USER`S MANUAL MODEL: MC- XYZT, MOTION
Contents
1. 5 7 Reset X Y Z and Angle counter Used for manually reset the counter of the controller The current position will be 0 mm for linear stages 0 degree for rotary stage after Reset Counter button being clicked 5 8 X Y Z and Angle position Read back the current position of the stages X and Y positions are displayed after the moving is stopped Angle position and Z position can be displayed during the moving 5 9 Start Rotation Start X Y Z Manually start the motion to the position defined by user The position is entered either typing in the position box or using the slide The position can be positive or negative 5 10 Stop Rotation Stop X Y Z Motion Stop the motion during the scan 5 11 Software Limit for Angle X Y and Z Set up by either typing in the two boxes or using the slides software limits define the minimum and maximum target position The software limits also define the minimum and maximum target position can be used in table mode At manual mode target position over the software limits is ignored and the limit value is used instead At table mode target position over software limit will cause an error user needs to change the target position or abort the table mode to proceed Default volumes of software limit can be changed within Setup Windows 5 12 Limit LED If the linear stages reached one of the limit switch mounted at the linear stages on both ends the motion will stop th2. Z STAGE 22 1 17907 0009 0 ADAPTER PLATE Z STAGE to ROTARY STAGE 21 1 17907 0008 0 ADAPTER PLATE Z STAGE to Y STAGE 20 Series 6 LINEAR STAGE Std 1mm leadscrew VELMEX Part MA4006K1 S4 19 1 10907 0015 0 IDENTIFICATION 18 1 10907 0014 0 Z AXIS 17 1 10907 0012 0 LABEL YAS 10907 0011 0 LABEL X AXIS 10907 0013 0 LABEL T AXIS ANGLE amp 1 1 WASHER INTERNAL LOCK M3 S S WASHER FLAT M3 S S 5 5 5 8 5 5 Ses 1 4 3 4 SS 10 6 SHCS FLAT HD 10 32 x 1 2 9 4 7 SHCS FLAT HD 10 32 x 5 8 8 4 CN11 5 HANDWHEEL ALUMINUM BERG 7 1 17907 0007 0 ADAPTER PLATE ROTARY STAGE MAGNET 6 1 17907 0006 0 ADAPTER PLATE T STAGE ROTARY 5 4 5 091 STEPPER MOTOR Double Shaft VELMEX 4 5 3 8515 __ LIMi SWITCH ADJUSTABLE VELMEX a 1 maxY Series XY TABLE Std 1mm leadscrew 9 Stageb VELMEX_Part SPMAXY4009K1 S4 2 13 934R 7 ZERO REFERENCE SWITCH VELMEX ROTARY STAGE 36 1 gear ratio VELMEX Part No 3 812 0 025 step 17 1 16 1 15 1 14 4 13 4 12 4 3 S LIS A XYZT TABLE ASSEMBLY MOTION CONTROL 1 205 Do sz 040 WE 1 11907 0006 0 Sms 2 RS 232 GPIB CONVERTER HOM
3. 6 wire Unipolar RS 232 Tx Rx Gnd Keyboard LCD Display Remote Jog 7 Data Even Par 2 Stop 9600 9600 632 NF90 1 2 3 Size 17 to size 34 0 8 to 4 7 amp 100 400 1 to 6000 1 RAM Not available Run Active High In 1 Active High Out 1 5VDC AC Power Limit Switch TTL logic Motor 6 wire Unipolar RS 232 Tx Rx Gnd Remote Jog 7 Data Even Par 2 Stop 9600 9600 421 Previously manufactured step motor controllers being replaced by the VXM Section 6 4 APPENDIX GMW MOTION CONTROL PARTS LIST 8 18 2005 Parts List For GMW MOTION CONTROL MFG PART DESCRIPTION GMW DWG MANUFAC QTY Motion Stage 48815 ROTARY STAGE 36 1 gear raton 1190700060 VELMEX ho T VELMEXPartNumber3 8120 025DEG C step T 3 934R ZERO REFERENCE SWITCH 11907 00060 VELMEX t T IMAXY Series St 1mm leadscrew 1190700060 VELMEX t VELMEX Part number MAXY4009K1 S4 __ 4 O 3 8515 switch ADJUSTABLE pair 1907 2006 0 VELMEX 5 0981 7 STEPPER MOTOR Double Shaft 11907 20060 VELMEX 7907 0006 0 ADAPTER PLATE XY TABLE ROTARY STAGE 1 11907 0006 0 JG MW AmProto t 17907 00070 ADAPTER PLATE XY ROTARY STAGE MAGNET 1190700060 GMW AmProto t CN115 HAND WHEEL ALUMINUM 1190700000 BERG 3 3 o 10907 00130 LABEL T AXIS ANGLE 4 a
4. HOME serzeowe cow rome CW HOME STOP ji Esc A o X Position Y Position Z Position Angle T Position To Setup Angle low soft limit 1 200 175 150 125 100 R x low soft limit Go to X 1 100 125 150 175 200 ARO rap pa 200 175 1 150 7125 3 25 0 25 50 75 100 125 150 UNO 100 125 150 175 200 Figure 1 Main control window 5 2 GPIB Address Selection Select GPIB address Default GPIB address is 1 Section 5 SOFTWARE DESCRIPTION 5 3 Setup Set up the parameters for the software When click the button of SETUP a Setup window will appear b Setup vi File Edit Operate Tools Browse Window Help em 2 Figure 2 Setup Window 5 3 1 Save Configuration Will save the current configuration The software will use the saved configuration next time it starts if the configuration was saved If the configuration was not saved the software will still use the current configuration but will use the previously saved configuration next time the software starts 5 3 2 Load Default Configuration Will load the default settings 5 3 3 Exit Setup End the setup process and close the setup window 5 3 4 Axis Motor Assign the individual stage to the motor control port on the motor controller X Y and Z are for linear stages T is for rotary stage By default X is motor 3 Slave motorl Y is motor 4 Slave motor 2 T is motor I
5. Home position is the position the counter of stepping motor controller is zero Each time the stepping motor power off on the counter is set to zero regardless the physical position of the stages Before use user need to establish the home position either using the Set Home buttons or Reset Counter buttons Click one of the buttons Set X Home Set Y Home Set Z home The linear stage will move to the lower end of the station When the limit switch is hit the motion will stop the stage will move back the distance defined as X Y Z Offset at the Setup window The counter of motor controller X Y or Z will set to zero accordingly 5 6 Set CCW CW Home Click one of the buttons CCW Home CW Home The rotary stage will move either counter clockwise CCW or clockwise CW towards 0 degree It will rotate back 25 degrees 1000 steps and goes to the 0 degree again and offset is the distance between the point Home switch is activated and O degree CCW and CW offset is defined within Setup window CAUTION The rotary stage does not have limit switches build in User should be cautious about which direction to set Home More than a 360 degree rotation will cause damage to the cable and water hose to the magnet It is recommend that after powering up the controller user manually adjust the rotary stage to zero degree while watching the cables and water hose Manual reset Angle counter afterwards Section 5 SOFTWARE DESCRIPTION
6. Master motor 1 Z is motor 2 Master motor 2 Section 5 SOFTWARE DESCRIPTION 5 3 5 Offset Used for setting the home position X Y and Z Offset are the linear offset positions from the low limit switch where the step motor counter will be set to zero CW and CCW Offset are the offsets from the home switch to zero degree position CW is the clockwise offset CCW is the counter clockwise offset 5 3 6 Resolution Linear resolution is 400 steps per 1 mm Rotary resolution is 40 steps per 1 degree Resolution settings are determined by the motor and motion stages User should not change the resolution settings unless the motion stages are changed 5 3 7 Speed Define the speed The default linear speed is Imm second for X and Y 0 5mm second for Z The default rotary speed is 10 degree second 5 4 Table Mode The Table mode LED OFF indicates the software run at manual mode The Table mode LED ON indicates the software run at table mode Click Table Mode LED a Table Mode Setup window will appear gt TableModeSetup vi Ele Edit Operate Tools Browse Window Help IT E i is 8 Figure 2 Table Mode setup window Section 5 SOFTWARE DESCRIPTION When running at Table mode user can either manually enter a table or load a table from a file The first column is for Step index The second column of the table is the axis intended for moving X Y and 7 are f
7. NYLON SPC 11907 0001 0 239001 FUSE LINK 1 0A SLO BLO LITTLEFUSE 11907 0001 0 239002 FUSE LINK 2 0A SLO BLO LITTLEFUSE 11907 0001 0 METAL IMAGE 043020305 POWER CORD SET PANEL COMPONENT USA 11907 0001 0 0907 0004 0 _ LABEL MASTER CONTROLLER 11907 0001 0 METAL IMAGE 1 0907 0006 0 LABEL CONTROLLER 11907 0001 0 METAL IMAGE 1 0907 0001 0 LABEL IDENTIFICATION CONTROLLER 11907 0002 0 METAL IMAGE 7 1 LABEL SLAVE CONTROLLER 3 3 3 3 0907 0002 0 LABEL L 1 0907 0003 0 ABEL SPECIFICATION 1 82710070 POWER SWITCH 1 83544010 POWER FILTER VOLTAGE SELECTOR MODULE 11907 0003 0 INTERPOWER 1 CGP 3 GROMMET EDGING STRIP 11907 0003 0 SPC Optional Z Stage 3 8515 LIMIT SWITCH 1 5 098 1 STEPPER MOTOR Double Shaft 1 pp EE MEA px AAA Els aj A SA EAS DRZE SEE kogos o ee 1 _ A ex e Dee l AEG pp 1 AE 1 poo VELMEX PartMA4006K1 S4 19075 060 E 24 11907 0006 0 si _ Es AAA A UA iE EE pp ac lira EJ GR porque pop e Eu e EE AL 1 _ SRA EEE 2 _ A A EE A si 0g Eh 10907 0014 0 LABEL Z AXIS 11907 0006 0 METAL IMAGE Fasteners HCS FLAT HD 10 32 X 5 8 S S 1907 0006 0 S 1 SHCS FLAT HD 10 32 X 1 2 S S 11907 0006 0 SHCS 1 4 X 3 4 S S 11907 0006 0 SHCS M3 X 8 S S 11907 0006 0
8. and wait for a G to continue U7 Start of Continuous Index with 10 usec pulse on output 2 077 Start of Continuous Index with no output u8 Start of Continuous Index sending to the host 09 End of Continuous Index with autodecel to stop u91 End of Continuous Index with auto generate a deceleration Index as next command u92 End of Continuous Index using next Index for deceleration to stop u99 End of Continuous Index with instantaneous stop U13 Wait for a front panel button to jump to a program or continue Motor 1 Jog button to jump to program 1 Motor 1 Jog button to jump to program 2 Run button to proceed in current program 014 User output 2 low reset state 015 User output 2 high 016 Optional User output 3 low reset state 017 Optional User output 3 high u18 Optional User output 4 low reset state u19 Optional User output 4 high u23 Wait for a front panel button to jump to a program and come back or continue Motor 1 Jog button to jump and return to program 1 Motor 1 Jog button to jump and return to program 2 Run button to proceed in current program 030 Wait for a low to high transition on user input 1 u31 Wait for a low to high transition on user input 1 holding user output 1 high while waiting u32 Wait for Motor 1 Jog button to be pressed on front panel with debouncing 033 Wait for Motor 1 Jog button to be pressed on front panel with debouncing 050 Wait for a low high on user
9. input 1 with debouncing for a mechanical push button switch 051 Wait for a low high on user input 1 with debouncing for mechanical push button switch holding user output 1 high while waiting u90 Wait for a low to high on the Run button or connection 1 4 with debouncing for a mechanical push button switch Operation commands Quit On Line mode return to Local mode Run currently selected program Null zero motors 1 2 3 4 absolute position registers Kill operation program in progress and reset user outputs Clear all commands from currently selected program Decelerate to a stop interrupts current index program in progress Enable On Line mode with echo on Enable On Line mode with echo off Enable On Line mode with echo off Grouping a cr with W O responses Also Go after waiting or holding Put Controller on Hold stop after each command and wait for go Record motor positions for later recall with x y commands Software reset controller Delete last command mg LO TU eoe Status request commands V Verify Controller s status VXM sends B to host if busy R if ready J if in the Jog slew mode or b if Jog slewing X Send current position of motor 1 to host Motor can be in motion Y Send current position of motor 2 to host Motor can be in motion 2 Send current position of motor 3 to host Motor must stationary T Send current position of motor 4 to host Motor must be station
10. 1 WASHER FLAT M3 S S 1907 0006 0 WASHER INTERNAL LOCK M3 S S 11907 0006 0 SHCS 10 32 X 5 8 S S 11907 0006 0 CREW 4 40 X 3 16 PAN HD S S 11907 0001 0 11907 0001 0 S 1 CREW M4 X 12 PAN HD S S 1907 0001 0 Pp BEE Pp i Pp Lo SHCS 10 32 X 1 1 8 S S 11907 0006 0 15 Pp A A jt PF
11. 4 2 kg 31 5 Ib Power Supply CONDOR HCC15 3 A Power Requirements 115 6 1 5 220ACV 50Hz 1 0A Motor Controller VELMEX Stepping Motor Controller Model VXM 2 One controller has provision for controlling two motors One or two controllers fitted Computer interface GPIB Motion Stages 2 Slave Velmex Controller Motor 1 range of 200 mm Slave Velmex Controller Motor 2 Max range of 200 mm Optional stage Master Velmex Controller Motor 2 Max range of 30 mm Master Velmex Controller Motor 1 Angle about Z axis Max range of 360 Deg Motion Stage Weight without magnet 9 5 kg 21 0 Ib with X Y T stages 13 0 kg 29 0 Ib with X Y Z T stages CAUTION The rotary stage does not have limit switches build in User should be cautious about the angle position More than a 360 degree rotation will cause damage to the cable and water hose to the magnet It is recommend that after powering up the controller user manually adjust the rotary stage to zero degree while watching the cables and water hose Manual reset Angle counter afterwards Motion stage T is always provided X Y Z motion stages are optional Section 2 SYSTEM DESCRIPTION The system consists of the following main components 2 VELMEX Stepping Motor Controllers Model VXM 2 Each 2 can control up to two motors Provision of controlling total four motors One Motor Controller is configured as Master controller the other Motor Controlle
12. Axes Control Motor Compatibility Motor output torque as percent of NF90 091 Motor Steps revolution Speed Range steps sec Program Storage memory type Preset range for user Pulse Every x Steps User Inputs User Outputs Other Inputs Other Outputs User Interfaces RS 232 Configuration Default Baud Rate Maximum Baud Rate Size in Velmex Controls Comparision VXM 1 2 3 4 Powered by 2nd VXM linked with VXM bus Size 17 to size 34 1 2 to 4 7 amp 185 0 0 2 rev sec 200 0 5 rev sec 340 0 10 rev sec 400 1 to 6000 5 RAM FLASH 0 to 32 767 Run Active Low In 1 Active Low In 2 Multifunction In 3 Multifunction In 4 Stop Interrupt In A Analog Out 1 Out 2 Optional Out 3 Optional Out 4 5VDC x2 for Linked VXMs AC DC Power Limit Switch Optically Isolated Motor 6 wire Unipolar RS 232 Tx Rx Gnd Run Stop and Jog Keys Opt Speed Pot Analog Joystick Remote Jog Opt Program Sel Switch 8 Data No Parity 1 Stop 9600 38 400 98 for VXM 22 for Power Supply VP9000 1 2 3 4 Size 17 to size 34 1 2to5amp 185 0 2 rev sec 290 0 5 rev sec 340 0 10 rev sec 400 1 to 8000 31 NVRAM Not available Run Active High In 1 Active High In 2 In 3 Wait Interrupt In 4 Stop Interrupt Reset Encoder Out 1 Out 2 Encoder 5VDC AC Power Limit Switch TTL logic Motor
13. C Specifications Power Requirements AC version 50 to 60 Hz 100 to 120 10 VAC BVA 220 to 240 10 VAC DC version A 700 mA Physical Dimensions AC version 2 7 6 by 44 by 11 8 cm 3 0 by 1 7 by 4 7 in DC version 7 6 by 2 8 by 11 8 cm 3 0 by 1 1 by 4 7 in Weight 340 2 g 12 oz z gt o e e o e e E E de 5 a a 1 0 Connectors GPIB port Serial port IEEE 488 standard 24 pin Standard 9 pin male D Sub Operating Environment Temperature Relative humidity Oto 40 C 10 to 90 noncondensing Storage Environment Temperature Relative humidity 20 to 70 C 10 to 95 noncondensing Noise Emissions FCC Class A verified AC version FCC Class B verified DC version Compliance Online at ni com hardref nsf Cables National Instruments recommends you use the following cables with the GPIB 232CV A GPIB 232CT A Serial null modem cable 9 pin D Sub to 9 pin D Sub 182238 01 182238 02 182238 04 181074 10 GPIB 232CV A M ac cable Sub to M acintosh port 8 pin DIN 182514 01 National Instruments recommends you use the following cables with the GPIB 485CT A RS2 cable 9 pin female D Sub to 9 pin female D Sub 183283 01 20 183283 02 REI mene 183283 04 BUY ONLINE Visit ni com info and enter gpib232cta gpib485cta and
14. GMW USER S MANUAL MODEL MC XYZT MOTION CONTROL For GMW Model 5201 Projected Field Electromagnet PROPRIETARY THIS DOCUMENT CONTAINS CONFIDENTIAL INFORMATION PROPRIETARY TO GMW ASSOCIATES IT MUST NOT BE REPRODUCED OR DISCLOSED TO OTHERS OR USED IN ANY WAY EXCECPT FOR THE INSTALLATION OPERATION OR MAINTENANCE OF GMW ASSOCIATES PRODUCTS File No GMW MOTION CONTROL VXM V2 August19 05 doc Revision Date August 19 2005 G M MAS 955 Industrial Road San Carlos CA 94070 Tel 650 802 8292 Fax 650 802 8298 Email salesogmw com Web site http www gmw com TABLE OF CONTENTS SPECIFICATIONS SYSTEM DESCRIPTION SYSTEM REQUIREMENTS INSTALLATION SOFTWARE Starting and Stopping the Software GPIB Address Selection Setup Table Mode Set X Y Z Home Set CW Home Reset X Y Z and Angle counter X Y Z and Angle position Start Rotation Start X Y Z Stop Rotation Stop X Y Z Motion Software Limit for Angle X Y and Z Limit LED APPENDIX DRAWINGS NATIONAL INSTRUMENTS GPIB RS232 CONVERTER DATA SHEETS VELMEX VXM 2 MOTOR CONTROLLER SPECIFICATION GMW MOTION CONTROL PARTS LISTS Section 1 Section 2 Section 3 Section 4 Section 5 5 11 5 12 Section 6 6 1 6 2 6 3 6 4 Section 1 SPECIFICATIONS General Controller Package EIA 19 rack mounting cabinet 3U high Controller Dimensions 447 00 mm wide x 146 00 mm high x 425 00 mm deep 17 5 8 x 5 3 4 x 16 3 4 Controller Weight 1
15. GPIB 232CT A used in the G mode In G mode the GPIB 232CT A makes a serial device appear as a GPIB Talker Listener to the Controller The GPIB 232CT A recognizes two addresses G mode it treats one as its GPIB address and the other as the serial device address When the GPIB 232CT A receives its GPIB listen address it treats the data it receives as a programming message When the GPIB 232CT A receives the serial device listen address it simply passes the data it receives to the serial device When the GPIB 232CT A receives its GPIB talk address it sends out status information When the GPIB 232CT A receives the serial device talk address it sends out the serial data received from the device You can program the GPIB 232CT A to assert SRQ under a variety of 688 National Instruments Tel 800 433 3488 Fax 512 683 9300 info ni com ni com RS 232 485 Controllers GPIB Cable gt HN U Serial Cable f l a p Ls GPIB 232CT A Figure 1 S Mode Application Example conditions for example when it has received any data from the serial device or when it has received an end of string byte from the serial device Software Win32 Compatibility Native 32 bit compatability with board level 1 488 2 functions is possible with a Win 32 operating system For details refer to the Application Note titled Board Level 1 488 2 Software for the GPIB 232CT A and Windows NT 98 95 Application N
16. ING STEPPER SWITCH ANGLE STEPPER MOTOR CONTROLLER Master STEPPER MOTOR CONTROLLER Master STEPPER MOTOR CONTROLLER Slave STEPPER MOTOR CONTROLLER Slave 24VDC 12 0 DUAL 12VDC POWER SUPPLY SIDE VIEW ERES 132 521 s 8 FOR POWER CORDSET SUITABLE FOR OTHER COUNTRIES NOTE AC POWER CORDSET SHOWN FOR US CANADA SEE TABLE 31 1 10907 0006 O LABEL CONTROLLER 30 _1 10907 0005 0 LABEL SLAVE CONTROLLER 29 1 10907 0004 0 LABEL MASTER CONTROLLER 28 4 7 SCREW 4 40 x 3 16 PAN HD S S 27 1 776898 01 CONVERTOR DC INPUT NAT INSTR SUPPLY 421 16 6 26 1 70403020305 POWER CORDSET PANEL COMPONENTS 25 2 239002 FUSE LINK 2 0 A SLO BLO LITTLEFUSE 24 2 23901 7 FUSE LINK 1 0A SLO BLO LITILEFUSE 23 s 7 WASHER 4 INTERNAL LOCK S S 22 8 7 WASHER M4 FLAT 5 5 NIE CONTROLLER Master Hisl lesz GPIB PLUG EXTENDER L COM normal _eftry 14 14 2122 CABLE BUSSING VELMEX EX 13 114 2102 MOTION CONTROLLER VELMEX 12 _1 HCCI5 3A POWER SUPPLY DUAL 12V 3 4A CONDOR 11 12 1904 12 SCREW M4 x 10 LOW PROFILE HD ELMA 10 6 63 027 ___ BASE PLATE ELMA 9 1163 172 EARTHING KIT ELMA 8 4 63 068 TAPPED STRIP 2 X 6 M3 HOLES ELMA 7 1114 135 10 e _1 148035 CASE RACK 3U with handles ELM BEHIND PANELS 4 PLS 8 s 1 17907 0005 0 GPIB CONVERTER MOUNTING
17. PLATE 4 4 17907 0004 0 CONTROLLER MOUNTING BARS 3 1 11907 0003 0 BACK PANEL ASSEMBLY 2 1 11907 0002 0 FRONT PANEL ASSEMBLY AC POWER CORDSETS 1 1 17907 0003 0 BASE PLATE COUNTRY RATING MANUFACTURER AND PART NUMBER USA CANADA 115V 13A PANEL COMPONENTS PART 70403020305 EUROPE__ 250 16A PANEL COMPONENTS PART NO 86235000 230V 13A PANEL COMPONENTS PART NO 86395090 ARGENTINA 220V 10A PANEL COMPONENTS PART NO 86390010 SWITZERLAND 230V 10A PANEL COMPONENTS PART 86396000 230V 10A PANEL COMPONENTS PART NO 86394000 Section 6 2 APPENDIX NATIONAL INSTRUMENTS GPIB RS232 CONVERTER DATA SHEETS GPIB lt gt Serial Controllers and Converter z gt o e o e e E E de 5 m a RS 232 485 Controllers and RS 232 Converter lt gt Serial Controllers and Converter Completely IEEE 488 2 compatible 256 KB RAM buffer 8 RS 232 or RS 485 data transfer rates up to 38 4 kb s hardware handshaking and the XON XOFF protocols prevent data loss Cable lengths extend GPIB Up to 15 6 m 50 ft for GPIB 232CT A and GPIB 232CV A Up to 1 2 km 4 000 ft for GPIB 485CT A NI GPIB 232CT A NI GPIB 485CT A Control a GPI B based test system from a remote computer via RS 232 485 NI GPIB 232CV A Switch selectable interface parameters include IEEE 488 address transfer rate parity stop bits
18. air the GPIB 485CT A with an RS 485 board for the PC such as the National Instruments 485 you can useit as a cost effective GPIB extender up to 1 2 km 4 000 ft Controller Capabilities Data Buffer A FIFO data buffer helps maximize performance The GPIB 232CT A and GPIB 485CT A can continue to accept data from the serial or GPIB port while the other port is busy Complete Status Update The GPIB 232CT A GPIB 485CT A handle both continuous and requested status and error reporting in either symbolic or numeric form Interface an RS 232 device to an IEEE 488 bus system 06 Symbolic status reporting isuseful for direct viewing on aterminal CMPL for complete ERR for error and so on Numeric status reporting is useful for processing by an application Modes of Operation You can use either controllers in either Serial 5 or GPIB G mode These modes are described using the GPIB 232CT A as an example S Mode Figure 1 shows the GPIB 232CT A used in the 5 mode In 5 mode the device on the serial side of the GPIB 232CT A isa computer or similar intelligent device TheGPIB 232CT A acts as a protocol translator between the serial port and GPIB devices and has complete Talker Listener Controller capability For S mode you can use a full repertoire of GPIB related commands and others that manage the serial interface and the GPIB 232CT A itself G Mode Figure 2 shows the
19. ary x Send last 4 positions of motor 1 to host that were captured by the I command or Input 4 trigger y Send last 4 positions of motor 2 to host that were captured by the I command or Input 4 trigger M Request Memory available for currently selected program Request the number of the currently selected motor Request the position when the last motor started decelerating shows position when command or Stop User input 4 used Read state of limit switch inputs 8 bit binary value Read state of User Inputs Motor 1 and 2 Jog Inputs 8 bit binary value Read user analog input value B Read Backlash compensation setting Read Indicate limit switch setting getDx Read mode version getDA Read Joystick Deadband setting getjmM Read first range Jog Speed for motor m getjAmM for Joystick range setting getJmM Read second range Jog Speed for motor m getJAmM for Joystick range setting getLmM Read mode of limits for motor m getMmM Read motor type size selected for axis m getPmM Read Pulse Every x Steps value for axis m Read operating mode of user inputs Ist List current program to host ASCII text Commands for two controls connected by VXM bus 13 11 Combine Index commands to run simultaneously on two VXM controllers connected by VXM bus 11 12 Send data to Slave through Master Jog mode commands D Read motor position Digitize Special function and setup commands Bx Backlash compensation on w
20. ated timing is preset by the MCU eliminating error prone analog feedback circuits Regulated power supply with a 100 to 240VAC input range assures consistent motor output torque oversize motor drives for long life and overload tolerance Asingle VXM can accept and execute commands for operating 4 motors Complete Controller Indexer Driver AC Power Supply with RS 232 interface Modulated current control drive has less low speed vibration than typical 400 step rev controllers Nonvolatile memory for user program storage Small size and low cost All cables included just plug in and run External desktop type power supply is UL CE CSA and TUV safety agency compliant One and two motor versions Three and four motor capability with two Controls linked by the VXM bus Software compatible with Velmex NF90 and VP9000 Step Motor controllers User programmable inputs and outputs 10 bit analog input for external sensor setting speed or for analog joystick control Runs size 17 to 34 step motors rated from 1 2 to 4 7 amps Jog Run and Stop input buttons on front panel Use interactively with a PC or run standalone Optically isolated limit switch inputs User resettable circuit breaker protected Software settable motor power and motor model selection Low voltage 24VDC operation Energy saving design automatically de energizes motors at a standstill consuming only 1 4 watts FIFO buffer to capture motor
21. e Limit LED will lit indicating the physical limit is reached CAUTION Limit switch only installed on linear stages There is no limit switch on the rotary stage for over rotation protection More than 360 degree rotation will cause damage to the cables and water hose to the magnet Section 6 1 APPENDIX DRAWINGS 6 1 Drawings 11907 0006 0_Rev_A Mechanical Assembly for XYZT 11902520_Rev A Mechanical Assembly for XYT 11902530_Rev A Electrical Assembly 11907 0001 0_Rev_A Controller Assembly MANUAL Z STAGE ADJUSTMENT Z STAGE LIMIT SWITCHES 4 FAR SIDE MOUNTING PLATE 320 0 12 60 MANUAL Y STAGE ADJUSTMENT 96 75 90 273 x4 MOUNTING HOLES 228 6 9 0 MANUAL X STAGE 177 80 7 0 5201 PROJECTED FIELD ELECTROMAGNET 12 ROTARY STAGE MANUAL T STAGE ADJUSTMENT 400 15 75 MIN 425 16 7 MAX ELECTROMAGNET WATER amp ELECTRICAL CABLES THRU HERE LIMIT SWITCHES 4 228 6 9 0 320 0 12 60 NOTE 1 ZERO REFERENCE SWITCH FITTED TO ROTARY STAGE NOMINAL RANGE O to 360 DEGREES 2 ADJUSTABLE LIMIT SWITCHES FITTED TO X and Y STAGES NOMINAL RANGE X Y 20mm Z 12 5mm 3 STEPPER MOTORS FITTED TO X Y Z and ROTARY STAGE MANUAL STAGE ADJUSTMENT ON EACH STEPPER MOTOR 4 SEE DWG NO 12907 0003 0 AND 12907 0004 0 FOR ADDITIONAL MOUNTING HOLES REQD ON Y AND Z STAGES 25 4 TSHCS 10 32 24 a 7 SHCS 10 32 x 23 2 17907 0010 0 SPACER BAR
22. elected program Clear all commands from currently selected program Motor commands ImMx Set steps to incremental Index motor CW positive m motor 1 2 3 4 x 1 to 16 777 215 ImM x Set steps to incremental Index motor CCW negative m motor 1 2 3 4 x 1 to 16 777 215 IAmMx Set Absolute Index distance m motor 1 2 3 4 x 1 to 16 777 215 steps 0 Index motor to Absolute zero position m motor 1 2 3 4 IAmM 0 Zero motor position for motor m m 1 2 3 4 ImMO Index motor until positive limit is encountered m motor 1 2 3 4 ImM 0 Index motor until negative limit is encountered m motor 1 2 3 4 SmMx Set Speed of motor 70 power m motor 1 2 3 4 x 1 to 6000 steps sec SAmMx is 100 power SmM x Read and assign analog input value to motor m speed 70 power x speed range SAmM x is 100 power Acceleration deceleration m motor 1 2 3 4 x 1 to 127 Program management commands PMx Select Program number x x 0 to 4 PM x Select and clear all commands from Program number x x 0 to 4 PM Request the number of the current Program PMAx Program Associate program x in Master to program x in Slave Linked VXMs start the same time x or x 255 is disable PMA Request the current program associate number Special looping branching commands LO Loop continually from the beginning or Loop to marker of the current program LMO Sets the Loop to marker at the current location in the program LM 0 Resets t
23. he Loop to marker to the beginning of the current program Lx Loop from beginning or Loop to marker x 1 times x 2 to 65 535 when the loop reaches its last count the non loop command directly preceding will be ignored L x Loop from beginning or Loop to marker x 1 times alternating direction of motor 1 when the loop reaches its last count the non loop command directly preceding will be ignored LAx Loop Always from beginning or Loop to marker x 1 times x 2 to 65 535 LA x Always from beginning or Loop to marker x 1 times alternating direction of motor 1 LM 2 Loop once from beginning or Loop to marker reversing index direction of motor 2 LM 3 Loop once from beginning or Loop to marker reversing index direction of motor 1 and motor 2 Jx Jump to the beginning of program number x x 0 to 4 JMx Jump to the beginning of program number x and come back for More after program x ends x 0 to 4 Pausing and input output commands Px Pause x tenths of a second x 0 to 65 535 10 usec pause when x 0 tenths of a millisecond when x is negative PAx Pause x tenths of a second Altering output 1 high for duration of the pause tenths of a millisecond when x is negative UO Wait for a low on user input 1 U1 Wait for a low on user input 1 holding user output 1 high while waiting U2 Enable Jog mode while waiting for an input U3 Disable Jog mode while waiting for an input 04 User output 1 low reset state U5 User output 1 high U6 Send W to host
24. hen x 1 off when x 0 Ox Indicate limit switch Over travel to host off when x 0 VXM sends O when x 1 and hit limit x 3 program stops too setDMx Set VXM VP9000 or NF90 emulation modes and other operating parameters setDAx Set Joystick Deadband value setjmM Set first range Jog Speed for motor m setjAmM for Joystick range setting setJmM Set second range Jog Speed for motor m setJAmM for Joystick range setting setLmMx Set limit switch mode for axis m setMmMx Set axis m for motor type size x Also sets default jog joystick motor power to 70 setMAmMx is 100 power setPmMx Set Pulse Every x Steps on output 2 for axis m setlx Set operating mode of inputs setBx Set RS 232 Baud rate 9 9600 19 19200 38 38400 Memory save commands rsm Run save memory saves setup program values to nonvolatile memory Legend New Commands for VXM not available on VP9000 or NF90 E Different input output range additional values from VP9000 Different command function for NF90 mode Nf90 emulation mode ImM0 Index motor m to absolute zero position L 0 Sets the Loop to marker at the current location in the program u2 Disable user output when pausing u3 Enable output when pausing reset state Acceleration deceleration values will be internally doubled to match NF90 s 2x ramp rate VP9000 Commands not supported by 010 011 012 022 040 041 U60 061 070 071 U72 U73 amp Feature Addressable
25. mp 1190700060 METAL IMAGE fi 10907 00110 LABEL XAXIS 190700000 METAL IMAGE i 10907 00120 LABEL YAXIS 1907 2006 0 METAL IMAGE fi 10907 00150 LABEL IDENTIFICATION STAGE 1190700060 METAL IMAGE fi Controller 77689801 RS2832 GPIBCONVERTOR 1190700010 NN 42102 CONTROLLER STEPPERMOTOR 1190700010 VELMEX 42122 CABLE BUSSING _ 7 1190700010 VELMEX SP18579 1 RS 232 9PIN M F 2FT STRAIGHT THROUGH 11907 0001 0 L COM t T CIBBAXC GPIBPLUGEXTENDER 1190700010 L COM ft ClF24 4M____ CABLE GPIB AM 1907000100 LCOM 15 SUPPLY DUAL 12VO34A 1190700010 CONDOR t 17907 00030 190720001 GMWAmProo t 12907400010 FRONT PANEL j1190700020 OMW AmProot 12907 00029 REAR PANEL _ 1190700080 GMW AmProto t 17907 00040 CONTROLLER MOUNTINGBAR 111907 0001 0 JG MW AmProto4 17907 0005 0 GPIB CONVERTOR MOUNTING PLATE 11907 0001 0 GMW Am Protoll 4B035 CASE RACK MTG 3U with handles 11907 0001 0 ELMA H c S 27 1 14 135 0 COVERPLATEKITGREY _ 119070001 0 ELMA tt 4 1904 12 SCREW M4x10 LOW PROFILE HD SPACER M4X25 BRASS R S 1190 000 RN 4 250A SPACER 6 35X6 25
26. or gpib232cva Serial Port Full duplex with optional echo 7 or 8 data bits 1 or 2 stop bits Odd even or no parity Baud rates 300 600 1200 2400 4800 9600 b s 19 2 38 4 kb s RS 232 Specific Asynchronous RS 232 EIA level DTE configuration XON XOFF and DTR RTS CTS handshake RS 485 Specific Asynchronous EIA 485 level Hardware handshake and XON XOFF GPIB 232CV A GPIB Transfer Rate GPIB reads into buffer memory Up to 625 kbytes s GPIB 232CV A Buffer Details C Mode Serial to OME or ao nece 256 KB D Mode small serial buffer Serial to 256B GPIB to serial 256 KB D Mode large serial buffer Serial to GPIB 32 KB GPIB to serial 224 690 National Instruments Tel 800 433 3488 Fax 512 683 9300 info ni com ni com Section 6 3 APPENDIX VELMEX VXM 2 MOTOR CONTROLLER SPECIFICATION Control for Science and Industry VXM LIT1 August 20 2002 VEL MEX ATZ VXM Stepping Motor Controller 20 Years of Stepping Motor Controls The VXM is a high performance advanced design stepping motor controller High reliability and consistent performance are achieved by these design features Single chip microcontroller MCU digitally controls the motor phase switching and all other interface functions noise sensitive step and direction translation circuitry are eliminated Pulse width modul
27. or linear stages accordingly is for rotary stage The third column is the position intended to move to The unit for linear stage is mm The unit for rotary stage is degree The table is ended by the word END The word END is used to indicate the end of the table User can construct a table using EXCEL or any word processing software The table file must have the same structure as the table shown but without the column for Step index It consists two columns one for axis and one for position The table ended by the word END The column uses Tab as delimiter 5 4 1 Load Table From file Will prompt user for loading a pre saved table file 5 4 2 Save Table to File Will prompt user for file name and location to save current table on the screen to a file for later use 5 4 3 Start Table Mode Close the Table Setup window and start running the software at Table mode using the table on the screen 5 4 4 Abort Table Mode Close the Table Setup window and return to the software to manual mode 5 4 5 Error LED Indicates if the table includes value out of the software limit set by user When out of limit error occurs the software will not go to table mode unless the error is corrected or the Table mode is aborted 5 4 6 Time Between steps Sec Specify how many seconds will pause between steps 5 4 7 Total Number of Runs Specify how many times user wants repeat the table 5 5 Set X Z Home
28. ote 130 part number 341585A 01 Under Windows e 9x you can install and use NI 488 2 for DOS to run DOS applications 1 488 2 for Windows 3 1 to run Win16 applications and 1 488 2 for Windows 3 1 along with the compatibility release to run Win32 applications GPIB Cable A De m Serial Cable i GPIB 232CT A Figure 2 G Mode Application Example and RS 232 Gonverter NI GPIB 232CV A Overview The National Instruments GPIB 232CV A IEEE 488 to RS 232 protocol converter transparently converts data between the two ports without control codes or special commands The GPIB 232CV A also increases the efficiency of the interface system by isolating a slow device from the faster port using its built in DMA controller and 256 kb RAM buffer You can use the GPIB 232CV A with virtually all PCs The GPIB 232CV A links either a GPIB controller to an instrument with an RS 232 port or a GPIB device to a computer through the computer serial port For example the GPIB 232CV A can interface a GPIB device such asan IEEE 488 spectrum analyzer to a computer with an RS 232 port or it can connect an RS 232 device such as a printer or plotter to a GPIB network Data transfers in either direction are possible at all times Depending on the version the GPIB 232CV A can accept either AC or DC power input Modes of Operation You can configure the GPIB 232CV A to run in one of two modes device mode or con
29. positions on external trigger Coordinated motion with two VXMs Complex motion profiles with continuous index mode Two Year Limited Warranty Physical VXM 1 and VXM 2 Electrical Requirements Weight VXM 1 2 6 Ibs 1 2 kg AC Power Supply 100 240VAC 2A 50 60Hz Weight VXM 2 2 9 Ibs 1 3 kg VXM Controller 24VDC 2 5A Height 3 27 83 mm Environmental Width 4 37 111 mm Operating Temperature 35 95 22 359 C Length 6 89 175 mm Relative Humidity 1096 9096 non condensing Physical AC Power Supply Models Price Weight 1 0 Ibs 0 45kg VXM 1 one motor version pp 640 Height 1 57 40 mm VXM 2 two motor version one motor operates at a time 785 Width 2 72 69 mm Length 5 14 131 mm Availability In Production Contact Information By Phone 585 657 6151 800 642 6446 By Fax 585 657 6153 Email infoQvelmex com On the Internet www velmex com and www bislide com By mail Velmex Inc 7550 State Route 5 20 Bloomfield NY 14469 USA Most commonly used commands VXM Command Summary F Enable On Line mode with echo oFF ImMx Set steps to incremental Index motor CW positive m motor 1 2 3 4 x 1 to 16 777 215 ImM x Set steps to incremental Index motor CCW negative m motor 1 2 3 4 x 1 to 16 777 215 R Run currently s
30. r is configured as Slave Controller The two motors connected to master controller are recognized as motor 1 and 2 by the system the two motors connected to slave controller are recognized as motor 3 and 4 Power supply CONDOR model HAA15 0 8 A dual adjustable outputs Provide electrical power both for the motor controllers and GPIB RS232 converter National Instruments GPIB RS232 converter Convert RS232 interface at V XM 2 to GPIB interface Linear stages provide X Y and Z motion Rotary stage provides angle motion Software provided on CD National Instruments NI GPIB driver CD GMW Motion Control Software CD Executable file Installer files PDF manual This document LabVIEW Source Code Section 3 SYSTEM REQUIREMENTS AC line voltage 115 220ACV 50 60Hz Computer Windows2000 NT XP GPIB interface card installed CD ROM for installing software LabVIEW 7 0 or later for running viewing and modifying software Not require if the executable version of Motion Control software provided is used LabVIEW Run Time Engine 7 0 for running executable version of the software Executable version Motion Control software does not require LabVIEW but requires LabVIEW Run Time Engine 7 0 It is included in the Motion Control software CD Section 4 INSTALLATION 4 1 Verify the GPIB and required drivers are installed in the computer 4 2 Verify the AC voltage selector on the rear panel of the Motion Control set to the cor
31. rect line voltage 4 3 Connect GPIB cable from computer to the Motion Control Interface 4 4 Connect power cord to the Motion Control Interface 4 5 Connect cables to all the motors Each stage has two cables One is for the motor one is for the limit switches Both cables need to be connected Connect Rotary stage to Master Motor 1 X stage to Slave Motor 1 Y stage to Slave Motor 2 Connect optional Z stage to Master Motor 2 4 6 Power on computer 4 7 Power on Motion Control Interface The Found New Hardware wizard will find the NI GPIB RS232 converter automatically Follow the instruction to install the necessary driver into computer Please refer to the document provided on the GPIB driver CD for more information 4 8 Install LabVIEW7 software Skip this step if LabVIEW7 was already installed or it is intended to use executable version of Motion Control software Section 4 INSTALLATION 4 9 Verify the hardware is installed correctly Double click the icon of Measurement amp Automation on the desk top to open MAX Go to My System gt gt Devices and Interfaces gt gt GPIBO Right click on the right side window Select Scan for Instruments If an entry shows an instrument at address 1 the device is installed correctly GPIB address was preset to 1 at factory User can change the GPIB address if needed Refer to the documentation on the GPIB driver CD from National Instruments for more information about ho
32. troller mode Device mode configures the GPIB 232CV A to perform as a GPIB Talker Listener controlled by another GPIB Controller Controller mode configures the GPIB 232CV A as a GPIB Controller that addresses a single GPIB device to talk or listen Serial Cable 222 GPIB Cable ge GPIB 232CV A Figure 3 6 Mode Application Example lajl8hu0 pue 81198 lt gt gid c zu w a a 3 5 5 a 5 5 National Instruments Tel 800 433 3488 Fax 512 683 9300 info ni com ni com 689 GPIB RS 232 485 Controllers and RS 232 Gonverter E gt Ordering Information 232 GPIB 232CT A hardware only AGVESION m oU M IU UR ETT 176668 0P BA O 776899 Y1 5 GPIB 232CT A and 1 488 2 for Windows 3 1 DOS 716667 0 DEVON E 716900 1 5 GPIB 485CT A GPIB 485CT A hardware only Dies cM 777146 0P 5 DEVON coran 777147 1 e GPIB 485CT A and 1 488 2 for Windows 3 1 DOS T AG VERSLOM A a ROSE AW OOO 777148 0P DEVON arca 777149 1 GPIB 232CV A c GPIB 232CV A hardware only NENNE NA 176669 0P DO NN 716898 Y1 Power cord type 1 U S 120 VAC 2 Swiss 220 VAC 3 Australian 240 VAC 4 Universal Euro 240 VAC 5 North American 240 VAC 6 United Kingdom 240 VAC Y Power supply type 0 115 VAC 3 230 VA
33. w to change GPIB address 4 10 Install Motion Control software The Motion Control software CD includes both source VI and executable version Source VI is the source code for LabVIEW LabVIEW 7 0 or later is required for viewing modifying and running VI Executable version is a stand alone version It does not require LabVIEW to run but requires LabVIEW Run Time Engine7 0 LabVIEW Run Time Engine 7 0 is included in the Motion Control software CD Close the MAX and any other programs that may be open Insert Motion Control software CD The installation should start automatically If the installation does not start automatically run Setup exe from the CD Setup exe is in the folder Installer on the CD After installing Motion Control software it will prompt user if LabVIEW RunTime Engine 7 0 will be installed 4 11 Restart computer Section 5 SOFTWARE DESCRIPTION 5 1 Starting and Stopping the Software open the program go from Start gt gt Programs gt gt GMW Motion Control gt gt Motion Control V2 Click on the white arrow button on the top of the screen to start the software Click Stop button or use lt Esc gt key to stop the software I GMW Motion Control_VELMEX_V2 vi Front Panel File Edit Operate Tools Browse Window Help m 17pt Dialog Font TESES 65 GPIB Address Table Mode Reset Angle T Counter Fl RE Current Run SET SET
34. word length and termination mode Special SRQ ON EM PTY feature for maximum GPIB performance Applications Print from a laptop computer to an IEEE 488 printer GPIB 232CTA L i EMI LL GPIB 232CV A LIO Eh ee Doki RL GPIB ABSCTA Compatible with RS 422 ports GPIB 485CT A NI 488 2 for Windows 3 1 DOS Applications ntegrate RS 232 485 instrument into a GPIB system NI GPIB 232CT A NI GPIB 485CT A Overview The National Instruments GPIB 232CT A and GPIB 485CT A can turn any computer or terminal with an RS 232 or RS 485 port into a full function IEEE 488 2 controller With the flip of a switch the NI GPIB 232CT A or GPIB 485CT A can make any RS 232 or RS 485 device appear as a GPIB device The small size of these controllers makes them ideal for use with laptop computers or other computers that have no internal I O slots available 4882 IEEE 488 2 ASIC implements the full range of GPIB controller functions including those controller functions required and recommended by IEEE 488 2 All GPIB sequences and operations conform to IEEE 488 2 External DIP switches set the operating mode the GPIB primary address and serial port parameters Depending on the version the GPIB 232CT A and GPIB 485CT A controllers can accept either AC or DC power input You can connect either the GPIB 232CT A or the GPIB 485CT A to up to 14 GPIB instruments addition when you p
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