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1. Information JIL MIL MI ie 85 Vv Figure 17a IEEE 488 GPIB Connector Q Pinouts looking at the back of the unit GNNOYS IVWNSIS NLV M YIYd ML ONS DYS M YIYd ML AN9 341 M YIYd ML ONS 9YAN M YIYd ML ONS G4YN M YIVd ML ONO AVG M IYd ML AN9 Nau 8010 L010 9010 sold ajloj t N N A oj e anj j o oj n ojo TI3IHS NLV DYS Jil JVaN G4YN AVG told 010 cold 1010 86 Figure 17b IEEE 488 GPIB Connector Pinout C Vv Pin Name Description 1 DIO1 Data 2 DIO2 Data 3 DIO3 Data 4 DIO4 Data 5 EOI Interface End or identify 6 DAV Handshake Data valid 7 NRFD Handshake Not ready for data 8 NDAC Handshake Not data accepted 9 IFC Interface Interface clear 10 SRQ Interface Service request 11 ATN Interface Attention 12 SHIELD Connected to the cable shield 13 DIO5 Data 14 DIO6 Data 15 DIO7 Data 16 DIO8 Data 17 REN Interface Remote enable 18 GND Twisted Pair with DAV 19 GND Twisted Pair with NRFD 20 GND Twisted Pair with NDAC 21 GND Twisted Pair with IFC 22 GND Twisted Pair with SRQ 23 GND Twisted Pair with ATN 24 SIGNAL GND 87 88 Vv Figure 18a RS 232 Connector 2 Male 9 pin D connector Pinouts looking at the connector on the cable Vv Figure 18b RS 232 Connector Pinout 2 Pin2. Command INSTrument STATe 0 1 OFF ON Query INSTrument STATe Description Turns the selected channel on or off or queries its status Explanation Starts the selected channel pulsing continuously at the current frequency Stops a fixed pulse count and resets the pulse counter such that starting will continuously pulse not finish the number of pulses Queries the status of the current channel returning a 1 if the channel is continuously pulsing or performing a fixed number of pulses This can be used to determine when a fixed number of pulses on the current channel have completed See also OPC for similar query functionality Example 1 Use INST STAT to detect end of pulse sequence SOUR PULS COUNT 1000 gt OK pulsing begins OPC ip Operation is not complete INST STATE gt Channel is on pulsing completes OPC gt 1 Operation is complete INST STATE gt 0 Channel is off 67 Vv Example 2 Turn a channel on and off Assume that to begin with Channel A is running continuously at 1 5kHz while Channel B is running continuously at 750Hz Note the differences between OPC and INST STATE INST 1 gt OK Channel A is selected OPC Operation is complete INST STATE gt 1 Channel A is on INST STATE 0 gt OK Channel A stops while Channel B continues OPC gt 1 Operation is complete gt 0 Channel A is of
3. 56 Vv List logical names Command None Query INSTrument CATalog lt wsp gt lt number gt Description Lists logical names Explanation Lists all the logical names associated with the indicated channel on installed switch cards No channel numbers are given Example List the logical names for two channels and a connector Assume a switch card is installed in Slot 1 and that Connector 1 has been assigned the name LensSet while its channel A has been assigned the name FocusLens and its channel B has been assigned the name TiltLens INST CAT 111 gt FocusLens LensSet_A INST CAT 112 gt TiltLens LensSet_B INST CAT 11 gt LensSet Note LensSet is the name that appears on the front panel if Slot 1 Connector 1 has been chosen and the User Display is active Command Query Description Explanation Example Vv List logical names and number None INSTrument CATalog FULL lt wsp gt lt number gt Lists logical names and numbers for installed cards Returns a list of device numbers and associated logical names for all the slots that have switch cards List the logical names and logical number for two channels and a connector Assume a switch card is installed in Slot 1 and that Connector 1 has been assigned the name LensSet while its channel A has been assigned the name FocusLens and its channel B has been assigned the name TiltL
4. Allowed frequencies are integer dividends of the maximum MaxFrequency MaxFrequency 2 MaxFrequency 3 MaxFrequency 65535 The actual frequency used will be the closest allowed frequency to the requested one The query will return the actual frequency used Examples are continued on the next page 53 54 Vv Example 1 What is the maximum frequency gt SOUR PULS FREQ MAX gt 1500 Hz Allowed frequencies are 1500 750 500 375 300 Example 2 Request a frequency that is not exactly an allowed frequency SOUR PULS FREQ 700 gt OK SOUR PULS FREQ gt 750 Hz Actual frequency is the nearest allowed one Example 3 Request the maximum frequency gt SOUR PULS FREQ MAX gt OK SOUR PULS FREQ gt 1500 Hz Actual frequency is maximum frequency Command Query Description Explanation Example 1 Example 2 Vv Set direction of motion SOURce DIRection lt wsp gt IN OUT CW CCW gt SOURce DIRection Sets or queries the Picomotor direction CW is for clockwise CCW is for counterclockwise The screw is right hand threaded so CW rotation moves the screw IN and CCW rotation moves the screw OUT Reponses to the query are CW and CCW only Move the screw into the mount SOUR DIR CW gt OK SOUR DIR gt CW Move the screw out of the mount SOUR DIR OUT gt OK SOUR DIR gt CCW 55
5. FocusLens Connector 11 has a logical name of LensSet Both the logical name and the associated logical name can be used to select channel 111 INST SEL FocusLens gt OK INST SEL LensSet_A gt OK Example is continued on the next page 61 62 Vv Now delete the logical name FocusLens INST DEL FocusLens gt OK Only the associated logical name LensSet_A works now INST SEL FocusLens gt Unknown Name INST SEL LensSet_A gt OK Command Query Description Explanation Example Vv Delete all logical names INSTrument DELete ALL None Deassigns all logical names Clears all the logical names NOTE This includes the front panel user labels Delete all logical names Channel 111 has a logical name of FocusLens Connector 11 has a logical name of LensSet Both the logical name and the associated logical name can be used to select channel 111 INST SEL FocusLens gt OK INST SEL LensSet_A gt OK Example is continued on the next page 63 64 Vv Example Now delete all the logical names INST DEL ALL gt OK Neither the logical name FocusLens nor the associated logical name LensSet_A now works INST SEL FocusLens gt Unknown Name INST SEL LensSet_A gt Unknown Name Com
6. so it is important to ensure that the driver is configured to generate the correct drive signals Each chan nel of every connector has its own configuration The picotype menu allows the user to configure the channels of the current connector for Standard or Tiny Picomotors All channels of the driver are set for Standard Picomotors at the factory so if you are using only Standard Picomotors no change in the channel configuration is necessary Changing the channel configuration Standard Tiny To reconfigure the output of a channel you must first choose a connec tor then use the menu system to change the configuration Ensure that the driver is in the operational mode Rotate the knob until the desired slot and connector numbers are displayed Press the menu button G to enter menu mode Rotate the knob until PICO is selected indicated by flashing Press the select button 6 to enter the picotype configuration menu Rotate the knob to choose channel A B or C of the output connector Press the select button to display the stan dard tiny menu Rotate the knob to choose either STANDARD or TINY Pressing the select button will save the chosen configuration and return the driver to the picotype menu allowing the other channels to be configured Menu Tree Figures 5 through 8 show the menu tree in diagram form These diagrams show the various levels of the instrument s menus mixing pictorial and writ ten descript
7. are lost Home moves the cursor to the left most character Characters are not moved End moves the cursor to the rightmost character Characters are not moved Left Arrow moves cursor one to left Characters are not moved Right Arrow moves cursor one to right Characters are not moved MOVING BETWEEN CONNECTORS When changing connectors to edit names the ACTIVE connector is not changed Vv While changing connectors the Slot and Connector numbers are shown temporarily You can continue to change the connector slot and the numbers will change to reflect where you are The editor will resume edit mode on the new Connector after approximately one second or on receipt of any printable key spacebar etc being hit This character is used only to re enter the editor and is ignored CONNECTORS Carriage Return moves to the next connector 1 gt 2 gt 3 gt 4 gt 1 Down Arrow does the same as Carriage Return Up Arrow moves to the previous connector 1 gt 4 gt 3 gt 2 gt 1 SLOTS Page Down moves to the next slot 1 gt 2 gt 3 gt 4 gt 5 gt 1 Page Up moves to the previous slot 1 gt 5 gt 4 gt 3 gt 2 gt 1 Carriage Return moves between connectors on a given slot The Slot and Connector numbers are shown for a second This may be shortened by pressing any key This character is used only to re enter the editor and is ignored 99 100 Vv Appendix B Table of Editor Commands TAB Mo
8. connector provided Rotate the front panel knob until the slot and connector to be labeled is dis played Begin typing in the new name up to 16 characters To store the name press the ESC key on the keyboard or push the front panel LOCAL button The display will return to default display To toggle between the default display and your personal labels push the front panel display button See Appendix A for a complete discussion of the keyboard editor 33 Vv Figure 10 Motor Option Configurations 3 Axis Mirror Mount Model 8809 aT Slot 3 Slot 4 Slot 5 Picomotor Control Pad Model 8620 34 Vv Motor Option Configurations This diagram shows some of the various options and motor attachments possible with the 8732 Additional switch boards can be added to the 8732 to increase the total number of Picomotors that can be driven Multi Stage Axis Model 8082 Rotary Stage Model 8401 Micrometer Replacement Actuator Model 8302 V Picomotor Adapter 8601 NEW FOCUS Ine Maden USA Multi to Single Axis Tiny Adaptor Micrometer Replacement Model 8601 Actuator Model 8351 35 36 IV Computer Control Vv The Model 8732 Picomotor Driver can be operated remotely by either its IEEE 488 GPIB or RS 232 Serial interface Most computers have RS 232 interfaces built in In
9. enter edi tor and is discarded The name of the active connector is now being edited LEAVING EDITOR ESC or the Local Button leaves the editor and saves away new names If the 8732 loses power before you leave the editor all edits will be lost EDITING UPPERCASE LOWERCASE Shift gives you uppercase as long as you hold it down CAPS LOCK toggles between uppercase and lower case Uppercase forces all characters to their shifted version Also forces numbers to be their shifted versions Note that the capslock led will not come on OVERWRITE vs INSERT MODE There are two modes overwrite and insert just like a standard computer Default mode is overwrite where your new characters overwrite those already there A flashing underscore shows editing position in this mode Insert moves characters over to make room for the new ones A flashing block arrow shows editing position in this mode 97 98 Vv DELETING Backspace deletes the character behind the cursor Delete deletes the character at the cursor Ctrl D deletes the whole line COPY and PASTE Ctrl C copies the entire name into a buffer Ctrl V pastes the buffer back into the current name This replaces the entire name CURSOR MOVEMENTS Tab moves the cursor to the next tab stop fixed at 5 9 13 and 17 The characters at the previous tab stop and beyond are all shifted along with the cursor Note that the cursor stops at 16 if you tab to 17 the characters
10. lines nor the step and direction lines are active while the instrument is being controlled over the GPIB or RS232 interface 77 78 Vv Slot and Connector Lines Three lines Slot2 Slot and Slot0 control the slot Conn2 Conn and Conn0 control the connector ConnSelect must be low to enable the lines GPIB RS 232 commands override everything Figure 12 Digital slot and connector lines male connector Control Input DigitalGND ConnSelect Table 2 Digital slot and connector control Control Input Pins Conn Select Slot2 Slot Slot Conn2 Conn Conn0d Vv Action c E e E e E m E a E e E e E E m E e E e E e E e E e E oOo ooo oD Pre CO COrFrR rF oo oD Some Slot as specified by the Slot bits above FP Ore Or OF D e oOo Doo oD Some Connector as specified by the Conn bits below oorno oo Or Or D e oD Nothing Selected Slot 1 Some Connector Slot 2 Some Connector Slot 3 Some Connector Slot 4 Some Connector Slot 5 Some Connector Nothing Selected Nothing Selected Nothing Selected Some Slot Conn1 Some Slot Conn2 Some Slot Conn3 Some Slot Conn4 Nothing Selected Nothing Selected Nothing Selected 79 Vv Step and Direction Lines Three sets of step and direction lines control the pulse frequency of the three channels of the selected connector StepSelect must be low to enable the lines GPIB RS 232 comma
11. order to use the GPIB interface you ll need to buy a special card or interface box The GPIB interface is many times faster than the RS 232 interface and can be used to talk to up to 30 instruments at the same time RS 232 is limited to controlling one instrument at a time Before attempting to communicate with the instrument you must set the device address or the baud rate via the front panel menu by following the instruc tions in Section II Upon receiving a computer command the front panel functions are locked out Use the Local front panel button to re enable the front panel The slot and connector remain the same as they were under remote computer control Computer Control Features The computer commands allow you to perform all front panel operations as well as access several functions that can only be reached through computer control Front Panel LED s Two LED s on the front panel pertain to remote operation of the Picomotor Driver The Remote LED lights when an interface command is received to show that the front panel buttons are locked out The Addressed LED flashes when data is sent or received through the remote interfaces IEEE 488 GPIB Standard GPIB stands for General Purpose Interface Bus It is also known as the IEEE 488 standard GPIB is a standard protocol used by personal computers to communicate with laboratory instruments Several manufacturers make printed circuit board cards that plug into your compu
12. ENTERS Disabled Operational Mode Main Menu Operational Mode RS 232 Menu Q kno BAUD RATE nn CHOOSES RS 232 baud rate 300 to 19200 baud o o MENU DISPLAY EXITS to SAVES Disabled Operational Mode RS 232 baud rate 22 J MENU EXITS to Operation Mode GPIB e SELECT ENTERS GPIB Menu O KNOB CHOOSES GPIB address 1 to 30 T ADDRESS nn e MENU EXITS to Operational Mode e SELECT SAVES GPIB Address e DISPLAY Disabled DISPLAY Disabled n 23 v Figure 7 Menu Tree Picotybe menu Oro a cHoosss M E he menu items Chosen item is flashing e e e MENU SELECT DISPLAY EXITS to EXITS to Disabled Operational Mode Main Menu 24 Vv A S or T B S or T CES or T o e e MENU SELECT DISPLAY EXITS to ENTERS Disabled Operational Mode Standard Tiny Menu O KNOB STANDARD TINY CHOOSES between Standard and Tiny Picotypes e e e MENU SELECT DISPLAY EXITS to SAVES Disabled Operational Mode Picotype Selection Does not save 25 v Figure 8 Menu Tree cb E S Display Button T User Label a siot con 2 Menu Butto
13. Model 8732 User s Manual The Picomotor Driver U S Patent No 5 410 206 CAUTION Use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous voltage exposure Vv Contents v Is a registered trademark of New Focus Inc 800480 Rev E 2 II II IV List of Figures Tables amp Graphs User Safety High Voltage Safety Warning Quick Start Unpacking your 8732 Controls and Connections Setting Up Adding More Picomotors Instrument Operation Modes of Operation Front Panel Controls Menu Commands Rear Panel Connections Operation Connecting Picomotors Powering Up Instrument Display Motor Option Configurations Computer Control Computer Control Features Front Panel LED s IEEE 488 GPIB Standard RS 232 Standard Response to Commands Command Syntax Command Set Command Set Summary Picomotor Command Definitions ms Vv VI Vil Analog and Digital Control Analog Control Digital Control Technical Considerations Connector Information Appendices Appendix A Keyboard Editor Appendix B Table of Commands AC Operating Voltages Specifications Warranty Service and Support 68 ral 78 79 91 94 96 97 98 Vv List of Figures 17a 17b 18a 18b 19a 19b Front Panel Rear panel inputs and outputs The Picomotor is a piezo that turns a screw Front Panel Menu Tree Main menu Menu Tree Communi
14. Name Description 1 Not Connected 2 Tx Serial Transmit Line Rx Serial Receive Line Not Connected Ground Digital Ground Line Not Connected Not Connected Not Connected SDS Oo N DBD a A ww Not Connected 89 90 Vv Figure 19a 8732 Output and Picomotor Cable Connectors 4 Pinouts looking at the back of the unit 8732 Output Connector Standard Multi axis Cable Female 6 pin RJ 11 Male 6 pin RJ 11 Blue A A 6 Yellow A Gnd Ground 5 Green B B 4 Red B Gnd Ground 3 Black c C 2 White C Gnd Ground 1 Standard Single axis Cable Male 4 pin RJ 11 Yellow A Gnd Green A Red Not Connected Black Not Connected Tiny Multi axis Cable Male 6 pin RJ 11 White A Black Common Gnd Not Connected Yellow c Not Connected Tiny Single axis Cable Male 4 pin RJ 11 White A Gnd Black A Not Connected A Not Connected Figure 19b 8732 Output and Picomotor Cable Connector Pinouts 4 Connector Pin Signal Wire Color Driver 6 A Blue and 5 A Gnd Yellow Standard 4 B Green Multi axis 3 B Gnd Red 2 C Black 1 C Gnd White Standard 4 A Gnd Yellow Single axis 3 A Green 2 Red 1 Black Tiny 6 A White Mullti axis 5 Common Gnd Black 4 B Red 3 Not Connected 2 C Yellow 1 Not Connected Tiny 4 Not Connected Single axis 3 Not Connected 2 A Black 1 A Gnd
15. White 92 Figure 20a Hand Pad Control Pad 6 Male 15 pin D connector Pinouts looking at the connector on the cable 8 DigitalGND Vv Figure 20b Hand Pad Control Pad Pinout 6 Vv Pin Name Description 1 Analog A Channel A Analog Hand Pad Input 2 Analog C Channel C Analog Hand Pad Input 3 N2 5 2 5V referenced to Analog GND 4 P2 5 2 5V referenced to Analog GND 5 5 5V DC referenced to Digital GND 6 Analog B Channel B Analog Hand Pad Input 7 Tx TTL Future Expansion 8 Digital GND Digital Ground 9 Rx TTL Future Expansion 10 5 5V DC referenced to Digital GND 11 Analog GND Analog Ground 12 NC Not connected 13 5 5V DC referenced to Digital GND 14 Digital GND Digital Ground 15 5 5V DC referenced to Digital GND 93 Vv Figure 21a Control Input Q Male 25 pin D connector Pinouts looking at the connector on the cable GNnglevbiq Oa aey O ononon O er mag O z amg O ors 94 Vv Figure 21b Control Input Pinout T Pin Name Description 1 5 5 Volt DC Source referenced to DIGITAL GND 2 StepC Channel C Digital Step Control Line Negative Edge 3 StepA Channel A Digital Step Control Line Negative Edge 4 DirB Channel B Digital Direction Control Line 5 DigitalGND Ground Line for Digital Control Inputs 6 SyncB This line goes low during movement portion of Channel B pulse 7 DigitalGND Ground Line for Digital Control Inputs 8 Slot2 S
16. ase contact New Focus immediately Check the shipping container and its contents carefully for any components which may be buried in the packing materials Save the shipping container so that in the unlikely event that you need to return the unit to New Focus you can pack it easily and safely Vv Controls and Connections Figures 1 and 2 show the front and rear panels of the 8732 with a description of the controls and the inputs and outputs Figure 1 Front Panel Display The display shows the current slot and connector addressed by the driver in the operational mode and shows the various adjust ment parameters for the driver in the menu mode Addressed Indicator This LED indicator lights whenever the driver is addressed externally showing that communication is taking place See section IV Remote LED Indicator This LED indicator lights when the driver Vv is under remote control either over the IEEE 488 bus or the RS 232 bus See section IV Power Switch Turns the driver power on and off Menu Button This button switches the driver from normal opera tional mode to menu mode See section III Select Button When the driver is in menu mode pressing the select button chooses the currently selected menu item for adjustment or display See section III Display Button Shifts the display between default slot and connector descriptions and user defined descriptio
17. ation complete query will return a 0 This is different from the INST STATE query in two ways 1 INST STATE returns the status of only the current channel 2 INST STATE returns a 1 if the channel is doing a fixed number of pulses or has simply been turned on and is pulsing continuously OPC will return a 0 while any of the channels is doing a fixed number of pulses but pulsing continuously is considered to be a completed operation so if all three channels were pulsing continuously OPC would return a 1 Vv Example 1 Use OPC to detect end of pulse sequence SOUR PULS COUNT 1000 gt OK pulsing begins OPC gt 0 Operation not complete INST STATE gt 1 Channel is on pulsing completes OPC gt 1 Operation is complete INST STATE gt 0 Channel is off Example 2 QPC considers continuous pulsing to be a completed operation INST STATE ON gt OK pulsing begins OPC gt 1 Operation is complete INST STATE gt 1 Channel is on 47 48 Command Query Description Explanation Example Vv Reset Command RST None The Reset command performs a device reset placing the 8732 in a known state The reset conditions are as follows 1 Channel 111 is the current channel 2 All channels off 3 All channel directions set to OUT 4 OPC status cleared all operations complete T
18. before starting command entry and end the command with a carriage return lt CR gt is the attention signal which must be the first character of each command string RS 232 commands are identical to the GPIB commands RS 232 commands are sent as a continuous string For example pulse freq 1 2 kHz lt CR gt 37 38 Vv Response to Commands The driver does not echo the command or the query If you send a command the driver will return one of the following responses OK if the command was properly executed Out of Range if a parameter is outside its allowed range Unknown Command if the command was not recognized If you send a query the driver will return The value you requested or Unknown Command if the command was not recognized For example if you send source puls freq you get back something like 1500 Hz With RS 232 communications the response is sent immediately and you may process or ignore the data With IEEE 488 communications the response is loaded into the output buffer You may read it with the appropri ate command or else ignore it Multiple Commands per Line Multiple commands may be sent on a single line The commands should be separated by a semi colon The maximum line length is 256 characters The response from a sequence of commands is that of the last one as each succeeding command response overwrites the last Command Syntax In the list tha
19. cations menu Menu Tree Picotype menu Menu Tree Overview Rear panel inputs and outputs Motor Option configurations Analog Input lines Digital Slot and Connector Lines Digital Step and Direction Lines Sync Lines Sync pulse and screw movement Rear panel inputs and outputs IEEE 488 GPIB Connector IEEE 488 GPIB Connector Pinout RS 232 Connector RS 232 Connector Pinout 8732 Output and Picomotor Cable Connectors Vv 83 84 8732 Output and Picomotor Cable Connector Pinouts 85 List of Tables List of Graphs 20a 20b 21a 21b 22a 22b Hand Pad Control Pad Hand Pad Control Pad Pinout Control Input Control Input Pinout Keyboard Connector Keyboard Connector Pinout Usable connector choice and motor control combinations Digital Slot and Connector Control Digital Step and Direction Control Pulse frequency as a function of input voltage 86 87 88 89 90 90 3i 19 75 69 Vv User Safety Vv Your safe and effective use of this product is of utmost importance to us at New Focus Please read the High Voltage Safety Warning before attempting to operate the Picomotor driver High Voltage Safety Warning Caution Use of controls or adjustments or performance of procedures other than specified herein may result in hazardous voltage exposure The Model 8732 is a high voltage piezoelectric driver system capable of gen erating dangerous high voltages Because of the h
20. d directly to the output jacks and single axis components such as MRA s can be connected via a Model 8601 Multi to single axis adapter See Figure 10 for some examples The output display can be configured to show either default names Slot x Conn y or to show user defined labels Powering Up Before powering up the 8732 Picomotor driver for the first time read the instructions in the section on AC Operating Voltages Check to be sure that your unit is set up for the AC line voltage at your location Attach the control pad to the 15 pin D Sub connector on the back panel Attach picomotors to the various connectors on the rear panel Note Be sure that the connectors on the Picomotors match the jacks on the driver Multi axis Picomotors use 6 pin RJ 11 style connectors and single axis Picomotors such as MRA s use 4 pin RJ 11 style connectors The 8732 output ports are 6 pin RJ 11 jacks To use single axis devices obtain an 8601 Multi to single axis adapter and attach it between the driver and the motor 31 32 Vv Turn the unit on using the front panel power switch The 8732 first performs tests on the various subsystems in the instrument If all the subsystems are working properly the display will read New Focus 8732 then show the firmware version numbers something like G1 05 M1 05 followed by the default output port name Slot 1 Conn 1 Atthis time the instrument is ready to drive motors To drive an
21. ed or implied and does not cover incidental or consequential loss Service Virtually no maintenance is required except for ensuring that the unit is not damaged contaminated or used in an unsafe manner For service repair or calibration please call for a return authorization number before shipping the unit to New Focus Technical Support Any questions regarding the operation or performance of the Model 8732 Picomotor Driver will be gladly answered by New Focus engineers You can reach us at NEW FOCUS Inc 2630 Walsh Avenue Santa Clara CA 95051 0905 USA Phone 408 980 8088 Fax 408 980 8883 Email Contact NewFocus com Internet www NewFocus com
22. ee Table 2 to choose output slot 9 Slot0 See Table 2 to choose output slot 10 Conn1 See Table 2 to choose output connector 11 AnalogGND Ground Line for Analog Control Inputs 12 AnalogC Channel C Analog Control Input 2 5 V to 2 5 V 13 AnalogA Channel A Analog Control Input 2 5 V to 2 5 V 14 StepSelect Active low input enables Step and Direction inputs 15 StepB Channel B Digital Step Control Line Negative Edge 16 DirC Channel C Digital Direction Control Line 17 DirA Channel A Digital Direction Control Line 18 SyncC This line goes low during movement portion of Channel C pulse 19 SyncA This line goes low during movement portion of Channel A pulse 20 ConnSelect Active low input enables Digital slot and connector selection 21 Slotl See Table 2 to choose output slot 22 Conn2 See Table 2 to choose output connector 23 Conn0 See Table 2 to choose output connector 24 AnalogGND Ground Line for Analog Control Inputs 25 AnalogB Channel B Analog Control Input 2 5 V to 2 5 V 95 96 Vv Figure 22a Keyboard Connector Female 5 pin DIN connector Pinouts looking at the back of the unit S ee SOs SEN Figure 22b Keyboard Connector Pinouts Pin Name Description 1 Clock Keyboard Clock Line 2 Data Keyboard Data Line 3 Not Connected 4 GND Digital Ground 5 VCC 5 VDC Vil Appendices Vv Appendix A Keyboard Editor ENTERING EDITOR Enter by hitting any character This character is only used to
23. el can be used in your program with the _A _B or _C appended to access individual channels See next page Vv Example Assign the logical name FocusLens to Slot 1 Connector 1 Channel A Assign the logical name TiltLens to Slot 1 Connector 1 Channel B No logical name will be assigned to Channel C INST DEF FocusLens 111 gt OK INST DEF TiltLens 112 gt OK Assign the logical name LensSet to Slot 1 Connector 1 This name will appear on the front panel of the instrument for Slot 1 Connector 1 if User Display is selected INST DEF LensSet 11 gt OK Example continued on next page 59 60 Vv Slot 1 Connector 1 Channel A can be referred to as 111 Logical number FocusLens Logical name LensSet_A Associated logical name Slot 1 Connector 1 Channel B can be referred to as 112 Logical number TiltLens Logical name LensSet_B Associated logical name Slot 1 Connector 1 Channel C can be referred to as 113 Logical number LensSet_C Associated logical name Note Channel C did not have a logical name assigned to it Command Query Description Explanation Example Vv Delete a logical name INSTrument D None ELete NAMe lt wsp gt lt name gt Deassigns a logical name Removes the name from the logical name list Delete a logical name Channel 111 has a logical name of
24. ens INST CAT Full 111 gt FocusLens LensSet_A 111 INST CAT Full 112 gt TiltLens LensSet_B 112 INST CAT Full 11 gt LensSet 11 Note LensSet is the name that appears on the front panel if Slot 1 Connector 1 has been chosen and the User Display is active 57 58 Command Query Description Explanation Examples Vv Assign logical name to channel or connector INSTrument DEFine lt wsp gt lt name gt lt number gt None Assigns a logical name to a logical number Every channel which corresponds to a Picomotor axis and connector can be assigned a logical name that is more meaningful than the standard logical number A logical number that includes the slot connector and channel number assigns the logical name to the channel This name can be up to 21 characters long and can be used to select the channel just as you would with the logical numbers A logical number that only includes the slot and connector numbers assigns the logical name to the connector These names can be only 16 characters long and will appear on the front panel of the instrument if the user display is selected The 8732 recognizes some associated logical names which are the connector name with a _A _B and _C appended These can be used anywhere a logical name can be used Note This process works in reverse also A name assigned to a connector from a keyboard plugged into the backpan
25. ero This dead zone prevents unwanted pulses generated by noise All voltages should be referenced to the AnalogGND lines The connector being driven may be chosen by either the front panel knob or by the digital slot and connector control lines NOTE It is NOT possible to use the analog inputs while choosing slot and connector with GPIB or RS 232 Vv Graph 1 Pulse frequency as a function of input voltage 1500 1250 1000 2 750 2 500 250 0 0 00 0 5 1 0 1 5 2 0 25 Voltage Figure 11 Analog input lines male connectors Control Input Hand Pad Input Foa AnalogA to O O 2 Analog gt O O OH 3 N25 16 O AnalogGND _11 O U PS uL o 12 O a O O O 6 AnalogB 19 14 O o 7 om 8 21 O 22 O nese AnalogGND AnalogGND 24 O AnalogC AnalogB 25 O AnalogA 75 76 This page intentionally left blank Vv Vv Digital Control Digital TTL control of the 8732 has two independent elements 1 Slot and connector choice 2 Step and direction for each channel You can use the slot and connector lines to choose a slot and connector while controlling the pulse frequency with the step and direction digital lines the analog inputs or the control pad You can use the step and direction digital lines to control the pulse frequency while choosing a slot and connector with either the slot and connector lines or the front panel knob NOTE Neither the slot and connector
26. f gt OK Channel A starts up again while Channel B continues OPC gt 1 Operation is complete INST STAT 5i Channel A is on Command Query Description Explanation Example Vv Identify card in slot None SYSTem CTYPe lt wsp gt lt slotnumber gt Identifies card in specified slot Slot number is a number 1 to 5 Returns the type of card in the slot The type of card is a number 0 No Card in slot 1 Switch Card 2 255 Reserved Find out what cards the 8732 has installed Assume there are two Switch Cards one in Slot 1 and one in Slot 2 and that slot 3 is empty SYST CTYPE 1 gt il SYST CTYP 2 gt th SYSTICTYP 3 gt 0 69 70 Command Query Description Explanation Vv Configure channel by its name SYSTem DEFine lt wsp gt lt name gt lt STD TINY gt SYSTem DEFine lt wsp gt lt name gt Configure the indicated channel to drive either Standard or Tiny Picomotors Channel is indicated by its logical name Picomotors can be Standard or Tiny There is a capacitive difference between the two types which affects the pulse height that drives them This in turn affects the bias voltage that must be applied for normal operation A Picomotor can be damaged if it is driven with the wrong type of drive signal for an extended period of time so it is important to ensure that the driver is config
27. he RS 232 baud rate press the menu button G to enter menu mode Rotate the knob 8 until C O M is selected indicated by flashing Press the select buttgn 6 to enter the communications menu Rotate the knob until RS 2 3 2 is flashing Press the select button to choose the RS 232 menu The display will show the current baud rate between 300 and 19200 Rotate the knob until the desired baud rate is chosen Pressing the select button will set the baud rate and return the driver to the communications menu From there the menu button will take you back to operational mode Changing the GPIB Address To change the GPIB address press the menu button 6 to enter menu mode Rotate the knob 8 until C O M is selected indicated by flashing Press the select buff9n 6 to enter the communications menu Rotate the knob until GP IB is flashing Press the select but ton to choose the GPIB menu The display will show the current GPIB address between 1 and 30 Rotate the knob until the desired address is chosen Pressing the select button will set the GPIB address and return the driver to the communications menu From there the menu button will take you back to operational mode Vv Picotype Menu The high voltage signals used to drive the Tiny Picomotors are different from the drive signals for the Standard Picomotors A Picomotor can be damaged if it is driven with the wrong type of signal for an extended period of time
28. he current channel is 221 The front panel reads SLOT2 CONN2 All three channels are pulsing RST gt OK All pulsing stops The front panel now reads SLOT1 CONN as the current channel is now 111 Command Query Description Explanation Example 1 Example 2 Vv Self Test Query NONE TST The self test query causes an internal self test and responds with the results of that test Nothing about the instrument state is modified because of this command A successful test returns a 0 Right now all tests are successful In the future unsuccessful tests will return information about the origin of the failure This command is included now for compatibility with standard initialization routines 8732 is in perfect working order TST 8732 has been run over by a truck nothing works but somehow it is still able to communicate TST gt 0 49 50 Command Query Description Explanation Example Vv Source a fixed number of pulses SOURce PULSe COUNt lt wsp gt lt NumericValue gt None Sends a number of pulses out the current channel Exactly the described number of pulses are sent out The channel and the direction are set elsewhere Maximum number of pulses is 65535 Minimum number of pulses is 0 The 8732 will send the requested number of pulses at the current frequency immediately upon receiving the command Send five pulses to the currently selected channe
29. he module also contains the inlet protection fuses See section on AC Operating Voltages Hand Pad Input This connector allows the Model 8620 control pad to be attached to the driver allowing manual control of the attached Picomotors See section III Control Input This connector provides 1 0 for external digital and analog control of the driver See section III V Keyboard 1 0 This allows the connection of a standard AT 101 key board to the driver The keyboard can be used to customize the names displayed for each slot and connector See section III 11 12 Vv Setting Up L 2 Place the driver in the approximate position for use Inspect the connectors attached to the various Picomotors that will be plugged into the driver The 8732 is configured to accept 6 pin RJ 11 style connectors These connectors are standard on all of our multi axis mounts NOTE Our single axis mounts and micrometer replacement actuators MRA use 4 pin RJ 11 connectors To use MRA s or single axis mounts in the 8732 you will need a Model 8601 Multi to single axis adapter Plug in the driver attach the control pad and plug at least one stan dard Picomotor into the Slot 1 Connector 1 output jack Picomotors can be Standard or Tiny There is a capacitive difference between the two types which affects the pulse height that drives them This in turn affects the bias voltage that must be applied for normal operation A Picomotor ca
30. igh voltage capabilities of the driver proper precautions should be taken to avoid electrical shock All high voltage connections are found at the back panel of the driver High volt age is present on only one of these connectors at a time but it can be present at any time whether or not the 8732 is being driven by a model 8620 control pad or an external drive input analog digital or computer control Note Opening the 8732 enclosure will expose voltages up to 200 V DC and up to 240 V AC These voltage levels are dangerous Under most conditions the 8732 should not need to be opened Do not open the 8732 unless instruct ed to do so by a New Focus representative Unauthorized opening of the driver will void the driver warranty I Quick Start Vv This section outlines the quickest path to using your Picomotor driver For more detail on how to operate the instrument refer to Section III The instrument is configured at the factory for the line voltage and frequency appropriate for your country If you are unsure of how your unit is configured check the section on AC Operating Voltages for more details If you will be controlling your driver via the RS 232 or IEEE 488 connector see section IV Unpacking Your 8732 Carefully open the 8732 shipping container and inspect the contents of the box carefully for any signs of damage If you notice any signs of damage such as dented or scratched covers broken knobs or switches etc ple
31. individual motor rotate the front panel knob until the appropriate output jack is selected Pushing slider A B or C on the control pad will drive the correspondingly labeled motor on the multi axis mount or 8601 adapter To drive multiple motors simultaneously push the appropriate sliders at the same time Instrument Display The instrument display consists of a 16 character alphanumeric display and two LED indicators The format of the alphanumeric display is dependent on the instrument s operating mode The LED indicators at the right hand side of the display show the communications state of the driver The Addressed indicator flashes each time the instrument is addressed by an external com puter This indicator may flash very rapidly appearing to be on continuous ly The Remote indicator is lighted when the instrument is under remote computer control To switch the driver back to local control press the Local button on the front panel Default Display The default output connector names are Slot x Conn y where x is 1 to 5 and y is 1 to 4 The slot numbers are shown in Figures 2 and 4 and are numbered 1 through 5 from left to right as seen facing the back of the 8732 The connectors are numbered 1 through 4 from top to bottom Vv User Display You may choose to give your connectors labels that are meaningful to your particular setup To enter your own labels attach a standard AT 101 computer keyboard to the back panel
32. ion on the instrument display later in this section 29 30 Vv Operation The model 8732 provides many options for driving Picomotors The instru ment can drive up to three motors simultaneously from any one of the up to twenty 3 axis connectors The motor speed can be controlled in four ways 1 The 8620 Control Pad 2 Analog voltages applied to the Control Input or Hand Pad Input 3 Digital TTL level step and direction signals applied to the Control Input 4 Remote computer control over the GPIB or RS 232 busses The connector being driven can be chosen in three ways 1 Turning the knob on the front panel 2 Digital TTL level slot and conn signals applied to the Control Input 3 Remote computer control over the GPIB or RS 232 busses The usable combinations of method of connector choice and method of motor movement are shown in the table below For example it s possible to control the speed of the motors with an analog signal while selecting the connector with TTL digital signals but not while selecting the connector over the GPIB or RS 232 busses Vv Table 1 Usable connector choice and motor control combinations Connector Choice Motor Front Digital GPIB Control Panel Input RS 232 Control Pad Yes Yes No Analog Input Yes Yes No Digital Input Yes Yes No GPIB RS 232 No No Yes Connecting Picomotors Multi axis mounts can be connecte
33. ions of how to move around The icons in the diagrams show the knobs and buttons required to move through the menus The circled numbers found near the icons indicate the number associated with the button or knob See Figure 1 or Figure 4 19 v Figure 5 Menu Tree Main menu Operational Mode SLOT 1 CONN 1 or User Label e MENU SELECT ENTERS Disabled Menu Mode O KNOB COM CHOOSES Communications Menu between menu items Choose this menu to access Chosen item is flashing GPIB and RS 232 menus e e e MENU SELECT DISPLAY EXITS ENTERS Disabled to Operational Mode Communications Menu Figure 6 20 Vv wish DISPLAY TOGGLES between default names and user names PICO Picotype Menu Choose this menu to configure the driver output for Standard or Tiny Picomotors default is Standard Picomotors a e J e MENU SELECT DISPLAY EXITS ENTERS Disabled o Operational Mode Picotype menu Figure 7 21 v Figure 6 Menu Tree Communications menu O KNOB EXIT RS 232 Chooses menu items Chosen item is flashing o e e e e e MENU SELECT DISPLAY MENU SELECT DISPLAY EXITS to EXITS to Disabled EXITS to
34. l SOUR PULS COUN 5 gt OK Command Query Description Explanation Vv Source pulses period SOURce PULSe PERiod lt wsp gt lt value s ms MAX MIN gt SOURce PULSe PERiod lt wsp gt lt MAX MIN gt Sets or queries the period of the pulsed waveform default seconds Minimum period is approximately 670 ps Maximum period is 44 seconds The allowed periods are integer multiples of the minimum Min Min 2 Min 3 Min 65535 The actual period will be the nearest allowed period to the requested period Examples are on the next page 51 52 Vv Example 1 What is the minimum period SOUR PULS PER MIN gt 00067 s Allowed periods are 670 us 1 34 ms 2 01 ms 2 68 ms 3 35 ms Example 2 Request a period that is not exactly an allowed period SOUR PULS PER 1 400ms gt OK SOUR PULS PER gt 00133 s Actual period is closest allowed period Example 3 Request the minimum period gt SOUR PULS PER MIN gt OK SOUR PULS PER gt 00067 s Actual period is the minimum period Command Query Description Explanation Vv Source pulses by frequency SOURce PULSe FREQuency lt wsp gt lt value Hz KHz MAX MIN gt SOURce PULSe FREQuency lt wsp gt MAX MIN Sets or queries the pulse frequency default Hz Maximum frequency is 1 5 kHz Minimum frequency is 023 Hz
35. mand Query Description Explanation Vv Select a channel by its number INSTrument NSELect lt wsp gt lt number gt INSTrument NSELect Selects a channel by its logical number The selected channel is the receptor of all pulse commands The logical number can be three digits Slot Connector Channel or it can be two digits Slot Connector in this case the Channel remains the same or it can be one digit Channel in this case the Slot and the Connector remain the same giving you an easy way to move around between channels in a given connector Where Slot is 1 to 5 Connector is 1 to 4 Channel is 1 for Channel A 2 for Channel B and 3 for Channel Examples are on the next page 65 Vv Example 1 Select Slotl Connector 1 Channel A as the current channel INST SEL FocusLens gt OK INST SEL gt FocusLens INST NSEL gt 111 All source commands now act on this channel Example 2 Now switch to Channel B on the same connector INST NSEL 2 gt OK INST NSEL gt 112 Slot and connector remained the same Example 3 Now switch to Channel B on a different connector INST NSEL 13 gt OK INST NSEL gt 132 Channel remains the same PULS COUNT 512 Picomotor connected to Slot 1 Connector 1 gt OK Channel A gets 512 pulses 66 Vv Turn channel on or off
36. n o 2 D COM PICO lt 4 c E EXIT RS232 GPIB Z o Knob changes choice Knob changes choice Select saves it Select saves it Choices are Choices are 19200 1 9600 4800 2400 30 1200 300 all are 8 bits 1 stop no parity 26 Menu button toggles between operational mode and menu mode Select takes you through menus and saves parameters Knob changes selection EXIT A S B T C S Standard Tiny Standard Knob changes choice Select saves it Choices are Standard Tiny Vv 27 28 Vv Rear Panel Connections The 8732 has 7 rear panel connections See section VI for pin descriptions IEEE 488 GPIB I O Connector The IEEE 488 connector Q is a standard female 24 pin GPIB style connector To use the GPIB port attach a standard shielded GPIB cable to the connector See section IV for further information about computer control RS 232 T O Connector The RS 232 connector 2 is a standard female 9 pin D connector To use the RS 232 port attach a standard shielded male RS 232 cable to the connector See section IV for further information about computer control Slot 1 5 Slots 1 through 5 Gare the output slots The slots are numbered 1 5 from left to right when viewed from the back of the driver Each slot can hold a switch board which has four 3 axis outputs The 8732 comes factory config ured with two switch boards providing eight 3 axi
37. n At the end of the transducer motion a fast electrical signal quickly returns the jaws to their starting posi tions Because of the screw s inertia and low dynamic friction it remains motionless holding its position Changing the order of the fast and slow puls es reverses the direction of rotation of the motor Picomotors are very useful in applications requiring a compact high resolu tion positioner However keep in mind that the step size of the Picomotor is not absolutely fixed and so a Picomotor is not intended to serve as a replace ment for a stepper motor The non constant step size is the result of the fric tional drive mechanism that is used to turn the Picomotor screw The step size varies from one Picomotor to another because of variations in the mechanical parts In addition the step size of a particular Picomotor will decrease as the load the motor pushes is increased Finally the Picomotor step size can change as the motor ages and as the temperature changes The Model 8732 driver is a flexible instrument designed to drive up to twenty 3 axis Picomotor mounts or stages up to 60 individual Picomotors The standard 8732 is configured for eight 3 axis mounts up to 24 individual Picomotors The 8732 drives the Picomotors at rates up to 5 rpm with resolu tion of lt 30 nm lt 100 nm for Tiny Picomotors IEEE 488 and RS 232 inter faces as well as direct digital inputs allow computer control of the driver and all mot
38. n be damaged if it is driven with the wrong type of drive signal for an extended period of time so it is important to ensure that the driver is configured to generate the correct drive signals The 8732 is configured at the factory for driving Standard Picomotors For Tiny Picomotors refer to the Picotype Menu under the Menu Command heading in Section III for instructions on configuring the 8732 output Turn the instrument on and wait for it to go through its self test approximately 5 seconds The display will first show the message New Focus 8732 then showa message like G1 05 M1 05 and finally will switch to the default connector and slot location Slot 1 Conn 1 Vv Using the control pad slide each of the three control buttons forwards and backwards When a button is slid forward its motor should rotate in a counterclockwise ccw direction When a button is slid backward its motor should rotate in a clockwise cw direction Adding More Picomotors L Additional Picomotors can be added simply by plugging them into the various output connectors provided on the back of the driver To use the additional Picomotors simply rotate the knob Figure 1 located on the front panel until the appropriate slot and connector number appears on the display The motors attached to the indicated jack will then be enabled Use the control pad or external inputs to move the currently enabled motor 13 ill Instrume
39. nds override everything Step and Direction signals are latched on the negative edge of a step There is a random phase delay from the negative edge of a step to when an actual pulse is produced The delay ranges from 315 to 895 us This is a com bination of the time it takes the 8732 to recognize the step request and the time until the start of the next pulse cycle See the discussion of the SYNC lines for more information on how to tell pre cisely when a pulse is being applied Figure 13 Digital step and direction lines male connector Control Input DigitalGnd Table 3 Digital step and direction control Control Input Pins Step Select StepA Dir StepB DirB StepC Dirc Vv Action 0 L 0 7 High to low transition on the line 5 V to 0 V 1 pulse clockwise on Channel A 1 pulse counterclockwise on Channel A 1 pulse clockwise on Channel B 1 pulse counterclockwise on Channel B 1 pulse clockwise on Channel C 1 pulse counterclockwise on Channel C 81 82 Vv Sync Lines It may be necessary to know exactly when a pulse is being sent to a Picomotor This is impossible to infer directly from the time you send a Digital TTL Step signal or a GPIB RS232 command requesting a pulse because of a combination of the software loop delays and the fact that pulses can be generated only at specific intervals To this end we provide a SYNC output for each channel that goes low during
40. ng is terminated As the Slot and Connector are not changed as you exit from remote this is a convenient way to use computer control to choose the Slot and Connector and then exit to Local to use either the hand pad or some external analog or digital TTL control circuitry The 8732 is pulsing on SLOT2 CONN2 under REMOTE control GTL gt OK Note you can read the response without reentering REMOTE The 8732 is now in LOCAL and still at SLOT2 CONN2 The handpad and digital TTL control now work Picomotor Command Definitions Command Query Description Explanation Example Vv Identification Query None IDN Queries Identification Returns the following string identifying the instrument New Focus 8732 M SoftwareRev G SoftwareRev The M and G Software Revision numbers show the current software revisions for the two microprocessors and should be the same number Request the identity of the 8732 IDN gt New Focus 8732 M 1 05 G1 05 45 46 Command Query Description Explanation Vv Operation Complete Not implemented OPC The operation complete query returns an ASCII 1 when all pending operations have been finished An ASCII 0 is returned if any operation is pending The only operations that are considered pending for the 8732 are fixed numbers of pulses Therefore if any of the three channels is in the process of sending out a fixed number of pulses the oper
41. ns See section III Knob The control knob allows selection of the various output slots and connectors in operational mode and allows selection of the various menu items available in menu mode See section III Local Button Pressing this button returns the driver to local control when the driver is under remote control See section III Vv Figure 2 Rear panel inputs and outputs o AEO IEEE 488 C IEEE 488 GPIB I O Connector Allows the connection of a standard shielded IEEE 488 cable to the driver enabling remote con trol of the driver See section III IV 2 RS 232 1 0 Connector Allows the connection of a standard 9 pin RS 232 cable to the driver enabling remote control of the driver See section III IV 3 Slot 1 5 Each slot provides a location for a switch board providing four 3 axis outputs The 8732 is configured with two switch boards pro viding eight 3 axis outputs Extra boards can be added providing up to twenty 3 axis outputs See section III G Connector 1 4 Each connector is a six pin RJ 11 style jack provid ing one 3 axis output per jack See section III Vv Power Inlet Module The power inlet module allows the connection of input AC power to the driver via the included power cord T
42. nt Operation Vv New Focus Standard Picomotor driven mounts stages and micrometer replacement actuators MRA s can have better than 30 nm resolution linear displacement of screw and allow manual adjustment as well as remote con trol The Picomotor a piezoelectric transducer that turns a screw doesn t exhibit the backlash creep or hysteresis problems commonly associated with piezo driven actuators Because the piezo is used only to turn the screw and not to hold the adjusted position the set position is maintained even when the power is off Figure 3 The Picomotor is a piezo that turns a screw The Patented design of the Picomotor relies on the basic difference between dynamic and static friction A graphic example of this is the table cloth trick in which a quick pull of the cloth leaves the vase on the table low dynamic friction while a slow pull of the table cloth ends up pulling the vase off the table high static friction also a big mess Our Picomotor uses the same principle with two threaded jaws similar to the two halves of a split nut clamped around a precision 80 pitch screw One jaw is connected to one end of a piezoelectric transducer and the other jaw is connected to the other end of the transducer A slow electrical signal applied to the piezo slowly changes the length causing the two jaws to slide in opposite directions This slow slid Vv ing motion makes the screw turn static frictio
43. ntry module requires two 5x20 mm slow blow fuses such as Littlefuse s Slo Blo 239 series One fuse is for the hot line and the other is for the neutral line Replacement fuses should be as follows AC Voltage Fuse Rating _Littlefuse Part 100 VAC 1 6A 23901 6 120 VAC 1 6A 23901 6 220 VAC 0 8 A 239 800 240 VAC 0 8 A 239 800 To replace a fuse disconnect the power cord Then open the fuse drawer by pushing the small tab The fuses are now accessible Replace the fuses as nec essary and then push the drawer back into the inlet module until the small tab clicks Vv Specifications Performance Resolution Linear lt 30 nm Standard Picomotors lt 100 nm Tiny Picomotors Minimum Rotation 2 mrad Standard Picomotors 8 mrad Tiny Picomotors Travel Range Limited only by screw length Load lt 5 lbs 2 2 kg Standard Picomotor lt 2 lbs 0 9 kg Tiny Picomotors Maximum Speed 1500 pulses sec 3 5 RPM Hysteresis w preload Minimal Backlash w preload Minimal Dimension 3 8 in x 12 in x 8 5in Weight 7 5 lb Guaranteed Operating Temp 10 to 40 C Absolute Max Temp Range 10 to 60 C Atmospheric Pressure 1000 to 1025 mbar Relative Humidity 0 to 80 non condensing 103 Warranty Service and 104 Support Vv Warranty New Focus Inc guarantees its Picomotor Driver to be free of defects for one year from the date of shipment This is in lieu of all other guarantees express
44. ol gt indicates the response from the instrument 39 Command Set 40 Summary nies Source Commands SOURce PU SOURce PU SOURce PU SOURce PULSe FR SOURce PU SOURce DI SOURce DI Vv Standard Commands LSe COUNt lt value gt LSe PI LSe PI ERiod lt value S MS MAX MIN gt ERiod MAX MIN EQuency lt value HZ KHZ MAX MIN gt LSe FREQuency MAX MIN Rec Rec tion CW CCW tion Instrument Commands INSTrumen INSTrumen INSTrumen INSTrumen INSTrumen INSTrumen INSTrumen INSTrumen INSTrumen INSTrumen t CATalog lt number gt t J ga J 7 CATalog FULL lt number gt EFine lt name gt lt number gt ELete NAMe lt name gt gt DELete ALL ELect lt number gt ELect Te 0 1 OFF ON Te Vv queries instrument identification sends out specific number of pulses sets period of pulsed waveform queries current period sets pulse frequency queries current pulse frequency sets direction queries current direction lists logical names lists logical names and numbers associates logical name w number disassociates logical name disassociates all logical names selects channel by logical number queries current logical number selects channel by logical name queries curren
45. ors connected to it Modes of Operation The Picomotor driver has two modes operational mode and menu mode External commands such as front panel or GPIB commands determine which mode the instrument is in and which slot and connector are chosen Operational Mode In operational mode the Picomotor output jacks are enabled and motors can be driven using the various inputs Rotating the front panel knob 15 Vv chooses the various output slots and connectors Pressing the local button puts the driver in local control if the driver has been in external computer control The display button toggles the display between default connector names Slot x Conn y and user defined names Mirror 1 for example The menu button switches the driver to menu mode allowing access to the various driver configuration menus Menu Mode The purpose of the instrument s menu mode is to allow the user to adjust the various operational parameters of the driver Three controls on the front panel allow the user to move through the various menus Pressing the menu button toggles the driver between operational and menu modes Once in menu mode rotating the knob scrolls between the various menu items The select button chooses the selected indicated by a flashing display menu item Figure 4 Front Panel Picomotor MuXtiaxis Driver 8888888888883888 o Q Local ae NEW 6 Vv Front Panel Cont
46. rols The 8732 has six front panel controls Power Switch The power switch 4 turns the AC mains power on Menu In operational mode the menu button G switches the driver from opera tional mode to menu mode enabling reconfiguration of the various driver parameters In menu mode the menu button returns the driver to operational mode Select In operational mode the select button 6 is disabled In menu mode the select button chooses the flashing display item Display The display button switches the display between default connector names Slot x Conn y and user defined connector labels Corner Mount for example Knob In operational mode rotating the knob 8 selects the desired output slot and connector In menu mode it selects the various menu items by chang ing which item is flashing Local Pressing the local button 9 switches the driver from remote computer con trol mode to local command mode enabling the user to make changes to the driver from the various front panel controls 17 18 Vv Menu Commands Two submenus are available from the main menu the Communications menu and the Picotype menu See Figures 5 through 8 for a full description of the menu system The circled numbers below refer to Figure 1 same as Figure 4 Communications Menu The communications menu gives you access to the RS 232 baud rate and GPIB address Changing the RS 232 Baud Rate To change t
47. s outputs Extra boards can be added to provide a maximum of twenty 3 axis outputs sixty individual Picomotors Connector 1 4 The output connectors Gare standard 6 pin RJ 11 style telephone jacks The individual connectors are numbered 1 through 4 from top to bottom Power Inlet Module The power inlet module G accepts the universal power cord The bottom of the module contains two fuses For more information about the inlet power requirements and fuses see the section on AC Operating Voltages Hand Pad The hand pad input 6 is a standard female 15 pin D connector and accepts the inputs from the Model 8620 Control Pad Vv Control Input The control input connector 7 is a standard female 25 pin D connector It accepts both TTL level digital inputs and analog control signal inputs For more information about analog and digital inputs see section V Figure 9 Rear panel inputs and outputs Keyboard The keyboard input connector 8 is a standard female 5 pin DIN computer keyboard connector This connector is configured to accept the inputs from a standard AT 101 computer keyboard and allows the user to change the default display names of the various slots and connectors For more information about changing the display see the discuss
48. t follows we use the following conventions to describe the inter face commands The uppercase parts of commands are mandatory while the lowercase parts of the commands are optional A choice of parameters is Vv indicated by enclosing a command list in parentheses while the individual options are separated by vertical bars All commands are case insensitive The command preambles are either of the characters and and are optional The character is the command separator lt wsp gt is any combination of white spaces spaces or TAB s Remember to begin everything with an if you are using RS 232 The command is not parsed until a carriage return is received RS 232 or a hardware EOI is detected GPIB Numbers may contain at most 15 characters Commands that expect integer values will truncate after any decimal point in the input so 11 56 is truncated to 11 Command Set The command set is detailed in the following pages For each command the syntax is shown followed by an explanation of any parameters Finally an example or two is added to give the flavor of how you might use the command The examples show the command or query and the response from the instrument For instance the example for the identification query appears as follows IDN gt NewFocus 8732 M1 00 G1 00 The example demonstrates that the string IDN is sent to the instrument over RS 232 or GPIB The arrow symb
49. t logical name turns current channel on or off queries if current channel is on or off 41 42 Vv System Commands SYSTem CTYPe lt slot gt SYS SYS SYS SYS Lem DEFine lt name gt lt STD TINY gt Lem DEFine lt name gt Lem NDEFine lt number gt lt STD TINY gt Lem NDEFine lt number gt For the logical number of a channel use a three digit number XYZ where X slot number 1 5 Y connector number 1 4 Z 1 for channel A 2 for channel B and 3 for channel C A two digit logical number of XY where X slot number 1 5 Y connector number 1 4 is valid for INSTrument DEFine and INSTrument CATalog and defines a connector allowing you to set and read the front panel user label Vv identifies card in slot 0 No card 1 SwitchCard 2 255 Reserved defines Standard or Tiny Picomotor using logical name of channel queries type of Picomotor using logical name of channel 0 Standard 1 Tiny 2 255 Reserved defines Standard or Tiny Picomotor using logical number of channel queries type of Picomotor using logical number of channel 0 Standard 1 Tiny 2 255 Reserved 43 44 Command Query Description Explanation Example Vv Go to Local GTL None Takes the 8732 back to Local control just as if you had hit the front panel LOCAL button The current slot and connector remain the same All pulsi
50. ter and allow it to speak on the GPIB You will have to learn from the manufacturer of your Vv GPIB card how to configure it to talk to an instrument at a given address and how to issue commands to it from your favorite programming language In QuickBasic for example commands are sent to the 8732 through the GPIB functions IBWRT and IBRD IBWRT sends an instruction to the 8732 IBRD reads back the response to the command Examples of the 8732 s responses are OK or Unknown Command RS 232 Standard RS 232 is a widely available standard for communication via your comput er s serial port You might want to use RS 232 to save yourself the expense of a GPIB card There are two drawbacks to RS 232 One is you can only talk to one instrument at a time The other is that RS 232 is many times slower than GPIB You will need to know how to send commands to your computer s RS 232 serial port Any terminal emulation program will let you interactively send and receive via the serial port RS 232 ports can be configured for operation in DTE or DCE mode The Picomotor driver is configured as a DTE port This means that the Picomotor driver receives data on pin 3 and transmits data on pin 2 This allows it to be directly connected to a PC s COM port RS 232 communications may be performed at 300 1200 2400 4800 9600 or 19200 baud The data format is 8 bits no parity with 1 stop bit For RS 232 operations use to get attention
51. the channel being affected is described by its three digit logical number instead of its logical name Vv Example Configure Slot 1 Connector 1 for two Standard Picomotors and one Tiny Picomotor SYST NDEF 111 STD gt OK SYST NDEF 112 TINY gt OK SYST NDEF 113 STD gt OK 13 V Analog and Digital Control 74 Vv Analog Control The driver can be driven directly via an external analog signal to either the Control Input connector or the Hand Pad connector on the rear panel of the 8732 Both sets of analog inputs are equivalent However the unused set must be unconnected Specifically when using the analog inputs on the Control Input connector the control pad MUST be disconnect ed There are three analog inputs one for each channel AnalogA AnalogB and Analog All three channels can be driven simultaneously Positive voltages turn the screw clockwise and forwards Negative voltages turn the screw counterclockwise and backwards The voltage range is 2 5 V to 2 5 V Reference voltages of 2 5 V and 2 5V with a 100 ohm output impedance are present at the Hand Pad connector The pulse frequency is a function of the magnitude of the voltage see curve on next page 2 5 V gives you the maximum pulse frequency of 1 5K pulses second 0 25 V gives you the minimum pulse frequency of 1 pulse second Voltages below 0 25 volts are considered to be zero and the pulse frequency is z
52. the part of the pulse that actually moves the screw The rising edge of this pulse can be used to tell when the requested pulse is complete Figure 14 Sync lines male connector Control Input 1 O 2 O 3 Q 4 QO 5 DigitalGnd O 6 SyncB O 7 DigitalGnd Figure 15 Sync pulse and screw movement Sync No Movemen Screw Moving No Movement Vv 83 84 Vv Technical Considerations Changing directions takes approximately 7 mS This is the time it takes the 8732 to change the bias voltage of the Picomotor from one allowing move ment in one direction to that allowing movement in the other The voltage swing involved in this bias change may cause some small movement in the selected Picomotor lt 10nm Changing connectors can take as long as 7 mS as well This is because all three channels on the connector are first rebiased to zero volts then switched to the new connector This voltage swing may cause some small movement in the selected Picomotor lt 10 nm If the direction you wish to drive a channel on the new connector is in the direction requiring a high voltage bias an additional 7 mS will be taken up in the rebiasing before a pulse will be sent to the Picomotor Vv VI Figure 16 Connector Rear panel inputs and outputs
53. ured to generate the correct drive signals The only difference between this command and SYSTem NDEFine is that the channel being affected is described by its logical name instead of its three digit logical number Vv Example Configure Slot 1 Connector 1 for two Standard Picomotors and one Tiny Picomotor Assume that channel A has a logical name of FocusLens channel B has a logical name of TiltLens and channel C has a logical name of OtherLens SYST DEF FocusLens STD gt OK SYST DEF TiltLens TINY gt OK SYST DEF OtherLens STD gt OK 71 72 Command Query Description Explanation Vv Configure channel by its number SYSTem NDEFine lt wsp gt lt number gt lt STD TINY gt SYSTem NDEFine lt wsp gt lt number gt Configure the indicated channel to drive either Standard or Tiny Picomotors Channel is indicated by its logical number Picomotors can be Standard or Tiny There is a capacitive difference between the two types which affects the pulse height that drives them This in turn affects the bias voltage that must be applied for normal operation A Picomotor can be damaged if it is driven with the wrong type of drive signal for an extended period of time so it is important to ensure that the driver is configured to generate the correct drive signals The only difference between this command and SYSTem DEFine is that
54. ves cursor and characters to next tab stop 5 9 13 17 HOME Moves cursor to left most character END Moves cursor to right most character INSERT Toggles between insert mode and overwrite mode BACKSPACE Deletes character to left of cursor DELETE Removes character at cursor ESC Leaves editor and saves new names Ctrl D Deletes entire name Ctrl C Copies entire name into buffer Ctrl V Pastes buffer over entire name Left Arrow Moves cursor one character to the left Right Arrow Moves cursor one character to the right Up Arrow Changes connector being edited to the previous one in the same slot 2 gt 1 gt 4 Down Arrow Changes connector being edited to the next one in the same slot 4 gt 1 gt 2 Vv Carriage Return Changes connector being edited to the next one in the same slot 4 gt 1 gt 2 Page Up Changes the slot to the previous one 2 gt 1 gt 5 Connector being edited is number 1 Page Down Changes the slot to the next one 5 gt 1 gt 2 Connector being edited is number 1 CAPS LOCK All letters and numbers are shifted versions Note that the capslock LED will NOT come on 101 AC Operating 102 Voltages Vv The Model 8732 Picomotor Driver can operate at 100 120 220 or 240 VAC at line frequencies of 47 to 63 Hz The unit is configured at the factory for the standard AC voltage in the purchaser s country Changing operating voltage requires only a change in the fuses The power e
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