotion com 14 MW Recommended Setup Parameters for Various NAI Stages For NAI MM 3M stages with standard torque motors and standard 10 line 40
21. n the Send button to transfer the settings to the controller It is necessary to click on the Send button after changes are made to seitings on any tab page in the Drive Configuration window You must click on Send to transfer settings to the controller before selecting another tab page Clicking on the EEPSAV button will save all settings to the controller s non volatile memory so that they are retained when power is removed It is only necessary to click on the EEPSAV button once before closing the Drive www naimotion com 11 MW Configuring the MC CQ B Motion Controller continued Configuration window after changes to settings on all of the tab pages have been made After clicking on Send from the Basic Settings page select the Drive Parameters page shown in Figure 6 Software position limits may be set by entering the desired limit values and checking the Activate Position Limits APL check box The Resolution of external encoder ENCRES setting is critical and must be made based on the characteristics of the encoder in the associated stage s motor The required setting for various NAI stages are provided on pages 15 18 in the section entitled Recommended Setup Parameters for Various NAI Stages Drive Configuration Basic Settings Drive Parameters Digital Filter Settings Inputs Outputs Position range limits LL from E00000000 ho
22. o pin 2 on the other and pin 5 on one end to pin 5 on the other For each of your motion controllers attach one end of the null modem cable to the motion controller s Serial connector and the other to one of your computer s native or USB plug and play serial ports Power Source Connect the 15 volt power supply output cable to the threaded power jack on the rear panel of the MC CQ B controller Install the AC power cord into the 15 volt power supply Plug the AC power cord into an outlet and switch the MC CQ B controller on Do not connect the stage to the controller until controller configuration has been completed Configuration and Operation with Faulhaber Motion Manager Software Application Motion Manager is a software application for configuration and basic operation of certain Faulhaber motion controllers including the MCDC controller utilized in the National Aperture MC CQ Installing Motion Manager Motion Manager is provided on the CD included with your controller and may be installed with the setup utility in the Motion Manager folder If not www naimotion com MW Configuration and Operation with Faulhaber Motion Manager Software Application continued already installed on your computer it should be installed now by running the SetupFaulhaberMotionManager exe file Establishing Communication Start the Motion Manager application When the First Steps window appears select Drive at a seria
23. osition EN Enable Drive DI Disable Drive POS Get Actual Position SP Load Max Speed LA Load Absolute Position LR Load Relative Position M Move AC Load Acceleration V Move at Specified Velocity POR Load Velocity Proportional Term Load Velocity Integral Term PP Load Position Proportional Term PD Load Position Derivative Term HOSP Load Homing Speed GOHOSEGQ Go Homing Sequence GSP Get Max Speed GAC Get Acceleration MC CQ B Description With no argument Sets the actual position to 0 With argument Sets actual position to given value Activates the controller power stage Deactivates the controller power stage Returns the current position Loads a new maximum velocity Argument in rom Range 0 30 000 Steady state velocity for M command Loads new absolute position Argument Encoder Counts Loads new relative position Argument Encoder Counts Activates position mode and starts motion Load new acceleration Argument in revs s 0 30 000 Activates velocity mode and starts motion at specified velocity in rom Load controller vel proportional gain 0 255 Load controller vel integral gain 0 255 Load controller pos proportional gain 0 255 Load controller pos derivative gain 0 255 Loads the homing speed in rom Range 30 000 to 30 000 Executes the programmed homing sequence without regard to the current mode Calls up the maximum velocity parameter Calls up the acceleration Example H
24. ration a fuse appropriate for the stage and application must be installed Stage Recommended Fuse National Aperture MM3M and MM3MR Series Stages With 10mm Standard Torque Motor 5 amp With 10mm High Torque Motor 5 amp National Aperture MM4M and MM4MR Series Stages With 10mm Standard Torque Motor amp With 10mm Hight Torque Motor 5 amp With 13mm Motor 1 amp The fuse should be installed in the front panel fuse holder using the slotted cap included with the fuses A screwdriver is required www naimotion com MC CQ B MW Making Hardware Connections Serial Interface lf you are using your motion controller s with a computer that does not have one available serial port for each controller a plug and play USB to RS232 serial converter will be required Converters providing 1 4 8 and more additional serial ports via a single USB connection are available If needed and not already installed install your USB to serial converter using the disk provided with the USB to RS232 converter Following installation your computer will recognize and interact with the added serial ports as if they were part of your computer whenever the USB to serial converter is plugged into a USB port Connecting Motion Controller s to Serial Port s Each motion controller is provided with a null modem cable This cable incorporates 9 pin female D sub connectors on both ends and connects pin 2 on one end to pin 3 on the other pin 3 on one end t
25. te s is are not already set to 19200 it is strongly recommended that the baud rate s be set to this value The controller is known to perform reliably at this baud rate and National Aperture motion system architectures and software products are based on this rate for your motion controller Using this baud rate also eases the process of integrating current and future National Aperture system offerings into your motion system www naimotion com MW Configuration and Operation with Faulhaber Motion Manager Software Application continued To change the baud rate to 19200 after communication with your controllers has been established for each controller select it in the node explorer by double clicking on it click on Configuration and select Connection Parameters opening the Connection Settings window shown in Figure 4 Note that this window is different than the Connections window previously used Select the 19200 baud rate select a node address if desired and click on Send When this process completes click on EEPSAV to store the baud rate setting to non volatile memory so that the controller retains the new setting s when power is removed Repeat for each controller Connection Settings Connection settings of the connected drive Baud rate 19200 Baud Node address 1 E o Close EEPSAY Help Figure 4 Connection Settings Window Communication with all of your controll
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