Home

ESP7000 Motion Controller/Driver

1. Number ASCII Code Binary Code decimal 83 5 01010011 84 01010100 85 U 01010101 86 V 01010110 87 01010111 88 X 01011000 89 Y 01011001 90 Z 01011010 91 01011011 92 01011100 93 1 01011101 94 01011110 95 01011111 96 01100000 97 01100001 98 B 01100010 99 C 01100011 100 D 01100100 101 E 01100101 102 F 01100110 103 G 01100111 104 H 01101000 105 I 01101001 106 J 01101010 107 K 01101011 108 L 01101100 109 M 01101101 110 N 01101110 111 O 01101111 112 P 01110000 113 Q 01110001 114 R 01110010 115 5 01110011 116 01110100 117 U 01110101 118 01110110 119 W 01110111 120 X 01111000 121 Y 01111001 122 Z 01111010 123 01111011 124 01111100 125 01111101 126 01111110 127 01111111 128 10000000 129 10000001 130 10000010 131 10000011 132 10000100 Appendix D Binary Conversion Table Table D 1 Binary Conversion Table Listing Continued D 3 D 4 Number ASCII Code Binary Code decimal 133 10000101 134 10000110 135 10000111 136 10001000 137 10001001 138 10001010 139 10001011 140 10001100 141 10001101 142 10001110 143 10001111 144 10010000 145 10010001 146 10010010 147 10010011 148 10010100
2. Description IMM PGM MIP Page AF Acceleration Deceleration feed 3 26 forward gain CL Set closed loop update interval 3 113 DB Set position deadband 3 15 Set derivative gain Kd 3 96 KI Set integral gain Ki 3 97 Set proportional gain Kp 3 28 KS Set saturation coefficient Ks 3 29 UF Update Filter Parameters 3 154 VF Set velocity feed forward gain 3 L60 MASTER SLAVE MODE DEFINITION Cmd Description IMM PGM MIP Page GR Set master slave Ratio 3 57 SI Set master slave jog update 3 138 interval SK Set slave axis jog velocity 3 139 coefficients SS Set master slave mode 3 144 3 14 Section 3 Remote Mode 3 5 2Command List Alphabetical Table In a PDF format you may click on a page number to automatically be connected to the corresponding Command Page Cmd Description IMM PGM MIP Page AB Abort Motion 3 21 Set acceleration 3 Set e stop deceleration 3 24 Set acceleration feed forward gain 3 26 AG Set deceleration 3 27 Set analog input mode 3 29 AP Abort program 3 30 AU Set maximum acceleration and decelerat
3. 1 2 2 3 3 4 4 5 5 6 7 7 8 8 9 9 9 Pin D Sub Male Connector 9 D Sub Female Connector on Controller Side on Computer Side Figure C 2 Conductor pin to pin RS 232C Interface Cable Appendix C Connector Pin Assignments C 1 10 Motor Interlock Connector BNC This connector is provided for the wiring of one or more remote Emergency Stop switches They will have the same effect as the front panel STOP ALL button The switch has to be normally closed for operation If more than one switch is installed they should be connected in series The minimum rating for the switches should be 50mA at 5V The ESP7000 is supplied with a dust cap that automatically provides the proper connection for operation if no switch is connected Pin Description Center Pin Input Emergency Stop must always be connected to the shell GND during normal controller operation An open circuit is equivalent to pressing STOP ALL on the front panel Connector Shield Provides GND for switch Connector BNC with Dust Cap Figure C 3 Motor Interlock Connector BNC Image C 1 11 Analog
4. 139 set left travel us pedes e rei 140 save settings to non volatile memory esee 141 Set axis displacement aos uper estes tient Eee Np vede 142 set right travel Mis ue Rn E re 143 define master slave relationship eere 144 SEO AIOE OD sais utt ena tu qe deem b ces 145 Serencoder resolution e ce e ene persi e Rees 146 POAC error Messag uoce oeste Gres 147 redd error code 2 Qe ele do eol led eed tuu de 148 as NI DR Rer 149 tead actual POSI N I 150 read controller stilus iie iate assas 151 TEAC actualveloerscoans ohio ena eno cen pid 152 read MER ACV IVY obest esteem e oe CON 153 Update servo iecit n ea SHE re IR EUR 154 Wall for DIO bit highs secet qe ser OR DEI HIS 155 Wall tor DIO Dit OW ean 156 SEC Wi OCU ys cnc gate ct ees ance dass CERE 157 set base velocity Tor step 158 read controller firmware version esee enne 159 set velocity feed forward gain asco etre 160 set maximum Velocity s a bod 161 Walt for POSION
5. Figure 5 43 DC Motor Apply current to phase B pulls in the rotor pole If as soon as the pole gets there the current is switched to the next phase C the rotor will not stop but continue moving to the next target Repeating the current switching process will keep the motor moving continuously The only way to stop a DC motor is not to apply any current to its windings Due to the permanent magnets reversing the current polarity will cause the motor to move in the opposite direction Section 5 Motion Control Tutorial Of course there is a lot more to the DC motor theory but this description gives the user a general idea on how they work A few other characteristics to keep in mind are Fora constant load the velocity is approximately proportional to the voltage applied to the motor e For accurate positioning DC motors need a position feed back device e Constant current generates approximately constant torque If DC motors are turned externally manually etc they act as generators Advantages DC motors are preferred in many applications for the following reasons Smooth ripple free motion at any speed High torque per volume No risk of loosing position in a closed loop Higher power efficiency than stepper motors No current requirement at stop High speeds can be obtained than with other types of motors Disadvantages Some of the DC motor s disadvantages are Requires a position
6. essere 35 BM assign DIO bits to notify motion 5 15 36 BN enable DIO bits to notify motion status 0 1 37 BO set DIO port B C direction s sies eee ceeds 38 BP assign DIO bits for jog Aandi dea 40 BQ enable DIO bits for jog eoi oen SU Roc t eo ts hae Hee ded 41 BR set serial communication speed cceeccecssececseeeeceneeeeseeceeneeeeneeeenaeeees 42 CL set closed loop update interval 43 CO Set linear comperiSdHOlk s iue essc o qp dioec tuc t etaient 44 IDB sel position deadband iuuat oon iode to 45 DC setup data Acquisitions iaceat eoe otia ee aen le ies Fea eR 46 DD get data acquisition done Status oce RR 50 DE enable disable data acquisition usus eroe ack oe 51 DF get data acquisition sample 52 DG setacquisitiotrdala dye pri ee un 53 DH SPINS OAS etu qut aes 54 Diy eee 55 DO s tdacoffs t us eoe Dre redeo ftudio Depot Prades e Det els 56 DP read desired position aic i eae Ue ee CREER a ER Lee qa RR DM 57 rea did sited Velocity o Qussmesituatotesqo itt E adus iac adea pie a
7. 162 WALE TOF TBOPBLOR e a das 163 wait 164 read available m emiOry eese ttr Coens 165 PASC PROP PAN ana dra 166 set amplifier I O does 167 set feedback cong uratlon soo eH pida 170 Set e stop CODTIP UTAHOD a eder oe eren equis Yee oe Geo eui de ERE eed 172 set following error 5250 denso re eap 174 set hardware limit configuration 176 set software limit configuration e tetto adeo eee ent reet Pene eU Hue 178 get ESP system configuration iiec roe e esaet te enne Hee eR 180 Set system COMP SUA LOM sor usc iae 183 XV Section 1 Introduction Scope Section 1 Introduction This manual provides descriptions and operating procedures for the Enhanced System Performance ESP ESP7000 Stand Alone Motion Controller Driver Section 1 Introduction contains Safety Considerations Conventions and Definitions System Overview Procedures for hardware and software requirements Descriptions of controls and indicators Setup procedures Instructions for configuring powering up the ESP7000 and stage motors for home and jog motions e System shutdown
8. C 10 Figure C 2 Conductor Pin to Pin RS 232C Interface 10 Figure C 3 Motor Interlock Connector BNC Image C 11 Figure 1 Removal of an Axis Driver Module E 2 Figure E 2 Interior of the Axis Driver Module showing CORWOCIONES E 3 Figure F 1 Configuration Logic sess F 2 Preface Xi Xii List of Tables Table No Title Page Table 4 1 Acquisition Tray o t 4 2 Table 4 2 An Example of Analog Data Acquisition 4 3 Table 4 3 An Example of Trace Variable t 4 4 Table 4 4 Data Acquisition Commands ASCII 4 5 Table 4 5 Slave to a Different Stage 4 12 Table 4 6 Slave to a Trackball Steps 4 13 Table 4 7 Slave to a Joystick 02 4 13 Table 4 8 An Example of Closed Loop Stepper Motor Positioning 4 15 Table 4 9 Closed Loop Stepper Positioning COMMIS int cabs 4 16 Table 4 10 Commands to Synchronize Motion to External Events Josse ette eire 4 19 Table 4 11 Commands to Synchronize External Events to ATE POSIUO Stel ete e e or qot es 4 22 Table 4 12 Commands to Synchronize Position Capture To External Inputs 4 25 Table 6 1 Servo Parameter 6 5 Table B 1 T
9. 2 3 2 2 3 Move LOCAL Mode 2 3 Section Remote Mode 3 1 3 1 Programming Modes sees 3 1 3 2 Remote 42212 3 3 Preface Preface 3 2 1 RS 232C 3 4 3 2 2 gt IEEF488 Interface 3 4 3 3 Software Utilities 5 2 3 6 3 4 Command Syntax 3 6 3 4 4 Summary of Command Syntax 3 7 3 5 Command Summary 2 3 9 3 5 1 Command List by Category Table 3 10 3 5 2 Command List Alphabetical ase tee etos 3 15 3 6 Description of Commands 3 18 Please see Command Index List on page v Section 4 Advanced Capabilities 4 1 4 1 Data Acquisition 2 4 41 1 Introduction Data Acquisition 4 4 1 2 Analog Data Acquisition 4 1 4 1 3 Trace Variable Data Acquisition 4 3 4 2 4 5 4 2 1 Introduction Grouping 4 5 4 2 2 Defining a Group amp Group ottima 4 5 4 2 2 1 Creating a Group 4 6 4 2 2 2 Defining Group 4 6 4 2 3 Making Linear and Circular Moves 4 7 4 2 3 1 Making Linear Move 4 7 4 2 3 2 Making Circular
10. ii Limitation of Warranty ii Copyrights S tee rays ii Section 1 Introduction 1 1 1 1 SCOPE 1 1 1 2 Safety Considerations 1 2 1 3 Conventions and Symbols 1 3 1 3 1 Safety and General Symbols Definitions 1 3 1 3 2 Lenmology aee ale eae 1 5 1 4 System 1 1 6 PALL P eatures ete 1 6 1 4 2 1 7 1 4 3 Descriptions of Front Panel Versions 1 8 1 4 4 Rear Panel Description 1 22 1 5 System occi dfe etude YR IAS 1 24 129 1 Power ON ciate 1 25 1 5 2 Connecting 1 25 1 6 Quick 1 26 1 6 1 Motor ON uias es ertt 1 27 1 6 2 Homing Motion Devices 1 27 JOB eos dote pet odo doses 1 28 1 6 4 System Shut Down 1 29 Section 2 Modes of Operation 2 1 2 1 Overview of Operating Modes 2 1 24 1 LOCAL 2 1 2 1 2 REMOTE Mode 2 1 2 2 Operating Options in the Local 2 2 2 2 1 Motor POWer 2 2 2 2 2 Motion Configuration
11. This command is used to get general hardware status for all axes This routine allows user to observe the various digital input signals as they appear to the controller HARDWARE STATUS REGISTER 1 BIT KOO VALUE SoS oe oS oe EA e C ee ee Ee CS C DEFINITION axis hardware travel limit low axis 1 hardware travel limit high axis 2 hardware travel limit low axis 2 hardware travel limit high axis 3 hardware travel limit low axis 3 hardware travel limit high axis 4 hardware travel limit low axis 4 hardware travel limit high axis 5 hardware travel limit low axis 5 hardware travel limit high axis 6 hardware travel limit low axis 6 hardware travel limit high reserved reserved reserved reserved axis hardware travel limit low axis 1 hardware travel limit high axis 2 hardware travel limit low axis 2 hardware travel limit high axis 3 hardware travel limit low axis 3 hardware travel limit high axis 4 hardware travel limit low axis 4 hardware travel limit high axis 5 hardware travel limit low axis 5 hardware travel limit high axis 6 hardware travel limit low axis 6 hardware travel limit high reserved reserved reserved reserved 3 117 16 0 axis 1 amplifier fault input low 16 1 axis 1 amplifier fault input high 17 0 axis 2 amplifier fault input low 17 1 axis 2 amplifier fault input hi
12. 3 Reserved 4 Auxiliary Ch 8 Input A 0 5 Auxiliary Ch 8 Input B 6 Reserved 7 Axis 6 Encoder Input A 8 Reserved 9 Axis 1 position compare output 10 Digital Ground 11 Port A Bit 0 12 Port A Bit 2 13 Port Bit 0 14 Port B Bit 2 15 E Stop 16 5V 250mA maximum 17 12V 250mA maximum 18 12V 250mA maximum 19 Digital Ground 20 Auxiliary Ch 7 Input A 21 Auxiliary Ch 7 Input B 22 Reserved 23 Auxiliary Ch 8 Input A 24 Auxiliary Ch 8 Input B 25 Reserved 26 Axis 6 Encoder Input B 27 Reserved 28 Axis 2 position compare output 29 Global position latch input 30 Port A Bit 1 31 Port A Bit 3 32 Port B Bit 1 33 Port B Bit 3 34 Reserved 35 DSP Reset Output 36 Reserved 37 Reserved C 6 Table C 3 Auxiliary I O Connector Pin Outs Appendix C Connector Pin Assignments Axis 1 Position Compare Output The position compare output for axis 1 is a TTL buffered output This active low output pulse is used to trigger external devices events whenever the crossing of a desired position is detected by the ESP motion controller hardware The output pulse width is in the range of 30 to 60ns Since this output is buffered by IC SN74F21 it can source maximum or sink 20mA maximum Please refer to Position Compare Output Triggering section in the Advanced Capabilities Tutorial for further details Axis 2 Position Compare Output The position compare output for axis 2 is a TTL buffe
13. 0 Do not display units along with certain responses 0 10 1 Display units along with certain responses 0 Enable timeout during homing 1 11 1 Disable timeout during homing eee 31 reserved 31 1 reserved default setting If the 2 sign takes the place of nn value this command reports the current setting in hexadecimal notation ZA ZB ZE ZF ZH ZS ZU ZZ 113H ZZ 13H set amplifier I O configuration set feedback configuration set e stop configuration set following error configuration set hardware limit configuration set software limit configuration get ESP system configuration read system configuration controller returns a value of 113H set system configuration to 13H Section 3 Remote Mode Section 4 Advanced Capabilities m Data Acquisition 4 1 1 Section 4 Advanced Capabilities Introduction Data Acquisition ESP series of motion controllers combine high performance data acquisition and a diverse motion control feature set on one controller card This enables physical integration of the two functions eliminating the problems normally associated with integrating different circuit boards enhancing acquisition synchronization and alleviating power and space constraints While the sub sections 4 2 and 4 3 outline some of the advanced motion related features this section is dedicated to the data acquisition capabilities of the motion controller ESP cont
14. 3 137 SI Set master slave jog velocity update interval 3 138 SK Set master slave jog velocity scaling coefficients 3 139 SL Set level travel limit 3 140 SM Save settings to non volatile memory 3 141 SN Set axis displacement units 3 142 SR Set right travel limit 3 143 SS Define master slave relationship 3 144 ST Stop motion 3 145 SU Set encoder resolution 3 146 TB Read error message 3 147 Read error code 3 148 TJ Set trajectory mode 3 149 TP Read actual position 3 150 TS Get controller status 3 151 TV Get actual velocity 3 152 TX Get controller activity 3 153 Update servo filter 3 154 Wait for DIO bit high 3 155 Section 3 Remote Mode 3 17 TABLE 3 5 2 Command List Alphabetical Continued In a PDF format you may click on a page number to automatically be connected to the corresponding Command Page Cmd Description IMM PGM MIP Page UL Wait for DIO bit low 3 156 Set velocity 3 157 VB Set base velocity for step motors 3 158 VE Read controller firmware version 3 159 VF Set velocity feed forward gain 3 160 VU Set maximum velocity 3 161 WP Wait for absolute position crossing 3 162 WS Wait for motion stop 3 163 WT
15. create a new group 2 with physical axes 3 and 4 read axes assigned to group 2 controller returns the axes assigned to group 2 read list of groups created controller returns 1 and 2 Section 3 Remote Mode HC move group along an arc IMM PGM MIP USAGE SYNTAX xxHCnn nn or xxHC PARAMETERS Description xx int group number nn float first coordinate of arc center nn float second coordinate of arc center nn float arc sweep angle Range XX 1to MAX GROUPS nny nn any position within the travel limits nna any angle Units XX none nn nn predefined units nns degrees Defaults XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated Missing parameter error 21 GROUP PARAMETER MISSING DESCRIPTION This command initiates motion of a group along an arc It causes all axes Section 3 Remote Mode assigned to the group to move with predefined vectorial tangential velocity acceleration and deceleration along an arc The group target position is determined based on the position of axes at the beginning of move center of arc and sweep angle If this command is received while a group move is in progress the new command gets enqueued into a via point buffer Please refer to Advanced Capabilities section for a detailed description of via point buffer im
16. Ch3 Ch 6 Axis 2 Axis 4 Axis 5 CLK Ch xx value read at analog channel number xx AX S XX position value for axis xx CLK servo clock counter Table 4 1 Acquisition Tray Section 4 Advanced Capabilities Steps ASCII Command Action by Controller 1 Define analog input mode AM2 Set 0 to 10V analog range for all the ADC channels 2 Setup data acquisition DC1 1 37 26 0 1000 Start analog data acquisition when trigger axis 1 starts motion Acquire analog data for channels 2 4 5 Collect 1000 samples one sample every servo cycle 3 Enable data acquisition DEI Controller enables data acquisition Data acquisition process will start when trigger axis starts motion 4 Query data acquisition done status DD Controller responds with the acquisition status A response implies data acquisition is done A response 0 implies data acquisition is in progress 5 Query number of samples DF Controller responds with the number of collected data samples acquired at the time of processing this command 6 Users may query the data acquisition status until the controller responds a value of 1 i e data acquisition is DONE 7 Disable data acquisition DEO Controller disables data acquisition 8 Get data collected DG Controller responds with the data collected Table 4 2 An Example of Analog Data Acquisition 4 1 3 Trace Vari
17. If true DEO Disable trace variable data acquisition DG Get data collected 3 51 DF get data acquisition sample count IMM PGM MIP USAGE SYNTAX DF PARAMETERS none DESCRIPTION This command returns the number of a data acquisition collected to the point of this request RETURNS aa where aa number of samples REL COMMANDS DC setup data acquisition request DG get acquired data DD data acquisition done status DE enable disable data acquisition EXAMPLE DC10 1 1 1 0 1000 Acquire trace variable data for axis 1 in scaled integer format Collect 1000 samples one sample servo cycle DEI Enable trace variable data acquisition DD Query data acquisition done status 1 true 0 false If true DEO Disable trace variable data acquisition DG Get data collected 3 52 Section 3 Remote Mode DG get acquisition data USAGE SYNTAX PARAMETERS DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP DG None This command is used to retrieve data acquired from a data acquisition request This command returns byte wide binary data Each four bytes represents one DSP 32 bit word The number of bytes returned depends on the setup request See DC command DC setup data acquisition request DE enable disable data acquisition DF data acquisition status returns of samples collected DD data acquisition done status DC10 1 1
18. ma y atan 9 1 Xo X 0 laxis 2 0 laxis 3 ES 0 axis 2 0 0 axisst3 0 cmd x r cos axis 2 x y 05 0 axis 3 y Xo and Yo represent initial position of the group X and Y represent desired center position of the circular move X and Y represent calculated final position of the group r is radius of the circle 05 is the base initial angle of an axis 05 is the final angle of an axis which is dependant on the sweep angle Q4 Both HL and HC can initiate the desired motion if they are received while the group is holding position On the other hand if they are received while a group move is in progress the new commands get queued into a via point buffer The queued commands are executed on a FIFO basis when the move already in progress has reached its destination The group does not come to a stop at the end of last move Instead there will be a smooth transition to the new move command just as if it were one compound move combination of multiple moves The next section details the procedure for making contours or long moves using via point buffers Refer to the description of HL and HC commands in the commands section See Section 3 Remote Mode for correct syntax parameter ranges etc Section 4 Advanced Capabilities 4 2 4 Making Contours Section 4 Advanced Capabilities This subsection discusses the met
19. 3 The position that corresponds to a position count of 0 Home position type 3 is referred to as a floating home because it can always be defined by simply moving to a specific location and re setting the position number to 0 See also DH command in Section 3 Remote Mode Before initiating a HOME search the ESP7000 must be set for the type of HOME search to be performed The default type at initial power up is a switch and index type 2 1 27 1 28 1 6 3 See OR command in Section 3 Search for home for instructions to change the type of home search Jog The user must display the JOG MODE screen By pressing the Axis Selection Button next to the appropriate axis the user can JOG in one of several modes Figure 1 17 shows a different direction for each axis For detailed description mode see MOVE MENU JOG MODE screen paragraph 4 on Page 1 18 Jog Mode 1 Unknown eis 2 Unknown 0 0000 3 3 Unknown Unknown 0 0000 J IS Unknown 6 Unknown Mig BRIT Figure 1 17 Jog Mode Screen using all directions Example of the Sequence 1 From the JOG MENU the user selects an axis by pushing the appropriate Axis Selection Button ONCE displays The user then presses the RIGHT direction key ONCE and the selected axis will STOP in the positive direction pushing the LEFT button will move Stage in a negative direction Pushing the same Axis Selection Button AGAIN the lt displays The use
20. EP Enter program mode EX Execute stored program AP Abort stored program execution BO 04H Set DIO ports A and B to input and port C to output 0 BG 1 Start execution of a stored program I when DIO bit 0 changes state from HIGH to LOW 3 33 BK assign DIO bits to inhibit motion IMM PGM MIP USAGE SYNTAX xxBKnn1 nn2 or xxBK PARAMETERS Description xx int axis number nni int bit number for inhibiting motion nn2 int bit level when axis motion is inhibited Range 1 to MAX AXES nni 0 to 23 nn2 0 LOW and 1 HIGH to read current setting Units None Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nnl missing error 38 COMMAND PARAMETER MISSING out of range error xxl PARAMETER OUT OF RANGE nn2 missing error 38 COMMAND PARAMETER MISSING out of range error xxl PARAMETER OUT OF RANGE DESCRIPTION This command is used to assign DIO bits for inhibiting the motion of a selected axis If the selected axis is already in motion and DIO bit is asserted e stop is executed per E stop configuration Refer ZE command for further details If the axis is not moving any new move commands are refused as long as the DIO bit is asserted In either case DIGITAL I O INTERLOCK DETECTED error is generated Note The direction of the DIO port A B or C the desired bit belongs to should be set to input in order for the DIO bit t
21. Modes of Operation 2 7 2 8 Section 2 Modes of Operation Section 3 Remote Mode Programming Modes Section 3 Remote Mode The ESP is a command driven system In general commands are a series of two letter ASCII characters preceded by an axis number and followed by parameters specific to the command To communicate with the ESP controller a host terminal has to transfer ASCII character commands according to the respective communication protocol See Section 3 2 for IEEE488 or RS232 interfaces As briefly mentioned in Section 2 the ESP distinguishes between two different programming modes COMMAND MODE In this mode the ESP controller provides a command input buffer enabling the host terminal e g PC to download a series of commands and then proceed to other tasks while the ESP controller processes the commands As command characters arrive from the host terminal they are placed into the command buffer When a carriage return ASCII 13 decimal terminator is received the command is interpreted If the command is valid and its parameter is within the specified range it will be executed If the command contains an error it will not be executed and a corresponding error message will be stored in the error buffer NOTE The ESP power up state is command mode An example of a typical command sequence is shown below Example 1 IPA 30 move axis 1 to absolute position 30 units 1WS wait for axis I
22. The commonly used representation of the three errors is shown in Figure 5 9 Pitch is rotation around the Y axis Roll is rotation around the X axis and Yaw is rotation around the Z axis Figure 5 9 Pitch Roll and Yaw Motion Axes The problem with this definition is that through correct it is difficult to remember A more graphical representation is presented in Figure 5 10 Imagine a tiny carriage driven by a giant leadscrew When the carriage rolls sideways on the lead screw we call it a roll When it rides up and down on the lead screw pitch we call that Pitch And when the carriage deviates left or right from the straight direction on an imaginary Y trajectory we call it yaw Roll Yaw Screw Pitch Figure 5 10 Pitch Yaw and Roll 5 2 10 Wobble This parameter applies only to rotary stages It represents the deviation of the axis of rotation during motion A simple form of wobble is a constant one where the rotating axis generates a circle Figure 5 11 Section 5 Motion Control Tutorial 5 9 5 2 11 Figure 5 11 Wobble Form A real rotary stage may have a more complex Wobble where the axis of rotation follows a complicated trajectory This type of error is caused by the imperfections of the stage machining and or ball bearings Load Capacity There are two types of loads that are of interest for motion control applications static and dynamic loads The static pad Capacity represents t
23. The power supply section on the right side of the rear panel provides a standard IEC 320 inlet a fuse holder and a binding post to ground the controller if the main power supply wiring does not provide earth ground terminals NOTE The Main Power ON OFF Switch is located below the IEC 320 inlet for the power cord Analog I O Connector This connector interfaces the ESP7000 controller to customer defined Analog I O devices This 25 pin connector pin outs are defined in Section C 1 11 and Table C 5 Auxiliary I O Connector The connector provides access to the ESP7000 Auxiliary I O signals The Auxiliary I O connector provides access to e Additional quadrature encoder counters e Digital I O E Stop input System Setup 1 24 This section guides the user through the proper set up of the motion control system If not already done carefully unpack and visually inspect the controller and stages for any damage Place all components on a flat and clean surface CAUTION No cables should be connected to the controller at this point First the controller must be configured properly before stages can be connected Section 1 Introduction Section 1 Introduction 1 5 1 1 5 2 Power ON Plug the AC line cord supplied with the ESP7000 into the power entry module on the rear panel Plug the AC line cord into the AC wall outlet Turn the Main Power Switch to ON located on the Rear Panel After the main
24. out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xxl PARAMETER OUT OF RANGE This command is used to disable or enable notification of requested axis motion status through DIO bits If the sign takes the place of nn value this command reports the current status BM Assign DIO bits to notify motion status BO Set DIO port A B C direction BK Assign DIO bits to inhibit motion BL Enable DIO bits to inhibit motion BO 06H Set DIO port A to input and ports B C to output 2BM9 1 Use DIO bit 9 to indicate motion status of axis 2 This DIO bit should be HIGH when axis 2 is not moving 2BN 1 Enable notification of motion using DIO bits for axis 2 2BM Query the DIO bit assignment for axis 2 9 1 The controller responds with the assigned values 2BN Query the status of notifying motion status of axis 2 through DIO bits 1 The controller responds with 1 indicating feature is enabled 3 37 BO set DIO port A B C direction USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION 3 38 IMM PGM MIP int hardware limit configuration nn 0 to 07H hexadecimal with leading zero 0 on ESP6000 and ESP7000 0 to 05H hexadecimal with leading zero 0 on ESP100 and ESP300 or to read current setting nn None nn missing error 38 COMMAND PARAMETER MIS
25. program 3 QP end entering program and quit programming mode 3EX run stored program number 3 3 125 OR reduce motor torque USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 126 IMM PGM MIP xxQRnnl nn2 or xxQR xx int axis number nnl int delay period nn2 float motor current reduction percentage XX 1to MAX AXES nni 0 to 60000 nn2 0 to 100 XX none nni milliseconds nn2 percent of max motor current XX missing error 37 AXIS NUMBER MISSING missing parameter error 38 COMMAND PARAMETER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE This command automatically reduces the specified step motor s current 1 torque output to the requested percentage nn2 after motion has stopped and the specified time nn1 has expired The purpose of this command is to help reduce the motor heating typically generated by stepper motors If xx is equal to 0 the torque reduction parameters get applied to all axes Note This command does not affect DC servo motors and pulse stepper motors Note Time parameter 1 is only effective for ESP300 motion controller If 2 sign is issued along with command the controller returns the torque reduction settings for the specified axis QM set motor type QI et motor current 2QR1000 50 reduce motor 2 torque to 50 1000 msec after a move done 2Q
26. the DIO bit state changes to the level specified with this command refer parameter nn2 NOTE The direction of the DIO port A B or C the desired bit belongs to should be set to output in order for the DIO bit to be set accurately Refer BO command for further details NOTE If a motion feature such as origin search involves a sequence of moves the motion status will be set to not moving only after the entire sequence of moves has completed RETURNS If the sign takes the place of nn value this command reports the current assignment REL COMMANDS BN Enable DIO bits to notify motion status BO Set DIO port A B C direction EXAMPLE BO 06H Set DIO port A to input and B C to output 2BM 9 1 Use DIO bit 9 to indicate motion status of axis 2 This DIO bit should be HIGH when axis 2 is not moving 2BN 1 Enable notification of motion using DIO bits for axis 2 2BM Query the DIO bit assignment for axis 2 9 1 The controller responds with the assigned values 3 36 Section 3 Remote Mode BN enable DIO bits to notify motion status USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxBNnn or xxBN Xx int axis number nn int disable or enable XX 1to MAX AXES nn 0 disable and 1 enable or to read current setting None XX missing error 37 AXIS NUMBER MISSING
27. 2 10 2 0 5 move axis 2 to position 10 units wait for axis 2 to reach position units and then move axis 3 to position 5 units 3 162 Section 3 Remote Mode WS wait for motion stop USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xx WSnn xx int axis number nn int delay after motion is complete XX 0 to MAX AXES nn 0 to 60000 XX none nn milliseconds XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE This command stops the program execution until a motion is completed The program is continued only after axis xx reaches its destination If xx is not specified the controller waits for all motion in progress to end If nn is specified different than 0 the controller waits an additional nn milliseconds after the motion is complete and then executes the next commands Note Wait commands are primarily intended for use in internal program execution or in combination with the RQ command If used in command mode it is important to note that input command processing is suspended until the wait condition has been satisfied none WT wait WP wait for position 2PA10 2WS500 3PAS5 move axis 2 to position 10 units wait for axi
28. 58 EO automatic execution DOWeT ON 24 akties Re used ende 59 EP enter program mode ee De 60 ES define event action command string rece ence eese ener s tese 61 EX executed program estate ei ee ee 63 FE set maximum following error 1 eese 64 FP set position display resolution sese 65 ER set encoder full step TesolutlOI e io opted pectet 66 GR set master slave reduction ratio 2 ue i ses cede pens iato ene 67 HA set group acceleration sc ie e ti aas Fave d 68 xiii HB HC HD HE HF HJ HL HN HO HP HQ HS HV HW HX HZ ID JH JK JL JW KD KI KP KS LP MD MF MO MT MV MZ OH OL OM OR PA PC PH PR QD QG QI QM QP QR read list of groups dssIgHgd uito e onset s e nad SLE 70 move group along drG eni ea oae PRA EUM due 71 Set PrOUp deceleratlOmu sae pean en ed 73 set group e stop deceleraltols 75 DLOUP OL NO 76 Set sro p a A RE 77 MOVE STOUP along d Ime ob aetna 78 Create NEW pPOUD 4512 eerie er tetuer ipla cte lesen aetna 80 ON E 82 read STOW e b ea ens 83 wait for group command buffer level
29. Advanced Capabilities 4 19 The next section outlines the way in which user applications can setup this feature through one ASCII command The subsequent section details the hardware required 4 6 2 Feature Setup Position Compare Output Triggering User applications must issue an ASCI command PC with appropriate parameter values in order for the controller to trigger external events This ASCII command has two parameters nn1 and nn2 The parameter nnl is used to specify the data acquisition mode e nnl disarm disable the feature e 1 trigger an external event whenever an axis encoder crosses the absolute position defined by nn2 e nnl 2 trigger an external event whenever an axis encoder displaces by a relative distance defined by nn2 independent of direction Mode 1 is applicable for instance when a single laser firing has to be synchronized to a specified position crossing Mode 2 is applicable when a laser has to be fired at equal distances If this command is issued when the desired axis is at standstill the worst case error in capturing a position crossing is within 1 encoder count However if this ASCII command is issued when the desired axis is in motion the accuracy of the position crossing in absolute mode nnl 1 depends upon the speed at which the axis was moving when the command was processed by the DSP For instance if the axis was moving at 40 mm sec and the encoder resolut
30. Appendix D Binary Conversion Table Table D 1 Binary Conversion Table Listing Continued D 5 D 6 Number ASCII Code Binary Code decimal 233 11101000 234 11101001 235 11101010 236 11101011 237 11101100 238 11101101 239 11101110 240 11101111 241 11110001 242 11110010 243 11110011 244 11110100 245 11110101 246 11110110 247 11110111 248 11111000 249 11111001 250 11111010 251 11111011 252 11111100 253 11111101 254 11111110 255 11111111 Table D 1 Binary Conversion Table Listing Continued Appendix Binary Conversion Table Appendix E System Upgrades The modular design of the ESP7000 makes it easy for qualified individuals to upgrade the unit in the field Upgrade kits to add more axis IEEE488 or display option are available upon request Call Newport for details NOTE ALL UPGRADES TO THE ESP7000 ARE TO BE MADE FROM THE REAR PANELS BY SLIDING OUT AN AXIS DRIVER Do not remove the Top Cover or the Front Panel This section describes how to upgrade an ESP7000 from 4 to 5 axes Other axes upgrades can be performed accordingly WARNING Opening or removing covers will expose you to hazardous voltages Refer all servicing internal to this controller enclosure to qualified service personnel who should observe the following precautions before proceeding Turn power OFF and unplug the unit from its p
31. COMMANDS OR search for home OH set home search high speed OL set home search low speed EXAMPLE 30L2 set home search low speed of axis 3 to 2 units sec 30L query home search low speed of axis 3 2 controller returns a value of 2 units second Section 3 Remote Mode 3 109 OM set home search mode USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 110 IMM PGM MIP int axis number nn int home search mode XX 1 to MAX AXES nn 0 to 6 XX none nn none XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE This command selects the home search type without invoking the home search sequence see the description of OR command for more information on home search The seven home search types are 0 Position Count Home Switch and Index Signals Home Switch Signal Positive Limit Signal Negative Limit Signal Positive Limit and Index Signals and Negative Limit and Index Signals If nn 0 and the front panel HOME search push button is pressed the axes will search for zero position count If nn 1 and the front panel HOME search push button is pressed the axis will search for combined Home and Index signal transitions The controller responds similarly for other values of nn
32. Figure 4 4 Block Diagram of Via Point Data Handling by Command 4 10 Figure 4 5 Block Diagram of Via Point Data Handling by Trajectory 4 11 Figure 4 6 Block Diagram of Closed Loop Stepper Motor POSTON Se a ut etae drap duds 4 15 Figure 4 7 Timing Diagram of a TTL Pulse Generation Synchronized to Position Crossing 4 21 Figure 4 8 Timing Diagram of Position Capture Synchronization to External Input Trigger 4 24 Figure 5 1 Typical Motion Control Systems 5 1 Figure 5 2 Position Error Test auus ieee access 5 4 Figure 5 3a High Accuracy for Small Motions 5 4 Figure 5 3b Low Accuracy for Small Motions 5 5 Figure 5 4 Effect of Stiction and Elasticity on Small Motions tides 5 6 Figure 2 5 5 6 Figure 5 6 Error vs Motion 5 7 Figure 5 7 Hysteresis Plot octies 5 8 Figure 5 8 Real vs Ideal 6 5 6 Figure 5 9 Pitch Roll and Yaw Motion Axes 5 9 Figure 5 10 Pitch Yaw and Roll sss 5 9 Figure 5 11 Wobble FOE uite rot tet s 5 10 Figure 5 12 Position Velocity and Average Velocity 5 11 Figure 5 13 Servo 5 14 Figure 5 14 P Loop 5 14
33. Note The command can be sent at any time but it has no effect until the UF update filter 1s received RETURNS If the 2 sign takes the place of nn value this command reports the current setting REL COMMANDS KI set integral gain factor KD set derivative gain factor KP set proportional gain factor KS set saturation gain factor VF set velocity feed forward gain UF update filter EXAMPLE 3VFI 5 set acceleration feed forward gain factor for axis 3 to 1 5 3AF report present axis 3 acceleration feedforward setting 0 9 controller returns a value of 0 9 3AF0 8 set acceleration feed forward gain factor for axis 3 to 0 8 3UF update PID filter only now the AF command takes effect 3 26 Section 3 Remote Mode AG set deceleration USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS Section 3 Remote Mode IMM PGM MIP xxAGnn xxAG xx int axis number nn float acceleration value XX 1to MAX AXES Nn to the maximum programmed value in AU command or to read current setting XX none Nn predefined units second XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx11 MAXIMUM ACCELERATION EXCEEDED This command is used to set the deceleration value for an axis Its execution is immediate meaning that
34. PARAMETER OUT OF RANGE This command is used to set the motor type the for axis xx Defining motor type is necessary because the ESP needs to apply different control algorithms for different motor types Note It will not be possible to control an axis if its motor type is undefined ESP300 motion controller does not support this motor type ESP6000 and ESP7000 motion controllers do not support this motor type If the 2 sign takes the place of nn value this command reports the current setting QV set average motor voltage QD update driver QI set maximum motor current QT set tachometer gain QG et gear constant 20M read motor type of axis 2 0 controller returns a value of 0 motor undefined for axis 2 20M 1 set motor type to value of 1 DC servo motor for axis 2 2QD update programmable driver with latest settings for axis 2 SM save all controller settings to non volatile memory Section 3 Remote Mode quit program mode USAGE SYNTAX PARAMETERS DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP This command quits the controller from programming mode the commands following this one will be executed immediately none EX execute stored program AP abort stored program execution XX erase program 3XX clear program 3 from memory if any 3EP activate program mode and enter following commands as
35. Refer to Appendix G Factory Service for information about repair or other hardware corrective action El Trouble Shooting Guide Information Most of the time a blown fuse is the result of a more serious problem Fixing the problem should include not only correcting the effect blown fuse but also the cause of the failure Analyze the problem carefully to avoid repeating it in the future B 2 A list of the most common problems and their corrective actions is provided in Table B 1 Use it as a reference but remember that a perceived error is usually an operator error or has some other simple solution PROBLEM CAUSE CORRECTIVE ACTION Display LCDs do Power switch is Turn on the main power switch located not come on turned off on the front panel Power LED does No electrical Verify with an adequate tester or not illuminate green when power on button is pressed power another electrical device lamp etc that power is present in the outlet If not contact an electrician to correct the problem Power cord not Plug the power cord in the appropriate plugged in outlet Observe all caution notes and procedures described in the System Setup section Blown fuse Replace the line fuse as described in the System Setup section Beware that the fuse blows only when a serious problem arises If the fuse blows again contact Newport for service Error message or physically present stage is decl
36. The nn parameter is overwritten by the OR command parameter If sign takes the place of nn value this command reports current setting OR search for home 30M1 set axis 3 home search mode to 1 3OR start home search on axis 3 using mode 1 Section 3 Remote Mode OR search for home IMM PGM MIP USAGE SYNTAX xxORnn PARAMETERS Description xx int axis number nn int home mode Range XX 0 to MAX AXES nn 0 to 6 where 0 Find 0 Position Count 1 Find Home and Index Signals 2 Find Home Signal 3 Find Positive Limit Signal 4 Find Negative Limit Signal 5 Find Positive Limit and Index Signals 6 Find Negative Limit and Index Signals Units XX none nn none Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command executes a Home search routine on the axis specified by xx If xx 0 home search routine is initiated sequentially on all installed axes If nn is missing the axes will search for home using the mode specified using OM command If nn 0 the axes will search for zero position count If nn 1 the axis will search for combined Home and Index signal transitions If nn 2 the axes will search for Home signal transition only If nn 3 the axes will search for positive limit signal transition If nn 4 the axes will se
37. if available on the controller Section 3 Remote Mode RETURNS REL COMMANDS EXAMPLE BO Section 3 Remote Mode If the 2 sign takes the place of nn value this command reports the current setting in hexadecimal notation SB set clear DIO bits read DIO port direction configuration OH controller returns a value of OH all ports are input BO 1H configure DIO port A as output SB OFFH set all port A DIO output HIGH 3 39 BP assign DIO bits for jog mode IMM PGM MIP USAGE SYNTAX xxBPnn1 nn2 or xxBP PARAMETERS Description xx int axis number nnl int bit number for jogging in negative direction nn2 int bit number for jogging in positive direction Range 1 to MAX AXES 0 to 23 Units XX none nn none Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command is used to assign DIO bits for jogging axes in either negative or positive directions RETURNS If sign is issued along with command the controller returns the DIO bits used for jogging in negative and positive directions respectively REL COMMANDS BO enable usage of DIO bits for jogging axes EXAMPLE 1BP3 4 set DIO bit 3 to jog axis 1 in negative direction and DIO bit 4 to jog axis 1 in positive direction 1BP query the DIO bits
38. to read current setting Units XX none Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command sets the derivative gain factor Kd of the PID closed loop It is active for any DC servo based motion device that has been selected to operate in closed loop The command can be sent at any time but it has no effect until the UF update filter 1s received See the Servo Tuning chapter on how to adjust the PID filter parameters RETURNS If the 2 sign takes the place of nn value this command reports the current setting REL COMMANDS KI set integral gain factor KP set proportional gain factor KS set saturation gain factor UF update filter EXAMPLE 3KD0 01 set derivative gain factor for axis 3 to 0 01 3UF update PID filter only now the KD command takes effect 3 96 Section 3 Remote Mode set integral gain USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxKInn or xxKI xx int nn float XX nn XX missing out of range nn missing out of range axis number integral gain factor Ki 1to MAX AXES 0 to 2e9 or to read current setting none one error 37 AXIS
39. xx int label number 1 to 100 XX missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE This command defines a label inside a program In combination with JL jump to label command they offer significant program flow control The operation of the DL JL command pair is similar to commands in other computer languages that allow conditional jumps or GOTO s to predefined labels in a program Note This command does not generate an error when not used inside a program Since it can not do any harm it is only ignored none JL jump to label 3XX clear program 3 from memory if any 3EP create program 3 IDL define label 1 1JL 5 jump to label I five 5 times QP end entering program and quit programming mode 3EX run stored program number 3 3 55 DO set dac offset USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 1000 05 3 56 IMM PGM MIP xxDOnn xxDO xx int DAC channel number nn float DAC offset value 1 to MAX AXES 10 0 to 10 0 or to read the current setting Volts missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 16 MAXIMUM DAC OFFSET EXCEEDED This command is used to set the DAC offs
40. 1 15 set maximum velocity to 15 deg sec 1va7 set working velocity to 7 deg sec loh7 set Homing speed to 7 deg sec 1jh7 set jog high speed to 7 deg sec ljwl set jog low speed to 1 deg sec lau40 set maximum acceleration to 40 deg sec Appendix G Programming Non ESP Compatible Stages G 1 lac20 lag25 1fe0 5 1kp600 1kd600 1ki350 1ks300 101 19 sm set working acceleration to 20 deg sec set deceleration to 2 5 deg sec set following error threshold to 0 5 deg set PID proportional gain to 600 set PID derivative gain to 600 set PID integral gain to 350 set PID integral saturation gain to 300 set trajectory mode to trapezoidal update motor driver configuration save configuration to non volatile memory Example 2 Stepper stage on axis 1 1qm3 191 1 1qv30 1sn2 lsu 0 001 1fr0 01 195100 1vu20 1valO 1jh10 ljwl loh10 lau50 1 ac 30 lag30 1fel 141 19 sm set motor type to Commutated stepper ESP300 only set motor maximum current to 1 amp set motor voltage to 30 volts set user units to millimeters set resolution to 1 micron set stepper motor full step resolution to 10 micron set micro stepping resolution to 100x set maximum velocity to 20 mm sec set working velocity to 10 mm sec set jog high velocity to 10 mm sec set jog low velocity to 1 mm sec set Homing velocity to 10 mm sec set maximum acceleration to 50 mm sec set acc
41. 1 0 1000 Acquire trace variable data for axis 1 in scaled integer format Collect 1000 samples one sample servo cycle DEI Enable trace variable data acquisition DD Query data acquisition done status 1 true 0 false If true DEO Disable trace variable data acquisition DG Get data collected 3 53 DH define home IMM PGM MIP USAGE SYNTAX xxDHnn PARAMETERS Description xx int axis number nn float position value Range 1 to MAX AXES nn 0 to 2e49 Units predefined units Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command is used to define current position HOME position This means that the current position will be preset to the value defined by parameter nn RETURNS If the 2 sign takes the place of nn value this command reports the current setting REL COMMANDS OR execute a home search cycle EXAMPLE 3ORI perform a home search on axis 3 3DH define current position on axis 3 HOME as 0 units 3DH 20 0 define current position on axis 3 HOME as 20 0 units 3 54 Section 3 Remote Mode DL define label USAGE SYNTAX PARAMETERS Description Range Units Default DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxDL
42. 3 start a relative motion of 2 2 units on axis 3 read desired velocity on axis 3 controller returns velocity 0 2 units sec for axis 3 read actual velocity on axis 3 controller returns velocity 0 205 units sec for axis 3 read desired position on axis 3 controller returns desired position 7 52 units for axis 3 Section 3 Remote Mode TX read controller activity IMM PGM MIP USAGE SYNTAX TX PARAMETERS None DESCRIPTION This command is used to read the controller activity register The byte returned is in the form of an ASCII character The value of each bit in the status byte can be deduced after converting the ASCII character into a binary value Each bit of the status byte represents a particular parameter as described in the following table Note Please refer to the Appendix for a complete ASCII to binary conversion table Meaning for Bit Funct i ni Bit LOW Bit HIGH 0 At least one program is NO YES executing 1 Wait command is executing NO YES 2 Manual jog mode is active NO YES 3 Local mode is inactive Default 4 At least one trajectory is NO YES executing 5 Reserved Default 6 Reserved Default 7 Reserved Default RETURNS ASCII character representing the status byte REL COMMANDS TS read controller status EXAMPLE TX read controller activity P controller returns character P indicating at least one trajectory is executing
43. 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command sets the controller in programming mode All the commands following this one will not be executed immediately but stored in memory as part of program number xx To exit program entry mode and return to immediate mode use QP command Programs can be entered in any order If a program already exists then it must be first deleted using XX command Note Programs are automatically stored into non volatile memory when created RETURNS none REL COMMANDS QP quit programming mode EX execute stored program AP abort stored program execution XX erase program EXAMPLE 3XX clear program 3 from memory if any 3EP activate program mode and enter following commands as program 3 QP end entering program and quit programming mode 3EX run stored program number 3 3 60 Section 3 Remote Mode ES define event action command string USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS Section 3 Remote Mode IMM PGM MIP ESnn or ES nn string ASCII command string 184 characters max nn Limited to existing non query command support or to read the current setting None nn missing To clear command string and disable event action This command is used to define and enable or disable if null string an event action command string to be performed when
44. 6 0 reserved 6 1 reserved 7 0 reserved 7 1 reserved 8 0 axis 1 index signal low 8 1 axis 1 index signal high 9 0 axis 2 index signal low 9 1 axis 2 index signal high 10 0 axis 3 index signal low 10 1 axis 3 index signal high 11 0 axis 4 index signal low 11 1 axis 4 index signal high 12 0 axis 5 index signal low 12 1 axis 5 index signal high 13 0 axis 6 index signal low 13 1 axis 6 index signal high 14 0 reserved 14 1 reserved 15 0 reserved 15 1 reserved 16 0 digital input A low 16 1 digital input A high 17 0 digital input B low 17 1 digital input B high 18 0 digital input C low 18 1 digital input C high eee 31 0 reserved 31 1 reserved This command reports the current status in hexadecimal notation ZU get ESP system configuration ZZ get system configuration PH read hardware status 18000404H 4H controller returns the status of the two hardware regsisters 3 119 PR move to relative position USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 120 IMM PGM MIP xxPRnn xx int axis number nn float relative motion increment XX 1to MAX AXES nn any value that will not cause exceeding the software limits and within 2e9 encoder resolution XX none nn defined motion units XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE
45. DC servo motors These signals are made available on this connector for special applications where the users need to observe the actual control signal output to the amplifier for analysis purposes Digital Ground Ground reference used for all digital signals Appendix C Connector Pin Assignments E Stop Interrupt to DSP This input is normally high Pulling it low will interrupt the ESP7000 Controller Reset Output from DSP This signal is a buffered active low signal connected to the ESP7000 Controller reset signal Appendix C Connector Pin Assignments C 13 C 14 Appendix C Connector Pin Assignments Appendix Binary Conversion Table Some of the status reporting commands return an ASCII character that must be converted to binary To aid with the conversion process the following table converts all character used and some other common ASCII symbols to decimal to decimal and binary To also help in working with the I O port related commands the table is extended to a full byte all 256 values Number ASCII Code Binary Code decimal 0 Null 00000000 1 Soh 00000001 2 Stx 00000010 3 Etx 00000011 4 Eot 00000100 5 Enq 00000101 6 Ack 00000110 7 00000111 8 Bs 00001000 9 Tab 00001001 10 Lf 00001010 11 Vt 00001011 12 Ff 00001100 13 Cr 00001101 14 So 00001110 15 Si 00001111 16 Dle 00010
46. I O 25 Pin Connector This connector interfaces the ESP7000 controller to customer defined analog I O devices Connector pin outs are listed in Table C 5 and functionally described in Section C 1 12 C 1 12 Signal Descriptions Analog 1 0 25 Pin Connector 5V 250mA maximum 5V supply available from the PC 12V 250mA maximum 12V supply available from the PC Appendix C Connector Pin Assignments C 11 12V 250mA maximum 12V supply available from the PC Analog Ground Analog to Digital Converter ADC signal ground Analog Input 0 7 Refer to Section 4 3 Data Acquisition for information Function DB 25 Pins Digital Ground 13 E Stop Interrupt to DSP 25 12V 250mA maximum 12 Reserved 24 12V 250mA maximum 11 Reset Output from DSP 23 5V 250mA maximum 10 Reserved 22 Reserved 9 Reserved 21 Analog Ground 8 Axis 6 Servo DAC Output 20 Analog Ground 7 Axis 5 Servo DAC Output 19 Analog Ground 6 Reserved 18 Analog Ground 5 Analog Input 0 17 Analog Input 1 4 Analog input 2 16 Analog Input 3 3 Analog Input 4 15 Analog Input 5 2 Analog Input 6 14 Analog Input 7 1 Table C 5 Analog Connector Pin Outs Signal Descriptions Analog I O 25 Pin Connector CONTINUED Axis 5 6 Servo DAC Output The servo Digital to Analog Converter DAC output is the 10 volt 18 bit resolution control signal used to control
47. Input Triggering section in the Advanced Capabilities Tutorial for further details C 1 7 1 488 Interface Connector 24 Pin The IEEE488 Interface Connector has a standard configuration as shown in Table C 4 Appendix C Connector Pin Assignments C 9 Description Pin Pin Description DIO1 1 13 DIO5 DIO2 2 14 DIO6 DIO3 3 15 DIO7 DIO4 4 16 DIO8 EOI 5 17 REN DAV 6 18 GND NRFD 7 19 GND NDAC 8 20 GND IFC 9 21 GND SRQ 10 22 GND ATN 11 23 GND SHIELD 12 24 SIG GND Table C 4 IEEE488 Interface Connector C 1 8 RS 232C Interface Connector 9 Pin D Sub Female The RS 232C interface uses a 9 pin Sub D Female connector The back panel connector pin out is shown in Figure C 1 Pin No Description 1 12V 2 TXD 3 RXD 4 N C GND 12V 7 CTS 8 RTS 9 N C Figure C 1 RS 232C Connector Pin Out C 1 9 RS 232C Interface Cable Figure C 2 shows a simple straight through pin to pin cable with 9 conductors that can be used to connect to a standard 9 pin RS232 host Pin No Pin No 1
48. Insert the 488 driver module in the connector The connector of the module is keyed to prevent insertion with improper polarity Make sure the keys line up properly before you try to insert the module 3 Attach the IEEE 488 panel to the rear panel of the unit with the 2 supplied thumb screws The unit is now ready for use Appendix E System Upgrades E 3 E 4 Appendix E System Upgrades Appendix F ESP Configuration Logic Each time a stage or stages are disconnected re connected or a system is powered down and then back up the ESP7000 controller card verifies the type of stage s present and re configures its own flash memory if necessary 1 new stage The controller card in the ESP7000 system configuration the stage motor and the current type are defined the controller card will configure the specific axis Specific ESP logic is shown in Figure F 1 Appendix F ESP Configuration Logic F 1 No Yes Y Yes No No Yes Copy ESP Stage Data To Erase Controller Flash Controller Memory And Load Default Flash Parameters Memory Is Motor e amp rrent Defined Configure Stage Axis Figure F 1 Configuration Logic F 2 Appendix F ESP Configuration Logic Appendix G Programming Non ESP Compatible Stages Newport positioners or stages with integrated configuration memory devices are said to be ESP Compatible It is not necess
49. LS T L B c Lo Figure 5 33 Phase Timing Diagram One phase is energized after another in a sequence To advance one full rotor tooth the user needs to make a complete cycle of four steps To make a full revolution the user needs a number of steps four times the number of rotor teeth These steps are called full steps They are the largest motion increment the stepper motor can make Running the motor in this mode is called full stepping What happens if the user energizes two neighboring phases simultaneously Figure 5 34 Ae sare Ao Figure 5 34 Energizing Two Phases Simultaneously Both phases will pull equally on the motor will move the rotor only half of the full step If the phases are always energized two at a time the motor still makes full steps But if the user alternates one and two phases being activated simultaneously the result is that the motor will move only half a step at a time This method of driving a stepper motor is called half stepping The advantage is that we can get double the resolution from the same motor with very little effort on the driver s side The timing diagram for half stepping is shown in Figure 5 35 12345678 A Figure 5 35 Timing Diagram Half Stepping Motor 5 28 Section 5 Motion Control Tutorial Section 5 Motion Control Tutorial Now what happens if we energize the
50. MIP Page AC Set acceleration 3 22 AE Set e stop deceleration 3 24 AG Set deceleration 3 Y AU Set maximum acceleration 3 31 Set backlash compensation 3 32 Set linear compensation 3 14 JH Set jog high speed 3 92 Set jerk rate 3 93 JW Set jog low speed 3 95 OL Set home search low speed 3 109 OH Set home search high speed 3 108 OM Set home search mode 3 110 SH Set home preset position 3 137 UF Update filter parameters 3 184 Set velocity 3 187 VB Set base velocity for step motors 3 158 Set maximum speed 3 161 FLOW CONTROL amp SEQUENCING Description IMM PGM MIP Page DL Define label 3 55 JL Jump to label 3 4 RQ Generate service request 3 131 SA Set device address 3 134 WP Wait for absolute position 3 162 crossing WS Wait for stop 3 163 WT Wait for time 3 164 I O FUNCTIONS Cmd Description IMM PGM MIP Page AM Set analog input mode 3 29 BG Assign DIO bits to execute stored 3 33 programs 3 12 Section 3 Remote Mode BK Assign DIO bits to inhibit motion 3 34 BL Enable DIO bits to inhibit motion 3 35 BM Assig
51. Move 4 7 4 2 4 Making Contours sss 4 9 4 2 5 Miscellaneous Commands 4 11 4 3 Slaving a Stage to Trackball Joystick or a Difterent SESEe ee n 4 11 4 3 1 Introduction Slaving a Stage 4 1 4 3 2 Slave to a Different Stage 4 12 4 3 3 Slave to a Trackball 4 12 434 Slave to Joystick ai ste 4 13 4 4 Closed Loop Stepper Motor Positioning 4 14 4 4 1 Introduction Closed Loop Stepper 4 14 4 4 2 Feature Implementation 4 14 4 5 Synchronize Motion to External and Internal n 4 16 4 5 1 Introduction Synchronize 4 16 4 5 2 Using DIO to Execute Stored Programs 4 16 4 5 3 Using DIO to Inhibit Motion 4 18 vi 4 5 4 Using DIO to Monitor Motion DIMUS pe I D Se E BOS 4 18 4 6 Position Compare Output Triggering 4 19 4 6 1 Introduction Position Compare Output Triggering 4 19 4 6 2 X Feature Setup Position Compare Output Triggering 4 20 4 6 3 Hardware Required Position Compare Output Triggering 4 22 4 7 Position Capture Input Triggering 4 22 4 7 1 Introduction Position Capture Input 4 22 47 2 Feature Setup Position Capture Input TTS BORING 4 23 47 3 Hard
52. NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE This command sets the integral gain factor Ki of the PID closed loop It is active for any DC servo based motion device that has been selected to operate in closed loop The command can be sent at any time but it has no effect until the UF update filter 1s received See the Servo Tuning chapter on how to adjust the PID filter parameters If the 2 sign takes the place of nn value this command reports the current setting KD set integral gain factor KP set proportional gain factor KS set saturation gain factor UF update filter 3KI 0 01 set integral gain factor for axis amp 3 to 0 01 3UF update PID filter only now the KI command takes effect 3 97 KP set proportional gain IMM PGM MIP USAGE SYNTAX xxKPnn or xxKP PARAMETERS Description xx int axis number nn float roportional gain factor Kp Range XX 1to MAX AXES nn 0 to 2e9 or to read current setting Units XX none nn none Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range rror xx2 PARAMETER OUT OF RANGE DESCRIPTION This command sets the proportional gain factor Kp of the PID closed loop It is active for any DC servo based motion device that has been selected to operate in closed loo
53. Power down all equipment before cleaning CAUTION Do not expose connectors fans LEDs or switches to alcohol or water Appendix B Trouble shooting and Maintenance B 5 B 6 Appendix B Trouble Shooting and Maintenance Appendix C Connector Pin Assignments ESP7000 Rear Panel C 1 1 C 1 2 C 1 3 1 4 Digital I O Connector 50 D Sub This connector provides access to the ESP7000 Opto22 compatible 24 bit digital I O interfaces Connector pin outs are listed in Table C 1 and functionally described in Section C 1 2 Signal Descriptions Digital I O 50 Pin Connector 5V 100mA maximum 5V supply available from the PC Digital I O The digital I O can be programmed to be either input or output in 8 bit blocks via software and is pulled up to 5 volts with a 4 7KQ resistor When configured as output each bit can source 64mA maximum When configured as input each bit can sink 32mA maximum Ground Ground reference used for all digital signals Motor Driver Card 25 Pin I O Connector This connector interfaces an ESP7000 driver card to motorized stages Cabling to the connector is provided with the applicable stage Connector pin outs are listed in Table C 2 and are functionally described in Section C 1 4 Signal Descriptions Motor Driver Card 25 Pin I O Connector DC Motor Phase Output This output must be connected to the positive lead of the DC motor The voltage
54. Section 3 Remote Mode 3 153 UF update servo filter USAGE SYNTAX PARAMETERS DESCRIPTION RETURNS ERRORS REL COMMANDS EXAMPLE 3 154 IMM PGM MIP UF None This command is used to make active the latest entered PID parameters Any new value for Kp Ki Kd and maximum following error are not being used in the PID loop calculation until UF command is received This assures that the parameters are loaded simultaneously without any transitional glitches in the loop If the axis specifier xx is missing or set to 0 the controller updates the filters for all axes If xx is a number between 1 and 4 the controller updates only the filter for the specified axis none none FE set maximum following error KD set derivative gain factor KI set integral gain factor KP set proportional gain factor 3KP0 05 set proportional gain factor of axis 3 to 0 05 3KD0 07 set derivative gain factor of axis 3 to 0 07 3UF update servo loop of axis 3 with the new parameters Section 3 Remote Mode UH wait for DIO bit high IMM PGM MIP USAGE SYNTAX XxUH PARAMETERS Description int DIO bid number Range Xx 0 to 23 for ESP6000 and ESP7000 controllers 0 to 15 for ESP100 and ESP300 controllers Units XX none Defaults XX missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command causes a program to wait unti
55. Since nn is a hexadecimal number it is possible that the most significant character left most character is an alphabet A F depending on the choice of values for various bits In order for the controller to distinguish between an ASCII command and its value it is recommended that the users always add a leading zero 0 to the nn value See table below for clarification Example Command Issued Controller Interpretation 1ZZ123H nn 123H 0001 0010 0011 Binary 177123 123 0001 0010 0011 Binary 1770 25 nn F25H 1111 0010 0101 Binary 1ZZF25H Invalid command 3 183 RETURNS REL COMMANDS EXAMPLE 3 184 BI VAL DEFINITION T UE 0 0 disable 100 pin interlock error checking 0 1 enable 100 pin interlock error checking 1 0 do not disable all axes on 100 pin interlock error event 1 disable all axes on 100 pin interlock error event 2 0 reserved 2 1 reserved 3 0 reserved 3 1 reserved 4 0 configure interlock fault as active low 4 1 configure interlock fault as active high 5 0 reserved 5 1 reserved 6 0 reserved 6 1 reserved 0 route auxiliary I O encoder signals to counter channels MAX AXES 1 and MAX AXES 2 7 1 route axis 1 and 2 encoder feedback to counter channels MAX AXES 1 and MAX AXES 2 8 0 unprotect ESP system critical settings 8 1 protect ESP system critical settings 9 0 Enable queue purge on time expiration 9 1 Disable queue purge on time expiration
56. Wait 3 164 XM Get available program memory 3 165 XX Delete a stored program 3 166 ZA Set amplifier I O configuration 3 167 ZB Set feedback configuration 3 170 ZE Set E stop configuration 3 172 ZF Set following error configuration 3 174 ZH Set hardware limit configuration 3 176 ZS Set software limit configuration 3 178 ZU Get ESP system configuration 3 180 ZZ Set system configuration 3 183 Description of Commands The extensive ESP controller command set exists to facilitate application development for wide range of application and needs However most simple positioning can be done with just a few commands VA set velocity AC set acceleration AG set deceleration PR position relative PA position absolute TP tell position WS wait for stop 3 18 Section 3 Remote Mode Section 3 Remote Mode NOTE Most of the commands take an axis number as a parameter xx For such commands the valid range of axis number is from 1 to MAX AXES where MAX AXES is dependant on the configuration of the ESP motion controller Commands related to coordinated motion and contouring group commands take a group number as a parameter For such commands the valid range of group number is from 1 to MAX GROUPS where MAX GROUPS is one half the MAX AXES 3 19 AA command mnemonic brief definition motor type the
57. XM read available memory vailable storage space 602281 controller reports available storage space 2XX delete program 2 XM read available memory purge stored program memory XM read available memory A Available storage space 602281 controller reports available storage space A vailable storage space 614401 controller reports available storage space 3 166 Section 3 Remote Mode ZA set amplifier I O configuration USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION Section 3 Remote Mode IMM PGM MIP xxZAnn xxZA xx int axis number nn int amplifier I O configuration XX 1to MAX AXES nn 0 to OFFFFH hexadecimal with leading zero 0 or to read current setting XX none nn none XX missing error 37 AXIS NUMBER MISSING out of range nn missing out of range critical setting during motion error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE error xx17 ESP CRITICAL SETTINGS ARE PROTECTED error xx26 PARAMETER CHANGE NOT ALLOWED DURING MOTION This command is used to set the amplifier I O polarity fault checking and event handling for axis specified with xx NOTE If bit 0 or both bits 1 and 2 are set to zero O then no action will be taken by the controller NOTE The controller always interprets the nn value as a hexadecimal number even when the let
58. an external trigger occurs This command is effective only if it is used in conjunction with ASCII command DC with data acquisition mode set to either 3 or 33 If the number of samples to be collected is specified to be 1 using DC command the event action is initiated immediately following the detection of an external trigger However if the number of samples is specified to be greater than 1 the event action is initiated only after all the external triggers equal to the number of samples required to complete the data acquisition are detected by the controller NOTE The external source for triggering data acquisition process modes 3 33 and 39 should be connected to pin 420 on the auxiliary I O connector Please refer to the appendix on Connector Pin Assignments for further details If the 2 sign takes the place of nn value this command reports the current ASCII command string for event trigger command processing DC setup data acquisition DD get data acquisition done status DE enable disable data acquisition DF get data acquisition status number of samples collected DG get data acquisition data 3 61 EXAMPLE 3 62 DC3 1 3 5 0 1 Param 1 Acquire analog data on an external trigger Param 2 No consequence for this data acquisition mode Param 3 Acquire analog channels 1 amp 2 339 11 2 Param 4 Acquire feedback channels 1 amp 3 5 9 101 2 Param 5 No consequence for t
59. at least the System Setup Section 1 5 before attempting to turn the controller or the motors on Serious damage could occur if the system is not properly configured Quick Start 1 26 This section serves as a quick start for ESP7000 with front panel display only Push in the Power button on the lower left side of the Front Panel When the front panel Power button is pressed a red LED illuminates briefly then automatically changes to a green LED illuminated above the Power button NOTE The EMERGENCY STOP motion button STOP ALL is a latch type switch As such it is possible to after powering up the ESP7000 to have the STOP ALL MOTION disabled as indicated by the associated LED being red The controller can be enabled by pressing the STOP ALL button the LED should then turn green An error will be generated if the controller is powered up with the STOP ALL MOTION button in the DISABLED position Once the TOP MENU is displayed the user can SETUP the ESP7000 See Section 1 4 3 MORE SETUP NOTE Any time the user calls for technical support the firmware version is essential to trouble shoot a problem It is displayed every time the controller power is turned ON User s of the Blank Front Panel can query the version with the VE command See Section 3 Remote Mode Users of the ESP7000 with blank front panel can skip to Section 3 Remote Mode The following paragraphs guide you through a quick tou
60. axis RETURNS If sign takes the place of nn value this command reports the current setting REL COMMANDS None EXAMPLE 1BA0 0012 Set backlash compensation value for axis 1 to 0 0012 units 1BA Query backlash compensation value for axis 1 0 0012 Controller returns a value of 0 0012 units 1 Perform home search on axis 1 1PA10 Move axis 1 to absolute 10 units 1PA0 Move axis 1 to absolute units 3 32 Section 3 Remote Mode BG assign DIO bits to execute stored programs USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxBGnn or xxBG xx int bit number used to trigger stored program execution nn char name of stored program to be executed XX 0 to 23 nn None or to read current setting None XX missing error 7 PARAMETER OUT OF RANGE outofrange error 7 PARAMETER OUT OF RANGE This command is used to assign DIO bits for initiating the execution of a desired stored program Execution of the stored program begins when the specified DIO bit changes its state from HIGH to LOW logic level Note Each DIO bit has a pulled up resistor to 5V Therefore all bits will be at HIGH logic level if not connected to external circuit and configured as input If the sign takes the place of nn value this command reports the current setting BO Set DIO port A B C direction
61. be enabled for this command to be effective Refer to feedback configuration ZB command for enabling these features in the case of stepper motors If 0 is used as an axis number this command will set the specified interval to all the axes If sign takes the place of nn value this command reports the current setting ZB set feedback configuration DB set position deadband value 3ZB300 enable encoder feedback and closed loop positioning of axis 3 3DB1 set position deadband value to 1 encoder count 3DB query deadband value 1 controller returns a value of 1 encoder count 3CL100 set closed loop update interval to 100 milliseconds 3CL query closed loop update interval 100 controller returns a value of 100 milliseconds 3 43 CO set linear compensation USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 44 IMM PGM MIP xxCOnn or xxCO xx int axis number nn float linear compensation value XX 1to MAX AXES nn 0 to 2e 9 XX none nn none XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE This command allows users to compensate for linear positioning errors due to stage inaccuracies Such errors decrease or increase actual motion linearly over the travel ran
62. by the labels Incorrect Verify that all relevant parameters parameters PID velocity etc are set properly Motor Incorrect Verify that the motion device is excessively hot connection connected to the correct driver card as specified by the labels Move command not executed Software travel The software limit See SL command limit if the specified direction was reached If limits are set correctly do not try to move past them Incorrect Verify that all relevant parameters parameters PID velocity etc are set properly Appendix B Trouble shooting and Maintenance Table B 1 Trouble Shoot Guide Continued B 3 B 4 PROBLEM CAUSE CORRECTIVE ACTION Home search not Faulty origin or completed index signals Carefully observe and record the motion sequence by watching manual knob rotation if available With the information collected call Newport for assistance Wrong line terminator Make sure that the computer and the controller use the same line terminator No remote communication wrong communication port Verify that the controller is set to communicate on the right port RS 232 IEEEA88 or VSB Wrong communication parameters Verify that all communication parameters match between the computer and the controller Table B 1 Trouble Shoot Guide Continued NOTE Many problems are detected by the control
63. command in Section 3 Remote Mode Any move outside these limits will be ignored 1 6 4 System Shut Down To shut down the system entirely perform the following sequence Wait for the stage s to complete their movement and come to a halt Press the black Power button on the front panel to put the ESP7000 Controller in a STANDBY mode 1 29 Section 1 Introduction Section 2 Modes of Operation D Overview of Operating Modes Section 2 Modes of Operation The ESP7000 can be operated in one of two modes e LOCAL mode REMOTE mode Following is an overview of these two modes of operation LOCAL Mode This mode is applicable only if your unit is equipped with the optional front panel with display If your ESP7000 is equipped with the blank front panel you may skip to the REMOTE Mode Section 3 of this manual In LOCAL Mode the user has access to a sub set of the ESP7000 motion control functions through the use of Front Panel buttons and display menus This allows the user to set up a motion system without use of IEEEA88 RS 232C Interfaces or using a computer or terminal NOTE Each of the display window screens is described in Section 1 4 3 Description of Front Panel Versions and Front Panel with Display REMOTE Mode Operated remotely the ESP7000 functions in two distinct modes In Remote Mode the ESP7000 receives motion commands through one of its interfaces IEEE488 or RS 232C using a compute
64. commands Avoid changing the velocity during the acceleration or deceleration periods For better predictable results change velocity only when the axis is not moving or when it is moving with a constant speed If the 2 sign takes the place of nn value this command reports the current setting AC set acceleration VU set maximum velocity PA execute an absolute motion PR execute a relative motion 2VA read desired velocity of axis 2 10 controller returns a velocity value of 10 units s 2PA15 move to absolute position 15 WTS500 wait for 500ms 2VA4 set axis 2 velocity to 4 units s 2VA read velocity of axis 2 4 controller returns a velocity value of 4 units s 3 157 VB set base velocity for step motors IMM PGM MIP USAGE SYNTAX xxVBnn or xxVB PARAMETERS Description xx int axis number nn float base velocity value Range XX 1to MAX AXES nn 0 to maximum value allowed by VU command or to read current setting Units XX none nn preset units second Defaults XX missing error 37 AXIS NUMBER MISSING out of range nn missing error 38 COMMAND PARAMETER MISSING out of range error xx10 MAXIMUM VELOCITY EXCEEDED error 01 Axis xx PARAMETER OUT OF RANGE DESCRIPTION This command is used to set the base velocity also referred to as start stop velocity value for a step motor driven axis Its execution is immediate meaning that the velocity is changed when the com
65. commas TERMINATOR Each command line must end with a line terminator i e carriage return Section 3 Remote Mode The controller understands many commands The following tables list all of them sorted first by category and then alphabetically The tables also show the operating modes in which each command can be used The acronyms used in the tables have the following meaning IMM IMMediate mode Controller is idle and the commands will be executed immediately PGM ProGraM mode Controller does not execute but stores all commands as part of a program EP activates this mode and QP exits it MIP Motion In Progress Controller executes command on the specified axis while in motion Section 3 Remote Mode 3 9 3 5 1 Command List by Category Table In a PDF format you may click on a page number to automatically be connected to the corresponding Command Page GENERAL MODE SELECTION Cmd Description IMM PGM MIP Page BQ Enable disable DIO jog mode e 3 1 BR Set serial communication speed 3 12 DO Set DAC offset 3 56 Set position display resolution 3 55 Power OFF 3 102 Power ON 3 L03 QD Update Unidriver amplifier 3 121 RS Reset the controller 3 TJ Set trajector
66. controller returns a value of 1 when motion is done 3TP query axis 3 position 75 0 controller returns a value of 75 0 units 3 137 SI set master slave jog velocity update interval IMM PGM MIP USAGE SYNTAX SInn or SI PARAMETERS Description nn int jog velocity update interval Range nn 1 to 1000 Units nn milliseconds Defaults nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command sets the jog velocity update interval for slave axis The jog velocity of slave axis is computed once every interval using user specified scaling coefficients and the master axis velocity at the time of computation Refer SK command to specify slave jog velocity scaling coefficients Note that appropriate trajectory mode has to be specified using TJ command before this command becomes effective RETURNS If sign is issued along with command the controller returns slave axis jog velocity update interval REL COMMANDS SS define master slave relationship SK set slave axis jog velocity scaling coefficients EXAMPLE 2551 set axis 2 to be the slave of axis 1 2557 query the master axis number for axis 2 1 controller returns a value of 1 2TJ6 set axis 2 trajectory mode to 6 SI10 set the jog velocity update interval of slave axis to 10 msec SI query the jog velocity update interval of slave axis 10 controller returns a value of 10 5 0 5 0 set th
67. current torque driver A special case is when the driver has its own velocity feedback loop from a tachometer Figure 5 19 The tachometer is a device that outputs a voltage proportional with the velocity Using its signal the driver can maintain the velocity to be proportional to the control signal Section 5 Motion Control Tutorial 5 17 If such a driver is used with a velocity feed forward algorithm by properly tuning the Kyr parameter the feed forward signal could perform an excellent job leaving very little for the PID loop to do Servo Controller Trajectory Generator Motor Tachometer O Motion Controller Encoder Figure 5 19 Tachometer driven PIDF Loop Motion Profiles 5 4 1 5 18 When talking about motion commands we refer to certain strings sent to a motion controller that will initiate a certain action usually a motion There are a number of common motion commands that are identified by name The following paragraphs describe a few of them Move Motion A move is a point to point motion On execution of a move motion command the motion device moves from the current position to a desired destination The destination can be specified either as an absolute position or as a relative distance from the current position When executing a move command the motion device will accelerate until the velocity reaches a pre defined value Then at the proper time it will start decelerating so tha
68. does not have valid configuration it will not have a Menu Box By pressing an Axis Selection Button the MOTOR POWER of the corresponding axis will switch state If the MOTOR POWER was OFF previously it will be turned ON and vice versa To control all axes at once two function buttons are active on the bottom of the display One is labeled ALL OFF and the other ALL ON By pressing one of them all axes could be turned OFF or ON respectively NOTE The MOTOR POWER status of every axis is also constantly indicated by a set of six three color LEDs located next to the Axis Selection Buttons The color interpretation is as follows e Green motor power ON e Yellow motor power OFF e Red driver fault e Off not lit stage missing or driver not configured 2 2 Section 2 Modes of Operation 2 2 2 2 2 3 Section 2 Modes of Operation Motion Configuration This mode is activated from the top menu The MOTION CONFIGURATION screen first shows a list of all axes The user must select an axis to configure by pressing one of the Axis Selection Buttons Once an axis is selected the display shows the following list of motion parameter names and their corresponding values See Figure 1 6 e Trajectory Trapezoid e Velocity 1 2500 e Acceleration 5 0000 e Deceleration 5 0000 e Jerk 20 0000 e Foll Error 1 0000 A parameter can be selected by pressing one of the Axis Selection Buttons Once selected the value g
69. driver is the current driver also called a torque driver Figure 5 50 In this case the control signal voltage defines the motor current The driver constantly measures the motor current and always keeps it proportional to the input voltage This type of driver is usually preferred over the previous one in digital control loops offering a stiffer response and thus reduces the dynamic following error control signal 10V Figure 5 50 DC Motor Current Driver But when the highest possible performance is required the best choice is always the velocity feedback driver This type of driver requires a tachometer an expensive and sometimes difficult to add device Figure 5 51 The tachometer connected to the motor s rotor outputs a voltage directly proportional with the motor velocity The circuit compares this voltage with the control signal and drives the motor so that the two are always equal This creates a second closed loop a velocity loop Motions performed with such a driver are very smooth at high and low speeds and have a similar dynamic following error General purpose velocity feedback drivers have usually two adjustments tachometer gain and compensation Figure 5 52 5 37 control signal 10V V velocity Figure 5 51 DC Motor Velocity Feedback Driver compensation control signal tach gain V velocity Figure 5 52 DC Motor Tachometer Gain and Compensation The tachometer gain is used to
70. find itself deviating from this ideal trajectory Since most of the time the real motion device is trailing the ideal one the instantaneous error is called Following Error To summarize the Following Error is the instantaneous difference between the actual position as reported by the position feedback device and the ideal position as seen by the controller A negative following error means that the load is trailing the ideal motion device Error Error has the same definition as the Following Error with the exception that the ideal trajectory is not compared to the position feedback device encoder but to an external precision measuring device In other words the Following Error is the instantaneous error perceived by the controller while the Error is the one perceived by the user Accuracy The accuracy of a system is probably the most common parameter users want to know Unfortunately due to its perceived simplicity it is also the easiest to misinterpret The Accuracy is a static measure of a point to point positioning error Starting from a reference point the user should command the controller to move a certain distance When the motion is completed the user should measure the actual distance traveled with an external precision measuring device The difference the Error represents the positioning Accuracy for that particular motion 5 3 5 2 4 Because every application is different the user needs to know the err
71. first place For a motor with four phases the most widely used type the user will need only four switches transistors controlled directly by a CPU Figure 5 44 This driver works fine for simple low performance applications But if high speeds are required having to switch the current fast in inductive loads becomes a problem When voltage is applied to a winding the current and thus the torque approaches its normal value exponentially Figure 5 45 B B E X Figure 5 44 Simple Stepper Motor Driver Current Figure 5 45 Current Build up in Phase When the pulse rate is fast the current does not have time to reach the desired value before it is turned off and the total torque generated is only a fraction of the normal one Figure 5 46 How fast the current reaches its normal value depends on three factors the winding s inductance resistance and the voltage applied to it The inductance cannot be reduced But the voltage can be temporarily increased to bring the current to its desired level faster The most widely used technique is a high voltage chopper Section 5 Motion Control Tutorial 5 7 2 Section 5 Motion Control Tutorial Phase ON nominal current Figure 5 46 Effect of a Short ON Time on Current If for instance a stepper motor requiring only 3V to reach the nominal current is connected momentarily to 30V it will reach the same current in only 1 10
72. for example scanning it is important for the velocity to be very constant In reality there are a number of factors besides the controller that affect the velocity As described in the Minimum Velocity definition the speed plays a significant role in the amount of ripple generated especially at low values Even if the controller does a perfect job by running with zero following error imperfections in the mechanics friction variation transmission ripple etc will generate some velocity ripple that can be translated to Velocity Regulation problems Depending on the specific application one motor technology can be preferred over the other As far as the controller is concerned the stepper motor version is the ideal case for a good average Velocity Regulation because the motor inherently follows precisely the desired trajectory The only problem is the ripple caused by the actual stepping process The best a DC motor controller can do is to approach the stepper motor s performance in average Velocity Regulation but it has the advantage of significantly reduced velocity ripple inherently and through PID tuning If the DC motor implements a velocity closed loop through the use of a tachometer the overall servo performance increases and one of the biggest beneficiary is the Velocity Regulation Maximum Acceleration The Maximum Acceleration is a complex parameter that depends as much on the motion control system as it does on app
73. for this axis is not in trapezoidal or s curve mode the controller returns error xx32 INVALID TRAJECTORY MODE FOR MOVING Note Even though the command is accepted while a motion is in progress care should be taken not to reverse direction of motion When this command is received the controller verifies if it will produce a change of direction If the 2 sign takes the place of nn value this command reports the current actual the same as TP AC set acceleration PR move to relative position ST stop motion MD move done status VA set velocity 3VA8 set velocity of axis 2 to 8 units s 3PA12 34 move axis 2 to absolute position 12 34 3 113 PC set position compare mode USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION 3 114 IMM PGM MIP xxPCnn nn Xx int axis number nni int compare modes nn2 float compare absolute position or relative displacement XX 1to2 nni 0 to 2 where 0 disarm position compare feature 1 arm absolute position compare feature 2 arm relative position compare feature nn2 any position within the travel limits XX none nni none nn2 defined motion units XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nnl missing error 38 COMMAND PARAMETER MISSING out of range error xxl PARAMETER OUT OF RANGE nn2 missing error 38 COMMAND PARAME
74. hardware limit configuration set software limit configuration set general system configuration read amplifier I O configuration of axis 2 controller returns a value of 100H for axis 2 set amplifier I O configuration to 105H for axis 2 save all controller settings to non volatile memory 8471 ZE set e stop configuration USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION 3 172 IMM PGM MIP xxZEnn or xxZE xx int axis number nn int e stop configuration XX 1to MAX AXES nn 0 to OFFFFH hexadecimal with leading zero 0 or to read current setting XX none nn none XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx17 ESP CRITICAL SETTINGS ARE PROTECTED This command is used to set the emergency stop e stop configuration fault checking and event handling for axis specified with xx NOTE If bit 0 or both bits 1 and 2 are set to zero O then no action will be taken by the controller NOTE The controller always interprets the nn value as a hexadecimal number even when the letter H is not appended to the desired value Since nn is a hexadecimal number it is possible that the most significant character left most character is an alphabet A F depending on the choice of values for various bits In order for the controller to distinguish b
75. in one direction While jogging press momentarily the opposite direction button changing speed Pressing the MENU BUTTON returns the display to the JOG MODE screen HOME The HOME MENU screen is enabled by pressing the HOME MENU Selection Button in the MOVE MENU This screen displays the name and position values of each axis All configured axes that have a motion device connected will have an associated Axis Selection Button Pressing one of these Menu Selection Buttons will highlight the corresponding Axis Selection Button box indicating that the respective axis is selected to perform a HOME search routine Pressing the Axis Function Button of an already selected axes will deselect it When the Home function button is pressed the controller sequentially executes a HOME finding routine on all selected axes Once the HOME routine has started STOP will be displayed next to all Axis Selection Buttons on whom was selected Pressing one of these buttons will step the HOME sequence on the selected axis NOTE Pressing the RED STOP ALL button in the lower right corner of the front panel will initiate a motion inhibit sequence on all axes This function is user programmable and could be set individually for each axis anywhere from a hard emergency stop to a do nothing action The default setting is a controlled stop followed by a motor power off Pressing the MENU BUTTON returns the display to the MOVE MENU Section 2
76. inside the current travel Note Be careful when using this command The controller does not know the real hardware limits of the motion device Always set the software limits inside the hardware limits limit switches In normal operation a motion device should never hit a limit switch If the 2 sign takes the place of nn value this command reports the current setting OR search for home SL set left software limit 1SR41 4 set positive travel limit of axis 1 to 41 4 units 3 143 SS define master slave relationship USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 144 IMM PGM MIP xxSSnn xxSS xx int axis number to be defined as a slave nn int axis number to be defined as a master 1 to MAX AXES 1 to MAX AXES none XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE This command defines master slave relationship between any two axes A few rules are in place for ease of use e The trajectory mode for slave has to be appropriately defined before that axis follows master in a desired fashion e An axis cannot be assigned as its own slave if it is already in a trajectory mode that is specific to master slaving e A slave axis cannot be
77. kept in contiguous buffer space without evaluation Example 2 1PA 30 1WS 2PR 10 Example 1 and Example 2 perform the same operations In Example 2 however semicolons are used in place of carriage returns as command delimiters keeping the ESP controller from interpreting any commands on that line until the carriage return terminator is received at the very end of the string Section 3 Remote Mode PROGRAM EXECUTION MODE The ESP controller also implements an internal program execution mode that enables the user to store up to 100 programs in a 64kB non volatile memory Even while executing stored programs the ESP controller maintains open communication channels so that the host terminal can continue to direct the ESP to report any desired status and even execute other motion commands Let s illustrate program execution mode using the previous example Example 3 EP invoke program entry mode 1PA 30 enter program 1WS 2PR 10 QP exit program entry mode 1EX execute compiled program 1 As shown above the sequence of commands has to be downloaded into the ESP controller program memory without inadvertently executing them To facilitate this the system provides the EP Enter Program command characters received thereafter are redirected to program memory Command syntax and parameters are not evaluated even after the carriage return Instead they are treated as a series of characters to be stored in contiguo
78. number none VE read controller firmware version ESP300 Version 3 0 1 6 1 99 controller returns model ESP300 version 3 0 and release date 6 1 99 3 159 VF set velocity feed forward gain USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3VF 3 160 IMM PGM MIP or xxVF xx int axis number nn float velocity feed forward gain factor Vf XX 1 to MAX AXES nn 0 to 2e9 or to read current setting xx missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE This command sets the velocity feed forward gain factor Vf It is active for any DC servo based motion device See the Feed Forward Loops in Motion Control Tutorial section to understand the basic principals of feed forward Note The command can be sent at any time but it has no effect until the UF update filter 1s received If the 2 sign takes the place of nn value this command reports the current setting KI set integral gain factor KS set saturation gain factor KD set derivative gain factor KP set proportional gain factor AF set acceleration feed forward gain UF update filter 8 set acceleration feed forward gain factor for axis 3 to 0 8 rep
79. on 3 103 MT Move to hardware travel limit 3 104 MV Move indefinitely 3 105 MZ Move to nearest index 3 107 OH Set home search high speed 3 108 OL Set home search low speed 3 109 Set home search mode 3 110 3 16 Section 3 Remote Mode TABLE 3 5 2 Command List Alphabetical Continued In a PDF format you may click on a page number to automatically be connected to the corresponding Command Page Cmd Description IMM PGM MIP Page OR Search for home 3 111 PA Move to absolute position 3 113 PC Set position compare mode 3 D PH Get hardware status 3 117 PR Move to relative position 3 120 QD Update motor driver settings 3 121 Set gear constant 3 QI Set maximum motor current 3 123 Set motor type 3 124 Quit program mode 3 125 Reduce motor torque 3 126 QS Set microstep factor 3 127 QT Set tachometer gain 3 128 QV Set average motor voltage 3 RA Read analog input 3 130 RQ Generate service request 3 131 RS Reset the controller 3 132 SA Set device address 3 134 SB Set get DIO port A B C bit status 3 135 SH Set home preset position
80. on the rotating platform has the same advantages and disadvantages of the linear scales D Motors 5 26 5 6 1 There are many different types of electrical motors each one being best suitable for certain kind of applications The ESP7000 supports two of the most popular types stepper motors and Dc motors Another way to characterize motors is by the type of motion they provide The most common ones are rotary but in some applications linear motors are preferred Stepper Motors The main characteristic of a stepper motor is that each motion cycle has a number of stable positions This means that if current is applied to one of its windings 9called phases the rotor will try to find one of these stable points and stay here In order to make a motion another phase must be energized which in turn will find a new stable point thus making a small incremental move a step Figure 5 31 shows the basics of a stepper motor When the winding is energized the magnetic flux will turn the rotor until the rotor and stator teeth line up This true of the rotor core is made out of soft iron Regardless of the current polarity the stator will try to pull in the closest rotor tooth Section 5 Motion Control Tutorial Section 5 Motion Control Tutorial Figure 5 31 Stepper Motor Operation But if the rotor is a permanent magnet depending on the current polarity the stator will pull or push the rotor tooth This is a maj
81. physical axes 1 and 2 1HJ50 set vectorial jerk of group 1 to 50 units second 1HJ query vectorial deceleration of group 1 50 controller returns a value of 50 units second 3 77 HL move group along a line USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS 3 78 IMM PGM MIP xxHLnni nn xxHL xx int group number nn float target position of first axis in a group nn float target position of second axis in a group nn float target position of ith axis in a group where i can vary from 1 to 6 XX 1to MAX GROUPS nni any position within the travel limits XX none nn redefined units XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated Missing parameter error 21 GROUP PARAMETER MISSING This command initiates motion of a group along a line It causes all axes assigned to the group to move with predefined vectorial tangential velocity acceleration and deceleration along a line A trapezoid velocity profile is employed when vectorial jerk is set to zero Otherwise an S curve velocity profile is employed If this command is received while a group move is in progress the new command gets enqueued into a via point buffer Please refer Advanced Capabilities section for a detailed descrip
82. power is switched on the ESP7000 will go into a STANDBY MODE Yellow LED illuminates above the Power button Blank Panel Version After the power is switched on the Blank Front Panel indicates the ON state with a green LED below the STOP ALL switch Connecting Stages All ESP compatible stages are electrically and physically compatible with the ESP7000 Controller ESP compatible stages are visually identified with a blue ESP Compatible sticker on the stage With ESP compatible stages the configuration of each axis is identified automatically by the ESP7000 at power up If an ES compatible motion system was purchased all necessary hardware to connect the stage with the ESP7000 Controller is included The stage connects to the ESP7000 via a shielded custom cable that carries all power and control signals encoder limits and home signals The cable is terminated with a standard 25 pin D Sub connector CAUTION Never connect disconnect stages while the ESP7000 controller is powered on CAUTION Position stage s on a flat stable surface before connection to the ESP7000 Controller With the power off carefully connect one end of the supplied cables to the stage and the other end to the appropriate axis connector on the rear of the controller Secure both connects with the locking thumbscrews Refer to Appendix H Factory Service to order replacement cables 1 25 CAUTION It is strongly recommended that the user read
83. procedures Section 2 Modes of Operation contains e Overview of operating modes Local and Remote e Operating options in LOCAL Mode Section 3 Remote Mode contains e Features and operation of the Windows software utilities Newport provided commands language specific information and error handling procedures Section 4 Advanced Capabilities contains e Grouping e Contouring e Data Acquisition Master Slaving Section 5 Motion Control Tutorial contains e Overview of motion parameters and equipment Section 6 Servo Tuning contains tuning principles and procedures Section 7 Optional Equipment contains e Hand held keypad description and activation e Rack Mount Brackets description e Motor Driver Card description The following information is provided in the Appendices Error messages Trouble shooting and maintenance Connector pin assignments Decimal ASCII binary conversion table System upgrades for software and firmware ESP Configuration Logic Programming Non ESP Compatible Stages Factory service Safety Considerations 1 2 The following general safety precautions must be observed during all phases of operation of this equipment Failure to comply with these precautions or with specific warnings elsewhere in this manual violates safety standards of design manufacture and intended use of the equipment Disconnect or do not plug in the AC power cord in the following circumstances
84. pulse with a width of at least 80ns Please refer to the description of these pins in the Auxiliary I O 40 Pin JP5 Connector section in Appendix C Commands related to generating a trigger pulse in synchronization with axis position are listed in Table 4 12 refer to Section 3 Remote Mode for additional details Section 4 Advanced Capabilities Section 4 Advanced Capabilities Command Description DC Setup data acquisition DD Query data acquisition done status DE Enable or disable data acquisition DG Get acquired data ES Define event action Table 4 12 Commands to Synchronize Position Capture to External Inputs 4 25 4 26 Section 4 Advanced Capabilities Section 5 Motion Control Tutorial Motion Systems Section 5 Motion Control Tutorial A schematic of a typical motion control system is shown in Figure 5 1 K T Sing Figure 5 1 Typical Motion Control Systems Its major components are Controller An electronic device that receives motion commands from an operator directly or via a computer verifies the real motion device position and generates the necessary control signals Driver An electronic device that converts the control signals to the correct format and power needed to drive the motors Motion Device An electro mechanical device that can move a load with the necessary specifications 5 1 Cables Neede
85. second XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated nn missing error 7 PARAMETER OUT OF RANGE negative error 22 GROUP PARAMETER OUT OF RANGE out of range error 22 GROUP PARAMETER OUT OF RANGE This command is used to set the vectorial e stop deceleration value for a group This value will be used during coordinated motion of axes assigned to the group It will override any original e stop deceleration values specified for individual axes using AE command The axes original values will be restored when the group to which they have been assigned is deleted This command takes effect immediately It can be executed when controller is idling or motion is in progress or inside a program E stop deceleration is invoked upon a local e stop condition e g front panel Stop push button interlock etc has occurred if configured to do so or if the AB abort motion command is processed If sign takes the place of nn value this command reports the current setting HN create a new group HV set vectorial velocity for a group HA set vectorial acceleration for a group HD set vectorial deceleration for a group 1HN1 2 create a new group 1 with physical axes 1 and 2 1HE100 set vectorial e stop deceleration of group 1 to 100 units second 1HE query vectorial e stop deceleration o
86. seen at this pin is pulse width modulated with maximum amplitude of 48V DC Appendix C Connector Pin Assignments C 1 C 2 Pin Description 1 Port C Bit 7 2 Ground 3 Port C Bit 6 4 Ground 5 Port C Bit 5 6 Ground 7 Port C Bit 4 8 Ground 9 Port C Bit 3 10 Ground 11 Port C Bit 2 12 Ground 13 Port C Bit 1 14 Ground 15 Port C Bit 0 16 Ground 17 Port B Bit 7 18 Ground 19 Port B Bit 6 20 Ground 21 Port B Bit 5 22 Ground 23 Port B Bit 4 24 Ground 25 Port B Bit 3 26 Ground 27 Port B Bit 2 28 Ground 29 Port B Bit 1 30 Ground 31 Port Bit 0 32 Ground 33 Port A Bit 7 34 Ground 35 Port A Bit 6 36 Ground 37 Port A Bit 5 38 Ground 39 Port A Bit 4 40 Ground 41 Port Bit 3 42 Ground 43 Port A Bit 2 44 Ground 45 Port A bit 1 46 Ground 47 Port A Bit 0 48 Ground 49 5V 250mA maximum 50 Ground Table C 1 Digital Connector Pin Outs Appendix C Connector Pin Assignments Pins Stepper Motor DC Motor 1 Stepper Phase 1 Tacho Generator 2 Stepper Phase 1 Tacho Generator 3 Stepper Phase 2 Tacho Generator 4 Stepper Phase 2 Tacho Generator 5 Stepper Phase 3 DC Motor Phase 6 Stepper Phase 3 DC Motor
87. set the ratio between the control voltage and the velocity The compensation adjustment reduces the bandwidth of the amplifier to avoid oscillations of the closed loop PWM Drivers Even though linear amplifiers are similar and cleaner do not generate noise their low efficiency makes them impractical to be used with medium and larger motors The most common types of DC drivers use some kind of PWM Pulse Width Modulation techniques to control the current and or voltage applied to the motor This allows for a more efficient and compact driver design 5 38 Section 5 Motion Control Tutorial Section 6 Servo Tuning 6 Tuning Principles The ESP controller uses a PID servo loop with feed forward Servo tuning set the Kp Ki and Kd and feed forward parameters of the digital PID algorithm also called the PID filter Tuning PID parameters requires a reasonable amount of closed loop system understanding First review the Control Loops paragraph in the Motion Control Tutorial Section If needed consult additional servo control theory books Start the tuning process using the default values supplied with the stage These values are usually very conservative favoring safe oscillation free operation To achieve the best dynamic performance possible the system must be tuned for the specific application Load acceleration stage orientation and performance requirements all affect how the servo loop should be tuned Tu
88. side of the home position A more obvious restriction is that the negative limit cannot be greater than the positive limit If any of these restrictions is not respected the controller will return PARAMETER OUT OF RANGE Note If the command is issued for an axis in motion the new limit should not be set inside the current travel Note Be careful when using this command The controller does not know the real hardware limits of the motion device Always set the software limits inside the hardware limits limit switches In normal operation a motion device should never hit a limit switch If the sign takes the place of nn value this command reports the current setting OR search for home SR set right software limits 1SL41 4 set negative travel limit of axis 1 to 41 4 units Section 3 Remote Mode SM save settings to non volatile memory IMM PGM MIP USAGE SYNTAX SM PARAMETERS none DESCRIPTION This command is used to save system and axis configuration settings from RAM to non volatile flash memory It should be used after modifying system and or axis parameters and settings to assure that the new data will not be lost when the controller is powered off Note User programs created with EP command are automatically saved to non volatile memory RETURNS none REL COMMANDS none EXAMPLE 3VA12 5 set axis 3 velocity to 12 5 units sec 50 0 set axis 3 acceleration to 50 unit sec SM save chang
89. the motion controller tasks upon encountering a hardware limit x06 POSITIVE SOFTWARE LIMIT DETECTED The motion controller sensed that the axis has reached positive software travel limit Refer to the description of SR command to specify the desired positive software travel limit Also refer to the description of ZS command to configure the motion controller tasks upon encountering a software limit x07 NEGATIVE SOFTWARE LIMIT DETECTED The motion controller sensed that the axis has reached negative software travel limit Refer to the description of SL command to specify the desired negative software travel limit Also refer to the description of ZS command to configure the motion controller tasks upon encountering a software limit x08 MOTOR STAGE NOT CONNECTED The specified axis is not connected to the driver x09 FEEDBACK SIGNAL FAULT DETECTED There was a feedback signal fault condition Ensure that the encoder feedback 1s relatively noise free x10 MAXIMUM VELOCITY EXCEEDED The specified axis velocity exceeds maximum velocity allowed for the axis Refer to the description of VU command or set maximum velocity for the axis x11 MAXIMUM ACCELERATION EXCEEDED The specified axis acceleration exceeds maximum acceleration allowed for the axis Refer to the description of AU command to query or set maximum acceleration or deceleration for the axis x12 Reserved for future use x13 MOTOR NOT ENABLED A command was issued to move a
90. the ESP7000 Distribution revision number from a floppy disk Problem description document using the Service Form on the following page If the instrument is to be returned for repair you will be given a Return Authorization Number that should be referenced in your shipping documentation Complete a copy of the Service Form on the next page and include it with your shipment Appendix H Factory Service H 1 Newport Corporation U S A Office 949 863 3144 Service Form FAX 949 253 1800 Name RETURN AUTHORIZATION Please obtain prior to return of item Company Address Date Country Phone Number P O Number FAX Number Item s Being Returned Model Serial Description H 2 Appendix H Factory Service
91. the MOVE MENU displays and gives the user five choices ZERO CYCLE RELATIVE JOG and HOME Section 1 Introduction Section 1 Introduction 1 When the user presses the ZERO button from the MOVE MENU a ZERO POSITION screen displays The user can zero an axis by pressing the related Axis Selection button for the axis desired NOTE The user can press MENU button to return to the MOVE MENU When the user presses the CYCLE button from the MOVE MENU screen a CYCLE MOTORS screen displays The user presses the axis button and types the required parameters from the numeric keypad on the front panel and presses the lt ENTER gt key NOTE The parameters are displayed in the display window as they are typed The ESP7000 changes the parameters on the CYCLE MOTORS screen after the Enter key is pressed See example in Figure 1 10 NOTE The screen indicates a MOVE selection When the user selects MOVE a CYCLING screen displays with a STOP ALL selection If STOP ALL is selected the screen automatically returns to the TOP MENU screen Cyc le Motors 0 0000 0 1250 0 0000 0 0000 0 0000 Figure 1 10 Cycle Motors Screen When the user presses the RELATIVE button from the MOVE MENU screen a RELATIVE MOVE screen displays The user presses the axis button and enters the required parameters from the numeric keypad on the front panel and presses the lt ENTER gt key NOTE The parameters are displayed in the display win
92. the absolute position we need a reference a measuring device that is significantly more accurate than the device tested In our case dealing with fractions of microns 0 1 uum and less even a standard laser interferometer becomes unsatisfactory For this reason all factory measurements are made using a number of high precision interferometers most of them connected to a computerized test station Section 5 Motion Control Tutorial 5 2 1 5 2 2 5 2 3 Section 5 Motion Control Tutorial e To avoid unnecessary confusion and to more easily understand and troubleshoot a problem special attention must be paid to avoid bundling discrete errors in one general term Depending on the application some discrete errors are not significant Grouping them in one general parameter will only complicate the understanding of the system performance in certain applications Following Error The Following Error is not a specifications parameter but because it is at the heart of the servo algorithm calculations and of other parameter definitions it deserves our attention As will be described later in Section 5 3 Control Loops a major part of the servo controller s task is to make sure that the actual motion device follows as close as possible an ideal trajectory in time The user can imagine having an imaginary ideal motion device that executes exactly the motion profile they are requesting In reality the real motion device will
93. the firmware This mechanism will block the portal through which the commands were issued until all the commands issued have been executed It is therefore recommended that the user take advantage of ASCII command HQ which tells the number of commands that can be put in the via point buffer at any given time This allows a user to control the flow of commands manually while ensuring the availability of that portal for other commands such as HP TP etc The trajectory generator checks if the via point buffer has a new target position i e any new move segments pending while the current move is in progress If via point buffer is empty the group comes to a stop upon completion of current move segment Otherwise it begins a new move segment without stopping after completing the current move The group transitions from current move segment to a new move segment smoothly if the tangential velocity at the transition is ensured to be constant The ASCII command HQ is used to query the available via point buffer space The commands HL and HC are used to queue linear move or circular move commands into the via point buffer Refer to the description of these commands in the commands section See Section 3 Remote Mode for correct syntax parameter ranges etc New group move command No Initiate the move Move In Progress Yes Are there 10 move commands in via point buffer Qu
94. the servo cycle rate For example a value of 0 implies data acquisition every servo cycle a value of 1 implies every other servo cycle and so on This parameter is of no consequence for data acquisition modes 3 33 and 39 wherein the data is acquired every time the controller detects a trigger from an external source PARAMETER nn6 The number of samples of data to be acquired is specified through this parameter Data acquisition process is considered to be done only after the number of samples specified by this parameter are acquired by the controller The status of data acquisition process may be found by issuing ASCII command DD Once the data acquisition is done ASCII command DG may be used to collect the data from the controller In the case of data acquisition modes 3 and 33 a sample size greater than 1 implies that data will be acquired by the controller every time an external trigger occurs until the specified number of samples are acquired This parameter is of no consequence in the case of data acquisition modes 36 39 NOTE Data acquisition mode 3 nnl 3 is supported only on ESP6000 ESP7000 motion controllers Data acquisition modes 30 39 1 30 39 are supported only on ESP6000 motion controller For these modes the streamed data has to be collected by sending binary commands esp_get_daq_data or esp data to file to the controller through the ESP6000 DLL NOTE The controller responds
95. to a target position 50 units query target position of the commanded move controller returns axis 1 50 units and axis 2 50 units 3 79 HN create new group USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION 3 80 IMM PGM MIP xxHNnni nn nn or xxHN xx int nn int int nn int XX nn missing out of range not assigned already assigned floating point out of range already assigned duplicated Missing parameter group number physical axis number to be assigned as first axis in this group physical axis number to be assigned as second axis in this group physical axis number to be assigned as ith axis in this group 1 to MAX GROUPS 1 to MAX AXES none none error 13 GROUP NUMBER MISSING error 14 GROUP NUMBER OUT OF RANGE error 15 GROUP NUMBER NOT ASSIGNED error 16 GROUP NUMBER ALREADY ASSIGNED truncated error 17 GROUP AXIS OUT OF RANGE error 18 GROUP AXIS ALREADY ASSIGNED error 19 GROUP AXIS DUPLICATED error 21 GROUP PARAMETER MISSING This command is used to create a new group A few rules are in place to facilitate easy management of groups A group has to be created with at least two axes assigned to it before any command related to groups can be issued The controller returns error 15 GROUP NUMBER NOT ASSIGNED if for instance one tries to s
96. to stop 3 1 2PR 10 move axis 2 to relative position 10 units Assuming that axis 1 and 2 are configured Example I instructs the ESP controller to move axis to absolute position 30 units wait for it to stop and then move axis 2 motor to relative 10 units Note that a command prefix identifies the axis or group that should execute a command Commands received without an axis prefix generate an error If a command is referenced to a non existing axis an error is also generated See Section 3 4 for further details on the command syntax Also note that it is necessary to explicitly instruct the ESP controller with the WS Wait for Stop command to wait for axis 1 motion to stop This is necessary because the ESP controller executes commands continuously as long as there are commands in the buffer unless a command is fetched from the buffer that instructs the controller to wait Executing a move does not automatically suspend command execution until the move is complete If the WS command were not issued in Example 1 the controller would start the second move immediately after the first move begins and simultaneously move axis 1 and axis 2 NOTE Unless instructed otherwise the ESP controller executes commands in the order received without waiting for completion of previous commands Remember that commands must be terminated with a carriage return ASCII 13 decimal Until a terminator is received characters are simply
97. to the corresponding Command Page Cmd Description IMM PGM MIP Page FP Set position display resolution 3 65 FR Set full step resolution 3 66 GR Set master slave reduction ratio 3 67 HA Set group acceleration 3 68 HB Read list of groups assigned 3 70 HC Move group along an arc 3 71 HD Set group deceleration 3 73 Set group e stop deceleration 3 75 HF Group motor power off 3 76 HJ Set group jerk 3 77 Move group along a line 3 78 HN Create new group 3 80 HO Group on 3 82 Read group position 3 83 HQ Wait for group command buffer level 3 84 HS Stop group motion 3 85 HV Set group velocity 3 86 HW Wait for group motion stop 3 87 HX Delete group 3 89 HZ Read group size 3 90 ID Read stage model and serial number 3 91 JH Set jog high speed 3 92 JK Set jerk rate 3 93 JL Jump to label 3 94 JW Set jog low speed 3 95 KD Set derivative gain 3 96 KI Set integral gain 3 97 KP Set proportional gain 3 98 KS Set saturation level of integral factor 3 99 LP List program 3 100 MD Read motion done status 3 101 MF Motor power off 3 102 MO Motor power
98. utilizing DIO for initiating inhibiting motion of desired axis and notifying motion status of these axes are listed in the table below refer to Section 5 Programming for additional details Command Description BG Assign DIO bits to execute stored programs BK Assign DIO bits to inhibit motion BL Enable DIO bits to inhibit motion BM Assign DIO bits to notify motion status BN Enable DIO bits to notify motion status BO Set DIO port A B C direction Table 4 10 Commands to Synchronize Motion to External Events Position Compare Output Triggering 4 6 1 Introduction Position Compare Output Triggering Certain applications require the triggering of an external event when a desired axis crosses a specified position On other occasions an external event may have to be triggered every time the axis is displaced by a specified value This feature can be advantageously employed in applications such as laser machining Wherein the firing of a laser has to be synchronized to a certain position crossing or a laser has to be fired at equal distances ESP300 motion controllers accomplish this feature by taking advantage of the sophisticated hardware available on the controller Since this feature is implemented in hardware as opposed to CPU polling the timing latency is virtually negligible As a result the external events can be triggered precisely even while a stage positioner is moving Section 4
99. velocity motion it also brings the following error to zero an important feature for some applications Unfortunately the integral term also has a negative side a severe de stabilizing effect on the servo loop In the real world a simple PI Loop is usually undesirable 5 15 5 16 5 3 2 PID Loop The third term of the PID Loop is the derivative term It is defined as the difference between the following error of the current servo cycle and of the previous one If the following error does not change the derivative term is zero Figure 5 16 shows the PID servo loop diagram The derivative term is added to the proportional and integral one All three process the following error in their own way and added together form the control signal The derivative term adds a damping effect that prevents oscillations and position overshoot Servo Controller Trajectory Generator Encoder Motion Controller Figure 5 16 PID Loop Configuration Feed Forward Loops As described in the previous paragraph the main driving force in a PID loop is the proportional term The other two correct static and dynamic errors associated with the closed loop Taking a closer look at the desired and actual motion parameters and at the characteristics of the DC motors some interesting observations can be made For a constant load the velocity of a DC motor is approximately proportional with the voltage This means that for a trapezoi
100. with a servo cycle tick count along with every data sample collected This feature is independent of the type of data analog or trace variable data collected 3 47 NOTE The external source for triggering data acquisition process modes 3 33 and 39 should be connected to pin 20 on the auxiliary I O connector Please refer to the appendix on Connector Pin Assignments for further details Data Acquisition Parameter 3 Parameter 4 Mode Analog channels involved in acquisition These Position feedback encoder channels involved in channels are located on the analog I O connector of acquisition This data is available from 8 quadrature the controller card The desired channels to be decoders The desired channels to be acquired are 0 9 and acquired are specified using the following bit specified using the following bit assignment 30 39 assignment Bit 0 Channel 1 Analog data Bit 0 Channel 1 Bit 1 Channel 2 acquisition Bit 1 Channel 2 52 3 Bit 7 Channel 8 Bit 7 Channel 8 This parameter is used to specify the format in This parameter is used to identify the trace variables which controller should send the trace variable data to be acquired The trace variables available for acquired Various formats supported by the acquisition are dependent on the type of motor that controller include drives the axis specified 0 Texas Instruments floating point format amp trigger axis is not
101. with one tenth of the programmed home search speed In the case when the motion device starts from the other side of the origin switch transition the routine will look like Figure 5 25 B EM motion igin switch index pulse Figure 5 25 Origin Search From Opposite Direction The ESP7000 moves at high speed up to the origin switch transition segment A and then executes B C D and E All home search routines are run so that the last segment E is performed in the positive direction of travel CAUTION The home search routine is very important for the positioning accuracy of the entire system and it requires full attention from the controller Do not interrupt or send other commands during its execution unless it is for emergency purposes Encoders PID closed loop motion control requires a position sensor The most widely used technology by far are incremental encoders 5 22 Section 5 Motion Control Tutorial The main characteristic of an incremental encoder is that it has a 2 bit gray code output more commonly known as quadrature output Figure 5 26 Figure 5 26 Encoder Quadrature Output The output has two signals commonly known as channel A and channel B Some encoders have analog outputs sine cosine signals but the digital type are more widely used Both channels have a 50 duty cycle and are out of phase by 90 Using both phases and an appropriate decoder a
102. 0 Update slave axis jog velocity interval every 100 milliseconds 3 Define slave axis scaling 2SK0 5 0 Specify scaling coefficients coefficients 4 Define slave axis trajectory mode 2TJ6 Set slave axis trajectory mode 5 Move the master axis physically Table 4 6 Slave to a Trackball Steps 4 3 4 Slave to a Joystick If the slave axis is required to jog based on a DIO bit status such as through joystick follow these steps Steps Move Command Action by Move Command 1 Assign DIO bits for jogging slave 2BP0 1 Jog axis 2 in negative direction if axis DIO bit 0 is low Jog axis 2 in positive direction if DIO bit 1 is low 2 Enable DIO bits for jog mode 2BQ1 3 Define slave axis jog vel Update 251100 Update slave axis jog velocity interval every 100 milliseconds 4 Define slave axis scaling 25 0 5 0 Specify scaling coefficients coefficients 5 Define slave axis trajectory mode 2TJ6 Set slave axis trajectory mode 6 Change DIO bit value physically Table 4 7 Slave to a Joystick Steps Refer to the description of the ASCII commands in Section 3 Remote Mode for additional description correct syntax parameter ranges etc Section 4 Advanced Capabilities 4 13 m Closed Loop Stepper Motor Positioning 4 4 4 Introduction Closed Loop Stepper Most of the electro mechanical systems are subjected to phenomena such as backlash and friction D
103. 00 2WS100 Wait for axes 1 2 motion to complete QP End of program OBG ABSOMM Assign DIO 0 to run stored program called AbsOmm BO 04H 04H 0100 Binary Set DIO ports A B to input and port C to output l i e set bits 0 15 to input and 16 23 to output After the above commands are sent to the controller the controller will execute the stored program called Abs0mm when DIO bit 0 changes its state from HIGH to LOW logic level Example 2 EP CYC2MM Define stored program called Cyc2mm 1MO 2MO Turn axes 1 2 ON 1TJ1 2TJ1 Set trajectory mode for axes 1 2 to TRAPEZOID 1 0 2 0 Move axes 1 2 to absolute 0 units 1WS100 2WS100 Wait for axes 1 2 motion to complete DL LOOP Define a label called LOOP 1PR2 2PR2 Move axes 1 2 by relative 2 units 1WS100 2WS100 Wait for axes 1 2 motion to complete 1PR 2 2PR 2 Move axes 1 2 by relative 2 units 1WS100 2WS100 Wait for axes 1 2 motion to complete JL LOOP 10 Jump to label called LOOP 10 times QP End of program 1BG CYC2MM Assign DIO 1 to run stored program called 2 BO 04H 04H 0100 Binary Set DIO ports A B to input and port C to output l i e set bits 0 15 to input and 16 23 to output After the above commands are sent to the controller the controller will execute Cyc2mm stored program when DIO bit 1 changes its state from HIGH to LOW logic level 4 17 4 18 4 5 3 4 5 4 Usi
104. 000 17 Del 00010001 18 Dc2 00010010 19 Dc3 00010011 20 Dc4 00010100 21 Nak 00010101 22 Syn 00010110 23 Etb 00010111 24 Can 00011000 25 Em 00011001 26 Eof 00011010 27 Esc 00011011 28 Fs 00011100 29 Gs 00011101 30 Rs 00011110 31 Us 00011111 32 Space 00100000 Appendix D Binary Conversion Table Table D 1 Binary Conversion Table Listing D 1 D 2 Number ASCII Code Binary Code decimal 33 00100001 34 H 00100010 35 00100011 36 5 00100100 37 00100101 38 amp 00100110 39 i 00100111 40 00101000 41 00101001 42 00101010 43 00101011 44 00101100 45 00101101 46 i 00101110 47 00101111 48 0 00110000 49 1 00110001 50 2 00110010 51 3 00110011 52 4 00110100 53 5 00110101 54 6 00110110 55 7 00110111 56 8 00111000 57 9 00111001 58 00111010 59 00111011 60 lt 00111100 61 00111101 62 gt 00111110 63 00111111 64 01000000 65 A 01000001 66 B 01000010 67 C 01000011 68 D 01000100 69 E 01000101 70 F 01000110 71 G 01000111 72 H 01001000 73 I 01001001 74 J 01001010 75 K 01001011 76 L 01001100 77 M 01001101 78 N 01001110 79 O 01001111 80 P 01010000 81 Q 01010001 82 R 01010010 Table D 1 Binary Conversion Table Listing Continued Appendix Binary Conversion Table
105. 0mA maximum Please refer to the description of these pins in the Auxiliary I O 40 Pin JP5 Connector section in Appendix Commands related to generating a trigger pulse in synchronization with axis position are listed in the table below refer to Section 3 Remote Mode for additional details Command Description PC Set position compare mode Table 4 11 Commands to Synchronize External Events to Axis Position Position Capture Input Triggering 4 7 1 Introduction Position Capture Input Triggering Certain applications require the capture of desired axes position in response to an input from an external source Applications may also require certain internal events to be triggered following the position capture The internal events can be for instance commanding an axis to move to a specific location or executing a stored program This feature can be advantageously employed for instance in metrology applications wherein the controller can be commanded to capture the position of desired axes when a probe touches a desired object 4 22 Section 4 Advanced Capabilities 4 7 2 Section 4 Advanced Capabilities ESP300 notion controllers accomplish this feature by taking advantage of the sophisticated hardware available on the controller Since this feature is implemented in hardware the timing latency is virtually negligible As a result the position of desired axes can be captured very ac
106. 111 0010 0101 Binary 1ZSF25H Invalid command Section 3 Remote Mode 0 0 1 999 31 31 BIT VALUE eo Hoa uae Ces Oe X es C e f _ DEFINITION disable software travel limit error checking enable software travel limit error checking do not disable motor on software travel limit event disable motor on software travel limit event do not abort motion on software travel limit event abort motion on software travel limit event reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved reserved default setting RETURNS If the 2 sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS ZA ZE ZF ZB ZH ZZ SL SR EXAMPLE 2ZS 4H 2ZS 5H SM Section 3 Remote Mode set amplifier I O configuration set e stop configuration set following error configuration set feedback configuration set hardware limit configuration set general system configuration set left limit set right limit read software limit configuration of axis 2 controller returns a value of 4H for axis 2 set software limit configuration to 5H for axis 2 save all controller settings to non volatile memory 3 179 ZU get ESP system configuration USAGE SYNTAX PARAMETERS DESCRIPTION 3 180 IMM PGM MI
107. 149 10010101 150 10010110 151 10010111 152 10011000 153 10011001 154 10011010 155 10011011 156 10011100 157 10011101 158 10011110 159 10011111 160 10100000 161 10100001 162 10100010 163 10100011 164 10100100 165 10100101 166 10100110 167 10100111 168 10101000 169 10101001 170 10101010 171 10101011 172 10101100 173 10101101 174 10101110 175 10101111 176 10110000 177 10110001 178 10110010 179 10110011 180 10110100 181 10110101 182 10110110 Table D 1 Binary Conversion Table Listing Continued Appendix D Binary Conversion Table Number ASCII Code Binary Code decimal 183 10110111 184 10111000 185 10111001 186 10111010 187 10111011 188 10111100 189 10111101 190 10111110 191 10111111 192 11000000 193 11000001 194 11000010 195 11000011 196 11000100 197 11000101 198 11000110 199 11000111 200 11001000 201 11001001 202 11001010 203 11001011 204 11001100 205 11001101 206 11001110 207 11001111 208 11010000 209 11010001 210 11010010 211 11010011 212 11010100 213 11010101 214 11010110 215 11010111 216 11011000 217 11011001 218 11011010 219 11011011 220 11011100 221 11011101 222 11011110 223 11011111 224 11100000 225 11100001 226 11100010 227 11100011 228 11100100 229 11100101 230 11100110 231 11100111 232 11101000
108. 2 84 SLOP STOUP MOU ON 85 SEE POUR Velocity uot adu su Amina 86 Wall for group MONON d jo es utes aration 87 delete SEOUD Lor ea 89 read COUP SIZE P teo corn e quse 90 read stage model and serial 91 SEE ToS BIB SDOGU esto b ret aeos tac dites 92 setjerk rat e ME Em 93 jump to Iabel ise RR ES NUR RAE EINE USER NR UNUS 94 SDGed o Gero ia ds 95 Set detivaltVe Pallio boe d epe tuat 96 S t integral 97 Set proportio al gain 98 set saturation level of integral factor ceca aad 99 emus 100 TEAC motion done status pal 101 iore don 102 MOLE Ol eo iesu Deed ta tein amc foc days eet needs mea fed 103 move to hardware travel limit cie ioi eed 104 105 move to nearest Index sao Sa eaten e e 107 set home search high suse SA he Raed 108 set home search low speed et tinea re enter nere AERE 109 sethom ep oc ttu iocis Sot 110 s
109. 4 nn5 nn6 None nn missing data acquisition mode axis used to trigger data acquisition data acquisition parameter 3 data acquisition parameter 4 data acquisition rate number of data samples to be acquired 0 Start data acquisition immediately 1 Start data acquisition when trigger axis starts motion 2 Start data acquisition when trigger axis reaches slew speed 3 Capture analog and or encoder data on an external trigger 4 9 Reserved for future analog data acquisition modes 10 Start trace variable data acquisition immediately 11 29 Reserved for future analog data acquisition modes 30 Start streaming a fixed amount of data immediately 31 Start streaming a fixed amount of data when trigger axis starts motion 32 Start streaming a fixed amount of data when trigger axis reaches slew speed 33 Start streaming a fixed amount of data on an external trigger 34 35 Reserved for future analog data acquisition modes 36 Start streaming a continuous amount of data immediately 37 Start streaming a continuous amount of data when trigger axis starts motion 38 Start streaming a continuous amount of data when trigger axis reaches slew speed 39 Start streaming a continuous amount of data on an external trigger 1to MAX AXES Refer table below Refer table below 0 to 1000 to 1000 error 38 COMMAND PARAMETER MISSING Section 3 Remote Mode DESCRIPTION Section 3 Remote Mode out of range error 7 PARAME
110. 5 Motion Control Tutorial Section 5 Motion Control Tutorial The torque diagram versus teeth misalignment is shown in Figure 5 42 The maximum torque is obtained at one quarter of the tooth spacing which is equivalent to one full step Figure 5 42 Torque and Tooth Alignment This torque diagram is accurate even when the motor is driven with half mini or micro steps The maximum torque is still one full step away from the stable desired position Stepper Motor Types To simplify the explanation the examples above are based on a variable reluctance stepper motor The main characteristic of these motors is that their rotors have no permanent magnets The variable reluctance motors are easy and inexpensive to make but suffer from higher inefficiency and require a unipolar driver They are used in low cost low power applications Permanent magnet motors have each tooth made out of a permanent magnet each one having alternate polarity They are more efficient but the step size is very large due to the physical size of the pole teeth They are also being used in low cost and in particular miniature applications The most common type of stepper motor is the Hybrid stepper motor It has the fine teeth and stepping angle of a variable reluctance motor and the efficiency of the permanent magnet motor The rotor is made out of one or more stacks that consist of a pair of magnetically oppo
111. 5 6 1 lt cene tete 5 26 546 25 DC 5 32 5 7 DAVES sores a leg 5 33 5 7 1 Stepper Motor Drivers 5 34 5 7 2 Unipolar Bipolar Drivers 5 35 5 7 5 DC Motor 5 36 Section 6 Servo Tuning 6 1 6 1 Tuning Principles eas cases 6 1 6 2 Tuning Procedures ene 6 1 6 2 1 Hardware amp Software Requirements 6 2 6 2 2 Correcting Axis Oscillation 6 2 6 2 3 Correcting Following Error 6 2 6 2 4 Points To Remember 6 4 Section 7 Optional Equipment 7 1 7 1 Hand held tod 7 1 7 1 1 Description of 7 2 7 1 2 Activating the Keypad 7 2 7 2 Rack Mount 2 22 1 7 2 7 3 Motor Driver 7 3 Appendix A Error A 1 Appendix B Trouble Shooting and Maintenance B 1 B 1 Trouble Shooting Guide Information B 2 B 2 Fuse Replacement 4 B 3 pe pf ledges B 5 Appendix C Connector Pin Assignments C 1 ESP7000 Rear C 1 C 1 1 Digital I O Connector 50
112. AMETERS Description Range Units Defaults DESCRIPTION 3 178 IMM PGM MIP xxZSnn xxZS xx int axis number nn int hardware limit configuration XX 1to MAX AXES nn 0 to OFFFFH hexadecimal with leading zero 0 or to read current setting XX none nn none XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE critical setting error xx17 ESP CRITICAL SETTINGS ARE PROTECTED This command is used to set the software limit checking and event handling for axis specified with xx NOTE If bit 0 or both bits 1 and 2 are set to zero O then no action will be taken by the controller NOTE The controller always interprets the nn value as a hexadecimal number even when the letter H is not appended to the desired value Since nn is a hexadecimal number it is possible that the most significant character left most character is an alphabet A F depending on the choice of values for various bits In order for the controller to distinguish between an ASCII command and its value it is recommended that the users always add a leading zero 0 to the nn value See table below for clarification Example Command Issued Controller Interpretation 1ZS123H nn 123H 0001 0010 0011 Binary 1ZS123 nn 123H 0001 0010 0011 Binary 1ZSOF25H nn F25H 1
113. Command Description ZB Set feedback configuration DB Specify deadband value CL Specify closed loop update interval Table 4 9 Closed Loop Stepper Positioning Commands Synchronize Motion to External and Internal Events 4 16 4 5 1 4 5 2 Introduction Synchronize Motion Certain applications require the use of inputs from an external source to command the motion controller to perform certain tasks These tasks can be to either initiate motion of desired axes written in a user s stored program or to inhibit motion of desired axes or more simply to just monitor the motion status of these axes ESP series of motion controller s address these issues by taking advantage of the digital I O interface available on the controller The 24 digital I O DIO bits are divided into three 3 ports A B and C ESP100 and ESP300 motion controllers have access to only ports A and Port A covers DIO bits 0 7 port covers bits 8 15 and port C covers bits 16 23 The direction of each port can be setup to be either input or output If a port is configured to be an input the DIO bits that belong to that port can only report the state HIGH or LOW logic level of the corresponding DIO hardware On the other hand if the port is configured to be an output the DIO bits in that port can be used to either set or clear the state of the corresponding hardware Each DIO bit has a pull up resistor to 5V As a resu
114. ESP7000 UNIVERSAL MOTION CONTROLLER DRIVER User s Manual Warranty Newport Corporation warrants this product to be free from defects in material and workmanship for a period of one year from the date of shipment If found to be defective during the warranty period the product will either be repaired or replaced at Newport s option To exercise this warranty write or call your local Newport office or representative or contact Newport headquarters in Irvine California You will be given prompt assistance and return instructions Send the instrument transportation prepaid to the indicated service facility Repairs will be made and the instrument returned transportation prepaid Repaired products are warranted for the balance of the original warranty period or at least 90 days Limitation of Warranty This warranty does not apply to defects resulting from modification or misuse of any product or part This warranty also does not apply to fuses batteries or damage from battery leakage This warranty is in lieu of all warranties expressed or implied including any implied warranty of merchantability or fitness for a particular use Newport Corporation shall not be liable for any indirect special or consequential damages First Printing February 2000 Copyright 2002 by Newport Corporation Irvine CA All rights reserved No part of this manual may be reproduced or copied without the prior written approval of Newport Corporatio
115. ESP7000 Product Screen then automatically displays the Top Menu which contains five selections MORE MOTION CONFIGURATION MOVE PROGRAM and MOTOR POWER Additionally it displays the type of stage and current position on each axis MORE Menu The user should first select the MORE key from the TOP MENU screen The MORE screen will give the user two choices SETUP and ERRORS See Figure 1 7 Menu Matrix Error This function allows the user to view the ERROR LIST and clear the ERROR notation from the display See Appendix A for listing of Error Messages When an error is encountered a flashing Error in the lower right hand corner of the display will illuminate Errors are buffered internally and held in memory until they are read To view the ERROR LIST from the Top Menu press the Menu Selection buttons to display the MORE screen Select ERRORS and an ERROR LIST will display An example would be Error 4 EMERGENCY STOP ACTIVATED End of List Controller Setup Setup Display Setup Display Interface Setup Interface Program Menu Program Move Menu Move Zero Position Zero Cycle Motors Cycle Relative Move Relative Errors List Errors Jog Mode High Speed Low Speed Home Menu Home Figure 1 7 Menu Matrix Error Continued To exit ERROR LIST screen and clear Errors from the display press MENU button and the user returns to the MORE screen When the use
116. EXAMPLE 3 148 IMM PGM MIP questions mark 2 timeout error 2 RS 232 COMMUNICATION TIME OUT This command is used to read the error code The error code is one numerical value up to three digits long see Appendix for complete listing In general non axis specific errors numbers range from 1 99 Axis 1 specific errors range from 100 199 Axis 2 errors range from 200 299 and so on Note Errors are maintained in a FIFO buffer ten 10 elements deep When an error is read using TB or TE the controller returns the last error that occurred and the error buffer is cleared by one 1 element This means that an error can be read only once with either command aa where aa error code number see Appendix for complete listing TB read error message TE read error message 0 controller returns no error 8PA12 3 move axis 8 to position 12 3 TE read error message 9 controller returns error code 9 meaning incorrect axis number Section 3 Remote Mode TJ set trajectory mode USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxTJnn int nn int nn z XX nn XX missing out of range nn missing out of range during motion axis number home mode 1to MAX AXES 1to 6 where 1 trapezoidal mode 2 s curve mode 3 jog mo
117. FTT Pressing this key in connection with a double function key selects the upper symbol e g F this symbol is selected ENTER When this key is pressed all previously typed characters are sent to the ESP7000 SPACE BKSP Pressing this key deletes a preceding character Pressing it in connection with the SHIFT key inserts a space in a given line Activating the Keypad Plug one end of the cable that was supplied with the keypad into the receptacle on the bottom side of the keypad and the other end into the receptacle on the lower right corner of the ESP7000 front panel The ESP7000 will detect the presence of the keypad No user settings are required Now the keypad is ready for use An easy way to verify proper operation of the keypad is by sending the VE command type VE and hit ENTER The ESP7000 should respond with the current version Rack Mount Brackets 7 2 This option provides a means of mounting the ESP7000 controller in a 19 inch rack There is no disassembly required for this installation The brackets are attached by putting supplied screws through exterior screw holes and into permanent nuts inside the enclosure Installation is shown in Figure 7 2 Section 7 Optional Equipment 97109 Figure 7 2 Rack Mount Bracket Installation Motor Driver The ESP7000 controller card can be upgraded to operate with up to six Stages by installing a separate driver card for each additio
118. Figure 5 15 PI Loop Configuration sss 5 15 Figure 5 16 PID Loop Configuration sss 5 16 Figure 5 17 Trapezoidal Velocity Profile 5 17 Figure 5 18 PID Loop with Feed Forward 5 17 Figure 5 19 Tachometer driven PIDF Loop 5 16 Figure 5 20 Trapezoidal Motion Profile 5 19 Figure 5 21 Position and Acceleration Profiles 5 19 Figure 5 22 Origin Switch and Encoder Index Pulse 5 20 Figure 5 23 Slow Speed Origin Switch Search 5 21 Figure 5 24 High Low Speed Origin Switch Search 5 21 Figure 5 25 Origin Search From Opposite Direction 5 22 Figure 5 26 Encoder Quadrature Output 5 23 Figure 5 27 Optical Encoder 5 24 Figure 5 28 Optical Encoder Read Head 5 24 Figure 5 29 Figure 5 30 Figure 5 31 Figure 5 32 Figure 5 33 Figure 5 54 Figure 5 35 Figure 5 36 Figure 5 37 Figure 5 36 Figure 5 39 Figure 5 40 Figure 5 41 Figure 5 42 Figure 5 43 Single Channel Optical Encoder Scale and Read Head Assembly 5 25 Two Channel Optical Encoder Scale and Read Head Assembly esses 5 25 Stepper Motor 5 27 Four Phase Stepper Motor 5 27 Phase Timing 5 28 Energizing Two Phases Si
119. GraM mode controller does not execute but stores all commands as part of a program Motion In Progress controller is executing a motion on all or the specified axis 3 20 Section 3 Remote Mode AB abort motion USAGE SYNTAX PARAMETERS DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP This command should be used as emergency stop On reception of this command the controller invokes emergency stop event processing for each axis as configured by ZE e stop event configuration command By default axes are configured to turn motor power OFF however individual axes can be configured to stop using emergency deceleration rate set by AE command and maintain motor power It should be used only as an immediate command not in a program Note This command affects all axes however the action taken is determined by each individual s axis ZE command configuration none ST stop motion AE e stop deceleration ZE e stop deceleration motor OFF MO motor ON AB used as an immediate command to stop all motion 3 21 AC set acceleration USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 22 IMM PGM MIP xxACnn xxAC xx int axis number nn float acceleration value 1 to MAX AXES N 0 to the maximum programmed v
120. L is the only one with a RED push button This RED button allows the user to Disable the Motor A green LED is displayed above the button in the ENABLE mode When the user presses this RED button a red LED will display above the button indicating that the motor is DISABLED A yellow LED is displayed above the button when the system is in the INTERLOCK mode NOTE Activating this switch aborts all motion and disables Motor Power All axes are affected Keypad Connector This receptacle allows the user to plug in the optional Hand Held alphanumeric Keypad This Hand Held Keypad allows the user to access the full command set of the ESP7000 without use of a host terminal e g computer See Section 7 1 of this manual Figure 1 3 shows the Keypad Connector Direction Function Buttons The direction function keys have two predominant uses 1 As an alternative to the numeric keypad for entering data values 2 As a means of manual control for a selected positioner When used as a means to manually control a positioner the specific button either up down OR left right will be selected in the JOG Menu See paragraph Menu Section When used as an alternative to the numeric keypad the up down buttons will increment decrement the value selected with the right left buttons See Figure 1 5 UP button LEFT button RIGHT button DOWN Button Figure 1 5 Direction Function Buttons Numeric Keypad The Numeric Ke
121. MANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxQVnn or xx int nn float XX nn nn missing out of range nn missing out of range xxQV axis number motor voltage 1 to MAX AXES 0 to maximum driver rating see Specifications section or to read present setting none none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE This command is used to set the average motor voltage output for a Newport Unidrive compatible programmable driver axis This command must to be followed by the QD update driver command to take affect If the 2 sign takes the place of nn value this command reports the current setting update driver set maximum motor current set gear constant set microstep factor set tachometer gain read average motor voltage setting of axis 2 controller returns a value of 48Volts for axis 2 set average motor voltage to 12 Volts for axis 2 update programmable driver with latest settings for axis 2 save all controller settings to non volatile memory 3 129 RA read analog input IMM PGM MIP USAGE SYNTAX xxRA PARAMETERS Description xx int ADC channel number Range 0 to 8 Units XX none Defaults XX missing 0 out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command is used to read the analog to digital converter channel 1 8
122. MMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP TB questions mark 2 This command is used to read the error code timestamp and the associated message The error code is one numerical value up to three 3 digits long see Appendix for complete listing In general non axis specific errors numbers range from 1 99 Axis 1 specific errors range from 100 199 Axis 2 errors range from 200 299 and so on The timestamp is in terms of servo cycle ticks accumulated since the last System Reset incrementing at the servo interrupt interval 400us default The message is a description of the error associated with it All arguments are separated by commas Note Errors are maintained in a FIFO buffer ten 10 elements deep When an error is read using TB or TE the controller returns the last error that occurred and the error buffer is cleared by one 1 element This means that an error can be read only once with either command aa bb cc where aa error code cc error message bb timestamp see Appendix for complete listing TE read error code TB read error message 0 451322 NO ERROR DETECTED controller returns no error 8PA12 3 move axis 8 to position 12 3 TB read error message 9 451339 AXIS NUMBER NOT AVAILABLE controller returns error code timestamp and description 3 147 TE read error code USAGE SYNTAX PARAMETERS Defaults DESCRIPTION RETURNS REL COMMANDS
123. NGE DESCRIPTION This command is used to set all eight 8 ADC channels to any one of eight 8 analog input modes listed below nn 0 10 V input range 1 5 V input range nn 2 0 10 V input range nn 3 0 5 V input range nn 4 2 50 V input range nn 5 1 25 V input range nn 6 0 2 50 V input range nn 7 0 1 25 V input range ADC channels are located on the analog I O connector on the controller card The following block diagram illustrates the implementation of analog to digital conversion in ESP controller Programmable Gain Six Pole Anti 16 bit 100 kHz Instrumentation alias Filter A D Converter Amplifier 8 Single Ended Inputs Sample Trigger Control Timer or Software Driven RETURNS If the sign takes the place of nn value this command reports the current analog input mode REL COMMANDS RA read analog input EXAMPLE AM2 set 0 to 10 V analog range for all the ADC channels AM request the actual analog input mode 2 controller returns a value of 2 Section 3 Remote Mode 3 29 AP abort program USAGE SYNTAX PARAMETERS DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 30 IMM PGM MIP This command is used to interrupt a motion program in execution It will not stop a motion in progress It will only stop the program after the current command line finished executing It can be used as an immediate command or inside a
124. ONFIGURATION MENU When MOTION CONFIGURATION is selected from the TOP MENU screen the MOTION CONFIGURATION screen is displayed From this screen the user can change Parameters in the AXIS they select Axis 1 through Axis 6 See example in Figure 1 8 Trajectory should be selected with the up down Direction Function Buttons Numeric values should be entered with the numeric keyboard Note The ENTER button should be used to send the entered value into memory The user can also revise the PID values by selecting PID from the PARAMETERS FOR AXIS 1 screen The PID Values for AXIS 1 are shown in Figure 1 9 1 16 for Asio mi Trajectory valsi ly j xn 7 Accolerations 9 000017 Jark 4 20 0000 1 Foll Error s 100001 Figure 1 6 Parameters for Axis 1 From this screen the user can select new values for Kp Kd Ki IL Vff and Aff by pressing the appropriate Axis Selection Buttons entering the new value on the numeric keypad and pressing ENTER See example in Figure 1 9 NOTE The user can press the MENU button twice to EXIT the PID Values screen and the Parameters screen and return to the TOP MENU screen PID Values for Axis 1 Kp 3 600 0000 600 0000 8 Ki 350 0000 sim 0 0000 Vit 0 0000 Aff 0 000051 Figure 1 9 PID Values for Axis 1 MOVE Menu When the user selects the MOVE button from the TOP MENU screen
125. P ZU None This command is used to get the present ESP system stage driver configuration After each system reset or initialization the ESP motion controller detects the presence of Universal drivers and ESP compatible stages connected BIT VALUE DEFINITION axis 1 universal driver not detected axis 1 universal driver detected axis 2 universal driver not detected axis 2 universal driver detected axis 3 universal driver not detected axis 3 universal driver detected axis 4 universal driver not detected axis 4 universal driver detected axis 5 universal driver not detected axis 5 universal driver detected axis 6 universal driver not detected axis 6 universal driver detected reserved reserved reserved reserved axis 1 ESP compatible motorized positioner not detected axis 1 ESP compatible motorized positioner detected axis 2 ESP compatible motorized positioner not detected axis 2 ESP compatible motorized positioner detected NO 0000 4 1 ON tA amp CO OCI O So Om OR oS OS gt ge C5 de Oe oS OS oS m 10 axis 3 ESP compatible motorized positioner not detected 10 axis 3 ESP compatible motorized positioner detected 11 axis 4 ESP compatible motorized positioner not detected 11 axis 4 ESP compatible motorized positioner detected 12 axis 5 ESP compatible motorized positioner not detected 12 axis 5 ESP compatible motorized positioner detected 13 axis 6 ESP com
126. Phase 7 Stepper Phase 4 DC Motor Phase 8 Stepper Phase 4 DC Motor Phase 9 Not Connected Not Connected 10 Not Connected Not Connected 11 Not Connected Not Connected 12 Not Connected Not Connected 13 Home Signal Home Signal 14 Shield Ground Shield Ground 15 Encoder Index Encoder Index 16 Limit Ground Limit Ground 17 Travel Limit Input Travel limit Input 18 Travel Limit Input Travel Limit Input 19 Encoder Channel A Encoder Channel A 20 Encoder Channel B Encoder Channel B 21 Encoder Supply 5V Encoder Supply 5V 22 Encoder Ground Encoder Ground 23 Encoder Channel A Encoder Channel A 24 Encoder Channel B Encoder Channel B 25 Encoder Index Encoder Index Table C 2 Driver Card Connector Pin Outs Signal Descriptions Motor Driver Card 25 Pin I O Connector CONTINUED DC Motor Phase Output This output must be connected to the negative lead of the DC motor The voltage seen at this pin is pulse width modulated with maximum amplitude of 48V DC Stepper Motor Phase 1 Output This output must be connected to Winding A lead of a two phase stepper motor The voltage seen at this pin is pulse width modulated with maximum amplitude of 48V DC Stepper Motor Phase 2 Output This output must be connected to Winding A lead of a two phase stepper motor The voltage seen at this pin is pulse width modulated with maximum amplitude of 48V DC Appendix C Con
127. Pin DESUDb pee necis uiuo qu C 1 C 1 2 Signal Descriptions Digital I O 50 Pin Connector 5V 100mA max 1 C 1 3 Motor Driver Card 25 I O CONNECTOR 1 C 1 4 Signal Description Motor Driver Card 25 Pin I O C 1 C 1 5 Auxiliary I O 37 Pin Connector C 5 C 1 6 Signal Descriptions Auxiliary I O 37 Pin C 6 C 1 7 IEEE 488 Interface Connector Preface vii viii ASP IM au codi aids C 9 C 1 8 RS232C Interface Connector 9 Pin D Sub C 10 C 1 9 RS 232C Interface Cable C 10 C 1 10 Motor Interlock Connector BNC C 11 C 1 11 Analog I O 25 Pin Connector C 11 C 1 12 Signal Descriptions Analog I O 25 Pin 11 Appendix D Binary Conversion Table D 1 Appendix E System Upgrades E 1 E 1 Adding AXES 2 E 2 Adding IEBE 488 etse Petite E 3 Appendix F ESP Configuration Logic F 1 Appendix G Programming Non ESP Compatible a G 1 Appendix Factory Service H 1 Service Formi a eno iia i eH A RE H 2 Preface Preface List of Figures Figure No Title Pag
128. R query motor 2 torque reduction settings 1000 50 controller returns 1000 msec and 50 Section 3 Remote Mode QS set microstep factor IMM PGM MIP USAGE SYNTAX xxQSnn or xxQS PARAMETERS Description xx int axis number nn int microstep value Range XX 1to MAX AXES nn 1 to 250 for step motors 1 to 1000 for commutated step motors or to read current setting Units XX none nn none Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command is used to set the microstep factor for a Newport Unidrive compatible programmable driver with step motor axis This command must be followed by the QD update driver command to take affect RETURNS If the 2 sign takes the place of nn value this command reports the current setting REL COMMANDS QD update driver QI set maximum motor current QT set tachometer gain QG set gear constant QV set average motor voltage EXAMPLE 205 read microstep factor of axis 2 100 controller returns a value of 100 for axis 2 205 250 set microstep factor to 250 for axis 2 2QD update programmable driver with latest settings for axis 2 SM save all controller settings to non volatile memory Section 3 Remote Mode 3 127 QT set tachometer gain IMM PGM MIP USAGE SYNTAX xxQTnn or PARAMETE
129. R NOT ASSIGNED This command deletes a group and makes available any axes that were assigned to it for future assignments none HN 1HN1 2 1HN 1 2 1HN TB reate a new group create a new group 1 with physical axes 1 and 2 query axes assigned to group 1 controller returns the axes assigned to group 1 delete group 1 query axis assigned to group 1 read error message 0 475322 GROUP NUMBER NOT ASSIGNED 3 89 HZ read group size USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 90 IMM PGM xxHZ xx int XX XX 2 XX missing out of range not assigned MIP group number 1to MAX GROUPS none error 13 GROUP NUMBER MISSING error 14 GROUP NUMBER OUT OF RANGE error 15 GROUP NUMBER NOT ASSIGNED This command is used to read the number of axes assigned to a group This command reports the current setting HN HX 1HN1 2 1HN 1 2 1HZ create a new group delete a group create a new group 1 with physical axes 1 and 2 read axes assigned to group 1 controller returns the axes assigned to group 1 read size of group 1 controller returns 2 Section 3 Remote Mode ID read stage model and serial number USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remot
130. RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE This command is used to set the maximum motor current output for a Newport Unidrive compatible programmable driver axis This command must to be followed by the QD update driver command to take affect If the 2 sign takes the place of nn value this command reports the current setting set gear constant update driver set microstep factor set tachometer gain set average motor voltage read maximum motor current setting of axis 2 controller returns a value of 1 6 Amp for axis 2 set maximum motor current to 1 2Amp for axis 2 update programmable driver with latest settings for axis 2 save all controller settings to non volatile memory 3 123 set motor type USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 124 IMM PGM MIP xxQMnn or xxQM xx int axis number nn int motor type XX 1to MAX AXES nn 0 to 4 where 0 motor type undefined default 1 DC servo motor single analog channel 2 step motor digital control 3 commutated step motor analog control 4 commutated brushless DC servo motor or to read current setting XX none nn none XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2
131. RS Description xx int nn float Range xx nn Units XX nn Defaults XX missing out of range nn missing out of range xxQT axis number tachometer gain 1 to MAX AXES 0 to 20 or to read present setting none Volts Krpm error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command is used to set the DC motor tachometer gain for a Newport Unidrive compatible programmable driver axis This command should be used in conjunction with QG gear constant command This command must to be followed by the QD update driver command to take affect RETURNS If the 2 sign takes the place of nn value this command reports the current setting REL COMMANDS QD update driver 05 set microstep factor QG set gear constant QI set motor maximum current QV set average motor voltage EXAMPLE 2QT read tachometer gain setting of axis 2 7 0 controller returns a value of 7 0 V Krpm for axis 2 2QT 6 5 set tachometer gain value of 6 5 V Krpm for axis 2 2QG 0 3937 set gear constant to 0 3937 rev unit for axis 2 2QD update programmable driver with latest settings for axis 2 SM save all controller settings to non volatile memory 3 128 Section 3 Remote Mode OV set average motor voltage USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COM
132. Remote Mode J set jog low speed IMM PGM USAGE SYNTAX xxJWnn or xxJW PARAMETERS Description int axis number nn float low speed value Range XX 1to MAX AXES nn 0 to maximum value allowed by VU command or to read present setting Units XX none nn reset units second Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx10 MAXIMUM VELOCITY EXCEEDED DESCRIPTION This command is used to set the low speed for jogging an axis Its execution is immediate meaning that the value is changed when the command is processed including when motion is in progress It can be used as an immediate command or inside a program RETURNS If sign takes the place of nn value this command reports current setting REL COMMANDS JH set jog high speed VU set maximum velocity EXAMPLE 2VU read maximum velocity allowed axis 2 10 controller returns a value of 10 0 units second for axis 2 2JW2 5 set jog low speed to 2 5 units second for axis 2 2JW read jog low speed value for axis 2 2 5 controller returns a value of 2 5 units second for axis 2 Section 3 Remote Mode 3 95 KD set derivative gain IMM PGM MIP USAGE SYNTAX xxKDnn or xxKD PARAMETERS Description xx int axis number nn float derivative gain factor Kd Range 1 to MAX AXES nn 0 to 2e9 or
133. S Description xx int axis number Range 1 to MAX AXES Units Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE DESCRIPTION This command is used to read the motion status for the specified axis n The MD command can be used to monitor Homing absolute and relative displacement move completion status RETURNS nn 0 1 where 0 motion not done FALSE 1 motion done TRUE REL COMMANDS PA move to an absolute position PR move to a relative position OR move to home position EXAMPLE 3MD read axis 3 move done status 1 controller returns status I motion done for axis 3 3PR2 2 start a relative motion of 2 2 on axis 3 3MD read axis 3 move done status 0 controller returns status 0 motion not done for axis 3 Section 3 Remote Mode 3 101 motor off USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 102 IMM PGM MIP int missing out of range axis number 1 to MAX AXES none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE This command turns power OFF of the specified motor axis If 2 sign is issued along with command the controller returns 1 0 AB ST MO 2MF 2MF 2MO 2MF motor power is ON motor power is OFF abort motio
134. SING out of range error 7 PARAMETER OUT OF RANGE This command is used to set digital I O DIO port A B and C direction where bit 0 corresponds to port A bit 1 to port B and bit 2 to port C If any bit is set to zero 0 then its corresponding port will become an input only If any bit is set to one 1 then its corresponding port will becomes an output only Ports A and B only are available on the ESP100 and ESP300 A DIO within a port configured as an input can only report its present HIGH or LOW logic level Whereas a DIO bit within a port configured as an output can set 1 or clear 0 the corresponding DIO hardware to HIGH or LOW logic level Reading the status of a port configured as output returns its present output status NOTE All direction bits are automatically zeroed or cleared after a system reset Therefore all DIO ports default to input by default NOTE Each DIO bit has a pulled up resistor to 5V Therefore all bits will be at HIGH logic level if not connected to external circuit and configured as input BIT VALUE DEFINITION 0 0 port A DIO bit 0 through bit 7 assigned as input 0 1 port A DIO bit 0 through bit 7 assigned as output 0 port B DIO bit 8 through bit 15 assigned as input 1 1 port B DIO bit 8 through bit 15 assigned as output 2 0 port DIO bit 16 through bit 23 assigned as input 2 1 port C DIO bit 16 through bit 23 assigned as output default setting after system reset
135. SP7000 Universal Motion Controller Driver Axis A logical name for a stage positioner motion device Encoder A displacement measuring device term usually used for both linear and rotary models DSP Digital Signal Processor ESP Enhanced System Performance motion system ESP is synonymous with a plug and play motion system ESP compatible Refers to Newport Corporation stages that contain the necessary parameters to automatically configure an ESP type motion controller Newport stages or other stages without this feature must be individually configured by the user Home position The unique point in space that can be accurately found by an axis also called origin Home search A specific motion routine used to determine the home position Jog A motion of undetermined length initiated manually Local Mode The user has access to a sub set of motion control functions through the use of Front Panel buttons and display menus of the ESP7000 Motion device Electro mechanical motion device Used interchangeably with stage and positioner Move A motion to a destination initiated manually or remotely Origin Used interchangeably with home PID A closed loop algorithm using proportional integral and derivative gain factors for position control Positioner Used interchangeably with stage and motion device equipment Remote Mode The ESP7000 motion controller receives motion c
136. TER MISSING out of range error xxl PARAMETER OUT OF RANGE This command is used to configure the position compare mode In this mode the controller is configured to output a TTL signal at precise position crossing s And because this feature is implemented in hardware and not with CPU polling the timing latency is negligible and can operate precisely even while the stage positioner is moving at top speed This feature can be used to accurately trigger an external device e g data acquisition board as a function of stage position regardless of travel speed If parameter nn1 equals 0 then the position compare feature is in disarmed mode and no comparison will take place If equals 1 then absolute position compare mode is armed During this mode the controller will output a TTL trigger signal whenever the stage feedback encoder crosses that absolute position define by nn2 If equals 2 then relative position compare mode is armed During this mode the controller will output a TTL trigger signal whenever the stage feedback encoder displaces nn2 increments regardless of direction Section 3 Remote Mode RETURNS REL COMMANDS Note If this command is issued when the desired axis is in motion the accuracy of the position crossing capture depends upon the speed at which the axis was moving when the command was processed by the DSP For instance if the axis was moving at 40 mm sec and the encoder res
137. TER OUT OF RANGE This command is used to setup data acquisition analog data acquisition ADC as well as acquisition of certain trace variables using ESP motion controller PARAMETER nnl Data acquisition modes 0 9 and 30 39 support different ways in which analog data can be collected On the other hand mode 10 may be used to acquire trace variable data PARAMETER nn2 Data acquisition analog or trace variable is triggered by the motion of an axis specified through this parameter Exceptions to this requirement are in the case of data acquisition modes 0 10 30 and 36 For these cases enabling data acquisition is sufficient to start the data acquisition process For all other modes two conditions enabling of data acquisition and any mode dependent conditions such as trigger axis reaching slew speed must be met in order to start the data acquisition process This parameter is of no consequence for data acquisition modes 3 33 and 39 wherein the data acquisition process is triggered by an external source PARAMETER nn3 and nnd Since the criteria used for analog data acquisition and trace variable data acquisition are different parameters 3 and 4 are interpreted differently based on the type of data being acquired Please refer to the table below for interpreting these two parameters accurately PARAMETER nn5 The rate at which data is to be acquired is specified through this parameter The rate specified is in multiples of
138. The specified home search speed is out of range Refer to the description of OH command for valid home search speed range x25 INVALID TRAJECTORY MASTER AXIS The specified trajectory mode is not valid for a master axis Refer to the description of TJ command to specify a valid trajectory mode for a master axis x26 PARAMETER CHANGE NOT ALLOWED The specified parameter cannot be changed while the axis is in motion Wait until the axis motion is complete and issue this command again Refer to the description of MD command to determine if motion is done x27 INVALID TRAJECTORY MODE FOR HOMING The specified trajectory mode is not valid for locating the home position of the axis Refer to the description of TJ command to specify a valid trajectory mode for locating the home position of this axis Appendix A Error Messages Appendix A Error Messages x28 INVALID ENCODER STEP RATIO The specified full step resolution is invalid Refer to the description of FR command for valid range of full step resolution x29 DIGITAL I O INTERLOCK DETECTED A DIO interlock was asserted x30 COMMAND NOT ALLOWED DURING HOMING The command issued was not executed because locating the home position of this axis is in progress Refer to the description of the issued command for further details x31 COMMAND NOT ALLOWED DUE TO GROUP ASSIGNMENT The specified command was not executed because this axis is member of a group Refer to the description of
139. This command reports the amount of unused program memory The controller has 61440 bytes of non volatile memory available for permanently storing programs This command reports the amount not used Note Available memory space is updated only after the stored program memory is purged using XX command Available storage space EP enter program download mode EX execute a stored program LP list stored program XX delete a stored program XM read available memory Available storage space 61440 controller reports available storage space 3 165 XX erase program IMM PGM MIP USAGE SYNTAX xxXX PARAMETERS Description xx int program number Range XX 1to 100 Units XX none Defaults XX missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command makes the program xx loaded in controller s non volatile memory unavailable to user It does not delete the program from memory Consequently the program space does not become available to user immediately after deleting the program It becomes available to user only after the entire stored program memory is purged by issuing the command Note Purging the stored program memory takes approximately 3 seconds for completion RETURNS None REL COMMANDS EP enter program download mode EX execute a stored program LP list stored program XM read available memory EXAMPLE XX delete program 1
140. UPLICATED At least one of the axis numbers is specified to be a member of this group more than once 20 DATA ACQUISITION IS BUSY Data acquisition is not yet complete 21 DATA ACQUISITION SETUP ERROR An error occurred during data acquisition setup Ensure that data acquisition is disabled and all parameters are within valid range before issuing the command Refer to the command description for valid range of parameters 22 DATA ACQUISITION NOT ENABLED Data acquisition is not yet enabled Appendix A Error Messages Appendix A Error Messages 23 SERVO CYCLE TICK FAILURE There was a failure to increment the servo tick in the Interrupt Service Routine ISR that manages motion control 24 Reserved for future use 25 DOWNLOAD IN PROGRESS Firmware download is in progress 26 STORED PROGRAM NOT STARTED An attempt was made to execute a stored program and the program could not be started 27 COMMAND NOT ALLOWED The issued command is not valid in the context in which it was issued 28 STORED PROGRAM FLASH AREA FULL The flash area reserved for stored programs is full 29 GROUP PARAMETER MISSING At least one parameter is missing Refer to the description of issued command for valid number of parameters 30 GROUP PARAMETER OUT OF RANGE The specified group parameter is out of range Refer to the description of issued command for valid range of parameter 31 GROUP MAXIMUM VELOCITY EXCEEDED The specified group velocity exce
141. Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 86 IMM PGM MIP xxHVnn or xxHV xx int group number nn float vector velocity value XX 1to MAX GROUPS nn 0 to minimum of the maximum velocity values of all axes assigned to this group XX none nn predefined units second XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated nn missing error 7 PARAMETER OUT OF RANGE negative error 22 GROUP PARAMETER OUT OF RANGE out of range error 22 GROUP MAXIMUM VELOCITY EXCEEDED This command is used to set the vectorial velocity value for a group This value will be used during coordinated motion of axes assigned to the group It will override any original acceleration values specified for individual axes using VA command The axes original values will be restored when the group to which they have been assigned is deleted This command takes effect immediately It can be executed when controller is idling or motion is in progress or inside a program Note Avoid changing velocity during acceleration or deceleration phases of a move For better predictable results change velocity only when all the axes assigned to this group are not in motion If sign takes the place of nn value this command reports the current setting VU set maximum velocity for an axis HN cr
142. WARE LIMIT EXCEEDED out of range error xx07 NEGATIVE SOFTWARE LIMIT EXCEEDED This command initiates infinite motion When received the selected axis xx will move indefinitely with the predefined acceleration and velocity in the direction specified by nn If the requested axis is member of a group this command does not initiate the desired motion Instead error xx31 COMMAND NOT ALLOWED DUE TO GROUP ASSIGNMENT is generated Refer HL and HC commands to move along a line or an arc If this command is issued when trajectory mode for this axis is not in trapezoidal or s curve mode the controller returns error xx32 INVALID TRAJECTORY MODE FOR MOVING Note Although the command is accepted while a motion is in progress care should be taken not to reverse direction of motion If the 2 sign takes the place of nn value this command reports the motion done status 3 105 REL COMMANDS EXAMPLE 3 106 PA PR ST MD 3MV 3MV 3ST 3MV move to absolute position move to relative position stop motion move done status move axis 3 indefinitely in positive direction query status of move controller returns 0 meaning motion is in progress stop axis 3 motion move axis 3 indefinitely in negative direction Section 3 Remote Mode MZ move to nearest index IMM PGM MIP USAGE SYNTAX xxMZnn or xxMZ PARAMETERS Description xx int axis number nn char direction of motion Ra
143. a motion Stage lags the desired trajectory Positive following error during the acceleration phase of a motion Stage is ahead of the desired trajectory Section 6 Servo Tuning Table 6 1 Servo Parameter Functions 6 5 6 6 Section 6 Servo Tuning Section 7 Optional Equipment Hand held Keypad An optional alphanumeric keypad see Figure 7 1 below allows the user to access the full command set of the ESP7000 without the use of a host computer The keypad features a backlit LCD display that echoes each character typed on the keypad Additionally status messages are echoed to the display in certain cases e g error codes Four macro keys on the top row of the keypad permit execution of previously stored programs on the push of one button see EP EX commands in Section 3 Remote Mode for details Backlit LCD Display Stop All Key 4 Macro Enter Key Shift Space Key Backspace Figure 7 1 Hand held Keypad Image Section 7 Optional Equipment 7 1 7 1 1 Description of Keys see Figure 7 1 STOP ALL When this button is activated all motion is aborted All axes are affected The function of STOP ALL on the keypad is equivalent to STOP ALL on the ESP7000 front panel MACRO1 MACRO2 MACRO4 Activating either MACRI button results in execution of a previously stored program See EP command in Section 3 Remote Mode for details on creating programs SHI
144. able Data Acquisition The ESP controller supports acquisition of certain trace variables to monitor motion controller performance Similar to the analog data acquisition setup the sampling rate and number of trace samples to be collected can be configured using the ASCII command DC However at the current time the acquisition of trace variable data is initiated immediately after enabling the data acquisition process The trace variables supported include Section 4 Advanced Capabilities Desired position Actual position if encoder feedback is available Desired velocity Desired acceleration Trajectory phase acceleration constant velocity etc Following error 4 3 7 Error integral 8 Control DAC output 1 9 Control DAC output 2 for Commutated steppers only 10 Number of stepper pulses servo cycle 11 Duration between stepper pulses The controller also supports four 4 different options in which controller can send the collected trace variable data They are 1 Texas Instruments floating point format data for an axis that is not configured as a slave axis 2 Scaled integer format for an axis that is not configured as a slave axis 3 Texas Instruments floating point format data for an axis that is configured as a slave axis 4 Scaled integer format for an axis that is configured as a slave axis Please refer to the description of data acquisition setup c
145. al hysterisis closed loop positioning can at times lead to oscillation or limit cycling of the systems around a desired position In such situations setting position deadband value judiciously can avoid limit cycling of the systems Note that this command is effective only during position regulation holding position as opposed to moving Furthermore note that encoder feedback and closed loop positioning must be enabled for this command to be effective Refer to feedback configuration ZB command for enabling these features in the case of stepper motors If 0 is used as an axis number this command will set the specified deadband value to all the axes If sign takes the place of nn value this command reports the current setting ZB set feedback configuration CL set closed loop update interval ZB300 enable encoder feedback and closed loop positioning of axis 3 3DB1 set position deadband value to 1 encoder count 3DB query deadband value 1 controller returns a value of 1 encoder count 3CL100 set closed loop update interval to 100 milliseconds 3CL query closed loop update interval 100 controller returns a value of 100 milliseconds 3 45 DC setup data acquisition USAGE SYNTAX PARAMETERS Description Range Units Defaults 3 46 IMM PGM MIP DCnn1 nn2 nn3 nn4 nn5 nn6 nnl int nn2 int nn3 int nnd int nn5 int nn6 int nni nn2 nn3 nn
146. al originates from external feedback circuitry and is used for position tracking Auxiliary Ch 7 Input A The A input is pulled up to 5 volts and pulled down to ground with 1KQ resistors Appendix C Connector Pin Assignments C 7 C 8 This facilitates both single and double ended signal handling into a 261 532 differential receiver The A quadrature encoded signal originates from external feedback circuitry and is used for position tracking Auxiliary Ch 7 Input B The B input is pulled up to 5 volts with a 1KQ resistor The signal is buffered with a 261 532 differential receiver The B quadrature encoded signal originates from external feedback circuitry and is used for position tracking Auxiliary Ch 7 Input B The B input is pulled up to 5 volts and pulled down to ground with 1KQ resistors This facilitates both single and double ended signal handling into a 26LS32 differential receiver The B quadrature encoded signal originates from external feedback circuitry and is used for position tracking Auxiliary Ch 8 Input A The A input is pulled up to 5 volts with a 1KQ resistor The signal is buffered with a 261 532 differential receiver The A quadrature encoded signal originates from external feedback circuitry and is used for position tracking Auxiliary Ch 8 Input A The A input is pulled up to 5 volts and pulled down to ground with 1KQ resistors This facilitate
147. alue AU command or to read current setting XX none nn predefined units second XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 11 MAXIMUM ACCELERATION EXCEEDED This command is used to set the acceleration value for an axis Its execution is immediate meaning that the acceleration is changed when the command is processed even while a motion is in progress It can be used as an immediate command or inside a program If the requested axis is a member of a group the commanded acceleration becomes effective only after the axis is removed from the group Refer to Advanced Capabilities section for a detailed description of grouping and related commands Avoid changing the acceleration during the acceleration or deceleration periods For better predictable results change acceleration only when the axis is not moving or when it is moving with a constant speed If the 2 sign takes the place of nn value this command reports the current setting VA set velocity PA execute an absolute motion PR execute a relative motion AU set maximum acceleration and deceleration AG set deceleration 2AU read maximum allowed acceleration deceleration of axis 2 Section 3 Remote Mode Section 3 Remote Mode 10 2AC9 2AG6 2AUI5 2AU 15 controller returns a value of 10 units s2 set accelera
148. am Note Avoid changing the jerk during the acceleration or deceleration periods For better predictable results change jerk only when the axis is not moving none AC set acceleration TJ set trajectory mode VA set velocity 2JK read desired velocity of axis 2 10 5 controller returns a velocity value of 10 5 units s 2JK15 set axis 2 jerk to 15 units s 3 93 JL jump to label USAGE SYNTAX PARAMETERS Description Range Units Default DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 94 IMM PGM MIP xxJLnn xx int label number nn int loop count 110100 11065535 none nn none XX missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE nn missing assume infinite out of range error xx2 PARAMETER OUT OF RANGE This command changes the flow of the program execution by jumping to a predefined label xx This a flow control command that alters the normal sequential flow of a program It must be used in conjunction with the DL command which defines a label Parameter nn determines the number of times to repeat the jump before allowing the program to flow passed none JL jump to label 3XX clear program 3 from memory if any 3EP create program 3 1DL define label 1 1JL 5 jump to label 1 five 5 times QP end entering program and quit programming mode 3EX run stored program number 3 Section 3
149. ange not assigned floating point group number 1 to MAX GROUPS none error 13 GROUP NUMBER MISSING error 14 GROUP NUMBER OUT OF RANGE error 15 GROUP NUMBER NOT ASSIGNED truncated This command stops the motion of all axes assigned to a group using vector deceleration set using HD command If 2 sign is supplied along with the command the controller returns 1 5 0 HN HL 1HN1 2 1HV10 1 50 1HD50 1HO 1HP 0 0 1HL50 50 1HS 0 1HS 1HS 1 Section 3 Remote Mode group motion is stopped group motion is in progress create a new group move a group of axes to desired position along an arc move a group of axes to desired position along a line create a new group 1 with physical axes 1 and 2 set vectorial velocity of group 1 to 10 units second set vectorial acceleration of group 1 to 50 units second set vectorial deceleration of group 1 to 50 units second enable group 1 query current group position controller returns axis 1 0 units and axis 2 0 units move axis 1 to a target position 50 units move axis 2 to a target position 50 units query if motion of group 1 is stopped controller returns 0 meaning group 1 is in motion stop motion of group 2 query if motion of group 1 is stopped controller returns 1 meaning group 1 motion has stopped 3 85 HV set group velocity USAGE SYNTAX PARAMETERS Description Range
150. annot be moved individually using commands such as PA and PR Use group linear move commandis instead Refer to the description of the command in the commands section See Section 5 Programming for correct syntax parameter ranges etc 4 2 2 2 Defining Group Parameters Group parameters such as velocity acceleration deceleration jerk and e stop deceleration must be defined for every group following the creation of that group These parameters are used to produce the desired coordinated motion of the group They override any original values specified for individual axes The axes original values are restored when the group to which they have been assigned is deleted Refer to the description of HV HA HD HJ and HE commands in the commands section See Section 3 Remote Mode for correct syntax parameter ranges etc Section 4 Advanced Capabilities 4 2 3 Making Linear and Circular Moves Section 4 Advanced Capabilities This subsection discusses the method for making linear and circular moves of groups While coordinated motion of axes with different motor types and different encoder resolutions is supported it is assumed that all axes have the same units of measure 4 2 3 4 Making Linear Move Once a group has been defined and all group parameters have been specified the ASCII command HL is used to move the group from an initial position to a final position along the line The current position of axes is the initia
151. appropriate error message Using DIO to Monitor Motion Status User s applications can monitor motion status desired axis is in motion or standstill through ESP motion controller s DIO This status bit can in turn be used to drive external processes such as turning on off a mechanical brake for instance In order to accomplish this task users must define the DIO bit to be employed to monitor the motion status of a desired axis and the logic state in which that bit should be in when the axis is not in motion Once this is done the feature has to be enabled Furthermore the direction of the DIO port this DIO bit belongs to must be set to output in order for the controller to report the motion status At this point if the selected axis is not in motion the DIO bit changes its state to the level specified as described earlier Please review the example below for further clarifications Section 4 Advanced Capabilities Example 3 2 9 1 Use DIO bit 9 to indicate motion status of axis 2 This DIO bit will be set to HIGH when axis 2 is not in motion 2BNI Enable notification of motion status using DIO for axis 2 BO 06H 06H 0110 Binary Set DIO port A to input and ports B C to output l i e set bits 0 7 to input and 8 23 to output After the above commands are sent to the controller the controller will set DIO bit 9 to a HIGH logical level when axis 2 is not in motion Commands related to
152. arch for negative limit signal transition If nn 5 the axes will search for positive limit and index signal transition If nn 6 the axes will search for negative limit and index signal transition At the end of a home search routine the position of axes is reset to the value specified using SH command The home search motion status can be monitored with the Motion Done MD status command If a fault condition such as E stop occurs while home search is in progress or if this command is issued to an axis before enabling it the controller returns error xx20 HOMING ABORTED For a detailed description of the home search routine see the Home The Axis Origin chapter in the Motion Control Tutorial section Section 3 Remote Mode 3 111 RETURNS REL COMMANDS EXAMPLE 3 112 Note This command should be executed once every time the controller power is turned ON or the controller performs a complete system reset There is no need to issue this command in any other case since the controller always keeps track of position even when the motor power is OFF Note This command cannot be issued after enabling DAQ refer ASCII command DE none DH define home OH set home search speed OM set home search mode MD read motion done status SH set home preset position 3MO turn axis 3 motor power ON 3SHO set axis 3 home position to O units 1 perform a home search on axis 3 3MD query axis 3 mo
153. ared unconnected Bad connection Turn power off and verify the motion device cable connection A connected axis is declared unconnected Bad component Turn power off and swap the motor cable with another axis if cables are identical to locate the problem Contact Newport for cable replacement or motion device service Table B 1 Trouble Shoot Guide Appendix B Trouble Shooting and Maintenance PROBLEM CAUSE CORRECTIVE ACTION Safety control connector is not connected Safety control connector on the rear of the ESP7000 is missing Plug connector in If the connector was lost you can either build one as shown in System Setup in Section 1 or call Newport for a replacement Motor can not be turned on Motor type is not defined Enter correct stage parameters including motor type Excessive following error Verify that all setup parameters correspond to the actual motion device installed Verify that the load specifications for the motion device are not being exceeded Axis does not Incorrect Verify that the motion device is move connection connected to the correct diver card as specified by the labels Incorrect Verify that all relevant parameters parameters PID velocity etc are set properly System Incorrect Verify that the motion device is performance connection connected to the correct driver card as below specified
154. ary 1ZH123 nn 123H 0001 0010 0011 Binary 1ZHOF25H nn F25H 1111 0010 0101 Binary 1ZHF25H Invalid command Section 3 Remote Mode BIT VALUE DEFINITION 0 0 disable hardware travel limit error checking O 1 enable hardware travel limit error checking 1 0 do not disable motor hardware travel limit event 1 1 disable motor on hardware travel limit event 2 0 do not abort motion on hardware travel limit event 2 1 abort motion on hardware travel limit event 3 0 reserved 3 1 reserved 4 0 reserved 4 1 reserved 5 0 hardware travel limit input active low 5 1 hardware travel limit input active high 6 0 reserved 6 1 reserved 7 0 reserved 7 1 reserved 31 0 reserved 31 1 reserved default setting RETURNS If the 2 sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS ZA ZE ZF ZB ZS ZZ EXAMPLE 2ZH 25H 2ZH 23H SM Section 3 Remote Mode set amplifier I O configuration set e stop configuration set following error configuration set feedback configuration set software limit configuration set general system configuration read hardware limit configuration of axis 2 controller returns a value of 25H for axis 2 set hardware limit configuration to 23H for axis 2 save all controller settings to non volatile memory 3 177 ZS set software limit configuration USAGE SYNTAX PAR
155. ary to manually enter individual stage parameters E G motor current maximum velocity etc with an ESP compatible stage All necessary configuration settings will be automatically loaded after system reset with ESP compatible positioners When a positioner is said to be ESP incompatible all that really means is that it does not have the integrated memory device that allows for automatic configuration Therefore it will have to be configured manually as is customary with all non ESP controllers There are two 2 basic levels of positioner configuration The first level assumes that the stage is Newport controller compatible That is to say that hardware travel limits encoder feedback counting etc are designed to operate with Newport controllers In this case only a certain amount of commands are necessary to setup the axis before moving the stage The second level is when a stage is not a standard Newport stage and various compatibility issues need to be addressed This scenario requires additional command configurations The following are examples of how to configure an ESP controller axis for a standard Newport stage that is not equipped with the ESP Compatible memory device i e level 1 Example 1 DC Servo on axis 1 Iqml set motor type to DC servo 1410 15 set motor maximum current to 0 15 amps 1qv30 set motor voltage to 30 volts 1sn7 set user units to degrees 1su0 005 set resolution to 0 005 degrees
156. assigned for jogging 3 4 controller returns the bit assignment 1BQ1 enable axis 1 jogging through DIO bits 3 40 Section 3 Remote Mode BQ enable DIO bits for jog mode USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE IMM PGM xxBQnn or BQ xx int nn int missing axis number disable or enable 1 to MAX AXES 0 disable and 1 enable none one error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 2 PARAMETER OUT OF RANGE This command is used to disable or enable jogging of a requested axis through DIO bits If sign is issued along with command the controller returns the status of jog through DIO bits BP assign DIO bits for jog mode 1BP3 4 set DIO bit 3 to jog axis 1 in negative direction and DIO bit 4 to jog axis 1 in positive direction 1BP query the DIO bits assigned for jogging 3 4 controller returns the bit assignment 1BQ1 enable axis 1 jogging through DIO bits Section 3 Remote Mode 3 41 BR set serial communication speed USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 42 IMM PGM MIP BRnn or BR nn int communicati
157. axis 2 to absolute position 40 2ST stop motion on axis 2 3 145 SU set encoder resolution USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 146 IMM PGM MIP xxSUnn or xxSU xx int nn float XX E nn 3 XX nn XX missing out of range nn missing out of range axis number encoder resolution 1to MAX AXES 2e 9 to 2e 9 in user defined units or to read present setting none none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE This command is used to set the encoder resolution for axis xx Note The encoder resolution can only be changed when encoder feedback is enabled See ZB command If sign takes the place of nn value this command reports the current setting FR set full step resolution SU set encoder resolution QD update driver ZB set feedback configuration 280 read encoder resolution setting of axis 2 0 0001 controller returns a value of 0 0001 units for axis 2 2SU0 0005 set encoder resolution to 0 0005 units for axis 2 2QD update programmable driver with latest settings for axis 2 SM save all controller settings to non volatile memory Section 3 Remote Mode TB read error message USAGE SYNTAX PARAMETERS Defaults DESCRIPTION RETURNS REL CO
158. axis 3 controller returns velocity 0 2 units sec for axis 3 read desired position on axis 3 controller returns desired position 7 52 units for axis 3 Section 3 Remote Mode EO automatic execution on power on USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE IMM PGM MIP xxEOnn or xx int nn int xxEO program number number of times of execution 1 to 100 1 to 2e9 none none This command sets the program number that is automatically executed on power on If nn is missing the xx numbered program is executed once If the sign 2 takes place of nn value this command reports the number of the program that is executed on power on and the number of times of execution AP 3 1 Section 3 Remote Mode quit programming mode execute stored program abort stored program execution erase program set program 3 to be executed once on power on query the program number executed on power on controller returns program 3 executed once on power on Reset automatic program execution no program is executed on power on 3 59 EP enter program mode IMM PGM MIP USAGE SYNTAX xxEP PARAMETERS Description xx int program number Range XX 1 to 100 Units XX none Defaults XX missing error
159. axis 1 4 controller returns a value of 4 1TP read actual position of axis 1 5 0001 controller returns position value 1FP2 set position display resolution for axis 1 to 2 1TP read actual position of axis 1 5 00 controller returns position value 1FP7 set position display resolution for axis 1 to 7 1TP read actual position of axis 1 5 000000 0 controller returns position value Section 3 Remote Mode 3 65 FR set encoder full step resolution IMM PGM MIP USAGE SYNTAX xxFRnn or xxFR PARAMETERS Description xx int axis number nn float encoder full step resolution Range XX 1to MAX AXES nn 2e 9 to 2e49 in user defined units or to read present setting Units XX none nn none Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command is used to set the encoder full step resolution for a Newport Unidrive compatible programmable driver with step motor axis RETURNS If sign takes the place of nn value this command reports current setting REL COMMANDS QS set microstep factor SU set encoder resolution EXAMPLE 2FR read encoder full step resolution setting of axis 2 0 0001 2 0 0005 5 3 66 controller returns value of 0 0001 units for axis 2 set encoder full step resolution to 0 0005 units for axis 2
160. ayed on the last selected axis This allows the user to abort the HOME sequence if necessary NOTE The user can press the MENU button to return to the TOP MENU screen PROGRAM Menu When the user selects the PROGRAM button from the TOP MENU screen the PROGRAM MENU screen displays and RUN STORED PROGRAM See Figure 1 14 Program Menu Flow Diagram 1 When the user selects FLOPPY DISK OPTIONS a FLOPPY DISK screen displays giving the user four choices UPDATE DSP FIRMWARE UPDATE CPU FIRMWARE SAVE CONFIGURATION and RESTORE CONFIGURATION 1 1 Update DSP Firmware When the user selects this choice the ESP7000 will display the task in process Example Erasing Flash 1 2 Update CPU Firmware When the user selects this choice the ESP7000 will display the task in process Example Updating CPU Firmware 1 3 Save Configuration When the user selects this choice the ESP7000 will display the task in process Example Saving Configuration 1 4 Restore Configuration When the user selects this choice the ESP7000 will display the task in process Example Restoring Configuration 2 When the user selects RUN STORED PROGRAM the ESP7000 displays the ENTER PROGRAM NUMBER screen The user should enter the PROGRAM and press the ENTER key The user can exit this screen by pressing the MENU button to return to PROGRAM MENU screen or press the MENU button again to return to the TOP MENU screen 1 20 Section 1 Intr
161. ble with a motion device depends on the motion control system but also on the acceptable velocity regulation First the controller sets the slowest rate of motion increments it can make The encoder resolution determines the motion increment size and then the application sets a limit on the velocity ripple To illustrate this take the example of a linear stage with a resolution of 0 1 um If the user sets the velocity to 0 5 um sec the stage will move 5 encoder counts in one second But properly tuned servo loop could move the stage 0 1 uum in about 20 ms The position and velocity plots are illustrated in Figure 5 12 average velocity position velocity PT cdi 1s Figure 5 12 Position Velocity and Average Velocity The average velocity is low but the velocity ripple is very high Depending on the application this may be acceptable or not With increasing velocity the ripple decreases and the velocity becomes smoother This example is even more true in the case of a stepper motor driven stage The typical noise comes from a very fast transition from one step position to another The velocity ripple in that case is significantly higher In the case of a DC motor adjusting the PID parameters to get a softer response will reduce the velocity ripple but care must be taken not to negatively affect other desirable motion characteristics 5 11 5 12 5 2 14 5 2 15 Velocity Regulation In some applications
162. configured as a slave axis NOTE 1 Scaled integer format amp trigger axis is not At the present time these variables are not user configured as a slave axis selectable 2 Texas Instruments floating point format amp trigger axis is configured as a slave axis NOTE 3 Scaled integer format amp trigger axis is Users are suggested to issue a value of 1 for configured as a slave axis consistency with modes 0 9 NOTE Trace variables such as velocity and acceleration Servo motor Stepper motor Commutated are processed by ESP motion controller in TI driven axes driven axes stepper motor floating point format Users can have access to this driven axes 10 Trace data in its native format by choosing option 0 If Error Integral Duration Control DAC variable data this option is chosen users must convert the data between pulses output 2 acquisition obtained into a format that is supported by host Trajectory Trajectory Trajectory system Since some users may have difficulty phase phase phase processing data in this format a suggested Following Following error Following error alternative is to choose scaled integer format option error 1 If integer format is chosen the floating point Control DAC Counts servo Control DAC number is multiplied by 1e6 and converted to an output 1 cycle output 1 integer This option may be selected judiciously Desired Desired Desired because the validity of data obtained depends on the acceleration acce
163. creen Images NOTE Multiple axes can be assigned to the same control arrow buttons or control knob When a control is activated all associated axes move at the same time in the specified direction NOTE While the Direction Function Buttons function as typical jog buttons the control knob acts as an encoder wheel to which the associated stage is slaved This means that the motor will turn at a rate proportional to the control knob rotation On the other hand motors controlled by the Direction Function Buttons move at a constant velocity predetermined by the jog velocity setting When the JOG MODE screen is displayed two JOG velocities can be selected HIGH SPEED or LOW SPEED When the user selects HIGH SPEED velocity for JOG the HIGH SPEED screen display all 6 axes To change a JOG velocity the user can enter the HIGH SPEED velocity value desired from the numeric keypad on the front panel and press the lt ENTER gt key The parameters are displayed in the window as they are typed NOTE e The Direction Function Buttons are used to select the direction for HIGH SPEED or LOW SPEED JOG velocity e The control knob is used to select the direction for LOW SPEED JOG velocity e The numeric keypad is used to enter or change JOG velocities Section 2 Modes of Operation The user can toggle between the HIGH and LOW SPEED loops available ONLY when using Direction Function Buttons as a method of control and can start jogging
164. creen is enabled by pressing the CYCLE function button in the MOVE MENU This screen displays two positions values The first one represents Cycle Position A and the second represents Cycle Position Pressing any of the Axis Selection Buttons will highlight Cycle Position A of the respective axis The value can be modified by using the numerical keypad Once all desired destinations have been made the user can move all axes simultaneously Pressing MOVE BUTTON will start a motion on the axis for which the Selected button is highlighted Pressing the RED STOP ALL Button will STOP a motion on all axes NOTE All axes start the motion at the same time but each axis moves with its specified motion parameters velocity acceleration trajectory type etc This means that the axes perform a non coordinated motion thus not reaching their respective target at the same time NOTE Pressing the RED STOP ALL Button in the lower right corner of the front panel will initiate a motion inhibit sequence on all axes This function is user programmable and could be set individually for each axis anywhere from a hard abrupt stop to a do nothing action The default setting is a controlled stop followed by a motor power off Pressing the MENU BUTTON returns the display to the MOVE MENU RELATIVE The RELATIVE MOVE screen is enabled by pressing the Relative Menu Selection Button in the MOVE MENU The screen displays two position values The fi
165. cter is returned only if the motion controller supports more than four 4 axes Meaning for Bit Function i E Bit LOW Bit HIGH 0 Axis 5 motor state Stationary In motion 1 Axis 6 motor state Stationary In motion 2 Reserved Default 3 Reserved Default 4 Motor power of at least one axis OFF ON 5 Reserved Default 6 Reserved Default 7 Reserved Default RETURNS ASCII character representing the status byte REL COMMANDS TX read controller activity EXAMPLE TS read controller status P controller returns characters and P indicating axes 1 2 and 4 are Section 3 Remote Mode in motion and motor power of at least one axis is ON 3 151 TV read actual velocity USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 152 IMM PGM xxTV xx int missing out of range MIP axis number 1 to MAX AXES none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE This command is used to read the actual velocity of an axis The command can be sent at any time but its real use is while motion is in progress nn where nn actual velocity of the axis in pre defined units PA PR 3TP 5 32 3PR2 2 3DV 3TV 0 205 3DP 2 52 move to an absolute position move to a relative position read position on axis 3 controller returns position 5 32 units for axis
166. ction WARNING This product operates with voltages that can be lethal Pushing objects of any kind into cabinet slots or holes or spilling any liquid on the product may touch hazardous voltage points or short out parts Conventions and Symbols This section provides a list of symbols and their definitions and commonly used terms found in this manual 1 3 1 Safety and General Symbols Definitions The following are definitions of safety and general symbols used on equipment or in this manual Section 1 Introduction 1 3 WARNING Calls attention to a procedure practice or condition which if not correctly performed or adhered to could result in injury or death Caution risk of electric shock CAUTION Calls attention to a procedure practice or condition which if not correctly performed or adhered to could result in damage to equipment Caution Refer to accompanying documents NOTE Note Calls attention to a procedure practice or condition that is considered important to remember in the context This symbol indicates the principal On Off push push switch is in the ON position This symbol indicates the principal On Off switch is in the OFF position Protective ground terminal Fuse 1 4 Section 1 Introduction Section 1 Introduction Stop of action or operation 1 3 2 Terminology The following is a brief description of the terms specific to motion control and the E
167. ctory mode to 5 2GR0 5 set the reduction ratio of axis 2 to 0 5 2GR query the reduction ratio of axis 2 0 5 controller returns a value of 0 5 3 67 HA set group acceleration IMM PGM MIP USAGE SYNTAX xxHAnn or xxHA PARAMETERS Description xx int group number nn float vector acceleration value Range XX 1to MAX GROUPS nn 0 to minimum of the maximum acceleration values of all axes assigned to this group Units XX none nn predefined units second Defaults XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated nn missing error 7 PARAMETER OUT OF RANGE negative error 22 GROUP PARAMETER OUT OF RANGE out of range error 24 GROUP MAXIMUM ACCELERATION EXCEEDED DESCRIPTION This command is used to set the vectorial acceleration value for a group This value will be used during coordinated motion of axes assigned to the group It will override any original acceleration values specified for individual axes using AC command The axes original values will be restored when the group to which they have been assigned is deleted This command takes effect immediately It can be executed when controller is idling or motion is in progress or inside a program Note Avoid changing acceleration during acceleration or deceleration phases of a move For better predictable results change accelera
168. curately even while a stage positioner is moving at high speed The next section outlines the way in which user applications can setup this feature through a few ASCII commands The subsequent section details the hardware required Feature Setup Position Capture Input Triggering User applications must issue an ASCII command DC with appropriate parameter values in order for the controller to capture the position of desired axes This command is used to setup the data acquisition mode If the controller has to trigger any internal events after the position capture the ASCII command ES has to be issued to specify the desired event action Note that ES command is optional and it is required only if the controller has to take a particular action following the position capture After this command is issued the data acquisition process must be enabled by issuing the ASCII command DE Once the data acquisition is enabled the specified axes position will be captured by the controller and necessary actions initiated as defined by commands DC and ES The ASCII command DD can be used to monitor if all the desired position samples have been collected by the controller If the command DD responds with a value of one 1 meaning data acquisition is done all the samples collected by the controller can be retrieved by issuing the ASCII command DG Please review the examples below for further clarifications Example 1 The following example set
169. cusses the method for defining a group and all the group parameters 4 5 4 6 4 2 2 1 Creating a Group The ASCH command used to create a new group is HN For instance the command 2 3 assigns axis numbers 2 and 3 to group number 1 One such group must be defined first before those axes can be moved in a coordinated fashion A group can comprise of axes anywhere from one to six If a group has only one axis assigned to it a linear motion of the group is similar to moving that axis from one point to another Circular motion of a group with only one axis cannot be made If a group has more than two axes assigned to it circular motion of the group is made using the first two axes in the group The order in which axes are assigned to a group is very important This is because it specifies the frame of reference in which coordinated motion of axes takes place For instance the command IHN2 3 assigns axis numbers 2 and 3 to group number 1 where axis 2 is equivalent to X axis and axis 3 is equivalent to Y axis in a traditional Cartesian coordinate system Reversing the order of axes E G IHN3 2 reverses the axis assignment A few rules that are in place for easy management of group are as follows e Anaxis cannot be a member of different groups at the same time e An axis cannot be assigned more than once in a group e A group has to be deleted before axes assigned to it can be changed e Anaxis assigned to a group c
170. d to interconnect the other motion control components If the user is like most motion control users they started by selecting a motion device that matches certain specifications needed for an application Next the user should choose a controller that can satisfy the motion characteristics required The chances are that the user is less interested in how the components look or what their individual specifications are but want to be sure that together they perform reliably according to their needs We mentioned this to make a point A component is only as good as the system lets or helps it to be For this reason when discussing a particular system performance specification we will also mention which components affect performance the most and if appropriate which components improve it Specification Definitions People mean different things when referring to the same parameter name To establish some common ground for motion control terminology here are some general guidelines for the interpretation of motion control terms and specifications 5 2 As mentioned earlier most motion control performance specifications should be considered system specifications When not otherwise specified all error related specifications refer to the position error The servo loop feedback is position based All other velocity acceleration error etc parameters are derived from the position feedback and the internal clock To measure
171. d to read the desired positionlt returns the instantaneous desired position The command could be sent at any time but its real use is while a motion is in progress nn where nn PA 3TP 5 32 3PR2 2 3DP 7 52 Section 3 Remote Mode desired position in pre defined units move to an absolute position move to a relative position read actual position read position on axis 3 controller returns position 5 32 for axis 3 start a relative motion of 2 2 on axis 3 read desired position on axis 3 controller returns desired position 7 52 for axis 3 3 57 DV read desired velocity USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 58 IMM PGM xxDV xx int missing out of range This command i MIP axis number 1 to MAX AXES none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE s used to read the desired velocity of an axis The command can be sent at any time but its real use is while motion is in progress nn where nn PA PR 3TP 5 32 3PR2 2 3DV 0 2 3DP 7 52 desired velocity of the axis in pre defined units move to an absolute position move to a relative position read position on axis 3 controller returns position 5 32 units for axis 3 start a relative motion of 2 2 units on axis 3 read desired velocity on
172. dal velocity profile for instance the motor voltage will have also a trapezoidal shape Figure 5 17 The second observation is that the desired velocity is calculated by the trajectory generator and is known ahead of time The obvious conclusion is that we could take this velocity information scale it by factor and feed it to the motor driver If the scaling is done properly the right amount of voltage is sent to the motor to get the desired velocities without the need for a closed loop Because the signal is derived from the velocity profile and it is being sent directly to motor driver the procedure is called velocity feed forward Section 5 Motion Control Tutorial Of course this looks like an open loop and it is Figure 5 18 But adding this signal to the closed loop has the effect of significantly reducing the work the PID has to do thus reducing the overall following error The PID now has to correct only for the residual error left over by the feed forward signal Desired Velocity Motor Voltage Time Figure 5 17 Trapezoidal Velocity Profile Servo Controller Trajectory Generator ee O Motion Controller Encoder Figure 5 18 PID Loop with Feed Forward There is another special note that has to be made about the feed forward method The velocity is approximately proportional to the voltage and only for constant loads but this true only if the driver is a simple voltage amplifier or
173. de 4 slave to master s desired position trajectory 5 slave to master s actual position feedback 6 slave to master s actual velocity for jogging none none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE error xx26 PARAMETER CHANGE NOT ALLOWED DURING MOTION This command sets the trajectory mode nn on the axis specified by xx Changing trajectory during motion is not allowed Change trajectory mode only when the axis is not moving If the requested axis is member of a group the controller returns error xx31 COMMAND NOT ALLOWED DUE TO GROUP ASSIGNMENT For a detailed description of motion profiles see the Motion Control Tutorial section If the 2 sign takes the place of nn value this command reports the current setting JK set s curve jerk rate GR set master slave gear ratio 1TJ report current trajectory mode setting on axis 1 1 controller returns trajectory mode I trapezoidal for axis 1 1TJ2 set trajectory mode on axis 1 to 2 s curve 3 149 TP read actual position USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 150 IMM PGM MIP xxTP xx int axis number XX 1 to MAX AXES XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE This co
174. destination from difficult directions could make a significant difference Section 5 Motion Control Tutorial 5 7 5 8 In generating the plot in Figure 5 2 we said that the motion device will make a large number of incremental moves from one end of travel to the other If the user commands the motion device to move back and stop at the same locations to take a position error measurement the user would expect to get an identical plot superimposed on the first one In reality the result could be similar to Figure 5 7 Hysteresis Position Figure 5 7 Hysteresis Plot The error plot in reverse direction 15 identical with the first one but seems to be shifted down by a constant error This constant error is the Hysteresis of the system Real position ideal plot real plot Trajectory ideal position Figure 5 8 Real vs Ideal Position To justify a little more why we call this Hysteresis lets do the same graph in a different format Figure 5 8 Plotting the real versus the ideal position will give the user a familiar hysteresis shape 5 2 9 Pitch Roll and Yaw These are the most common angular error parameters for linear translation stages They are pure mechanical errors and represent the rotational error of a stage carriage around the three axes A perfect stage should not rotate around any of the axes thus the Pitch Roll and Yaw should be zero Section 5 Motion Control Tutorial
175. dow as they are typed The ESP7000 changes the parameters on the RELATIVE MOVE screen after the Enter key is pressed See Figure 1 11 1 18 Relative Move 071870 0 0000 0 1870 0 0000 0 0000 0 0000 Figure 1 11 Relative Move Screen NOTE The screen indicates MOVE ONE and MOVE ALL selections When the user selects MOVE ONE or MOVE ALL the last Axis selected indicates the word STOP on the right side of the screen The screen will automatically return to the MOVE MENU To STOP the movement before it completes the user should press the Axis Selection Button next to STOP 4 When the user selects the JOG button from the MOVE MENU screen a JOG MODE screen displays using the Axis Selection Buttons The user selects an axis and chooses the method of control from either the Direction Function Buttons or the Control Knob depending on the number of times the Axis Selection Button is pressed The appropriate icon will display the selected control method e g left right Direction Function Button up down Direction Function Button or Control Knob and its relative position direction noted with an sign See Figure 1 12 NOTE The screen indicates HIGH SPEED and LOW SPEED selections When the user selects HIGH SPEED the HIGH SPEED screen displays for ALL six Axes The user can enter the High Speed velocity values from the numeric keypad on the front panel them press the ENTER key The parameters are displayed in the di
176. drivers connected to the controller This process can take anywhere up to 20 seconds depending upon the controller configuration NOTE This command is affective only when the watchdog timer is enabled through appropriate jumper setting on the controller card default factory setting is enabled The following figure illustrates the jumper settings to enable the watchdog timer NOTE If this command is issued over the PCI bus interface as in the case of ESP6000 motion controller all communication between the host PC and the controller over this bus will be interrupted As a result this command is not recommended for use over the PCI bus interface Use the binary command esp init system instead CAUTION Use this command judiciously It is not intended to be a substitute for an e stop condition JP7 JPWDTI For ESP6000 and ESP7000 motion controllers Section 3 Remote Mode 5 5232 For ESP100 ESP300 motion controllers RETURNS None REL COMMANDS None EXAMPLE RS Reset the controller Section 3 Remote Mode 3 133 SA set device address IMM PGM MIP USAGE SYNTAX SAnn or SA PARAMETERS Description nn int address number Range nn 1 to 30 Units nn none Defaults nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command is used to set and report the device 1 ESP controller address for use with IEEE 488 or USB communica
177. e Figure 1 1 ESP7000 Motion Controller Driver 1 6 Figure 1 2 Blank Front Panel esses 1 9 Figure 1 3 ESP7000 Front Panel with Displays 1 10 Figure 1 4 Menu Item Display esses 1 10 Figure 1 5 Direction Function 1 12 Figure 1 6 Numeric Keypad to enter specific Frame tOEss ob as ti ed eta 1 12 Figure i vigas 1 14 Figure 1 8 Parameters for Axis 1 1 16 Figure 1 9 PID Values for Axis 1 1 16 Figure 1 10 Cycle Motors 1 17 Figure 1 11 Relative Move 1 18 Figure 1 12 Jog Mode 1 19 Figure 1 13 Home Menu Screen sess 1 19 Figure 1 14 Program Menu Flow Diagram 1 21 Figure 1 15 Motor Power 1 22 Figure 1 16 Rear Panel of the ESP7000 1 23 Figure 1 17 Jog Mode Screen using All Directions 1 28 Figure 2 1 Jog Mode Direction Screen Images 2 6 Figure 3 1 Command Syntax Diagram ss 3 7 Figure 4 1 Analog To Digital Flow Diagram 4 2 Figure 4 2 A Contour with Multiple Circular Moves 4 9 Figure 4 3 A Contour with Multiple Linear and Circular MOVES D E 4 9
178. e ESP controller has an ASCII command set and also outputs system status in ASCII format It features a command input buffer If the buffer fills up the ESP will not allow further communication until memory becomes available to accept new characters To send a command to the ESP controller use the command specific to your IEEE 488 terminal e g output ASCII If the host terminal asks the controller for a response e g input ASCII and no response is obtained the controller will eventually will time out USE OF SRQ LINE The ESP controller can be instructed to generate an IEEE 488 service request SRQ upon processing the RQ command This allows the user to generate SRQs anywhere within the ESP command stream thereby facilitating efficient event synchronization capability with the host computer The following example illustrates the use of the RQ command IPR10 1WS100 2PR10 3PR10 3WS100 RQ In the above example the SRQ line is asserted only after execution of the sequence preceding the RQ command is finished SERIAL POLL When the IEEE 488 controller senses a service request on the bus it creates an interrupt to the application program if configured to do so The application program must contain a service routine for this interrupt First the program must determine which device on the bus generated the service request This is usually achieved with a function 3 5 called Serial Poll The exact syntax for the se
179. e Ifthe AC power cord or any other attached cables are frayed or damaged If the power plug or receptacle is damaged e If the unit is exposed to rain or excessive moisture or liquids are spilled on it e Ifthe unit has been dropped or the case is damaged e Ifthe user suspects service or repair is required e When the user cleans the case To protect the equipment from damage and avoid hazardous situations follow these recommendations e Do not open the ESP7000 Stand Alone Motion Controller There are no user serviceable parts inside the ESP7000 e Do not make modifications or parts substitutions e Return equipment to Newport Corporation for service and repair e Do not touch directly or with other objects live circuits inside the unit e Keep air vents free of dirt and dust e Do not block air vents Section 1 Introduction e Keep liquids away from unit e Do not expose equipment to excessive moisture gt 85 humidity WARNING All power receptacles to which this unit is connected are to be of the grounding type and properly polarized Contact an electrician to check faulty or questionable receptacles WARNING This product is equipped with a 3 wire grounding type plug Any interruption of the grounding connection can create an electric shock hazard If the user is unable to insert the plug into their wall plug receptacle contact an electrician to perform the necessary alterations to assure a proper ground conne
180. e Mode IMM PGM MIP ID xx int axis number XX 1to MAX AXES XX none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE XX missing out of range timeout error 2 RS 232 COMMUNICATION TIME OUT This command is used to read Newport ESP compatible positioner stage model and serial number Note An important information needed when asking for help with the motion control system or when reporting a problem is the stage model and serial number Use this command to determine the positioner model and serial number XX yy where XX model number yy serial number none 1ID read axis I positioner model and serial number TS50DC 5 SN1263 controller returns model and serial number 3 91 J H set jog high speed IMM PGM MIP USAGE SYNTAX xxJHnn or xxJH PARAMETERS Description xx int nn float Range XX nn Units XX nn Defaults XX missing out of range nn missing out of range axis number high speed value 1to MAX AXES 0 to maximum value allowed by VU command or to read present setting none preset units second error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx10 MAXIMUM VELOCITY EXCEEDED DESCRIPTION This command is used to set the high speed for jogging an axis Its execution is immediate meaning that the value is changed when the command is processed including when motion is in progr
181. e jog velocity scaling coefficients to 0 5 0 SK query the jog velocity scaling coefficients 0 5 0 controller returns 0 5 and 0 3 138 Section 3 Remote Mode SK set master slave jog velocity scaling coefficients IMM PGM MIP USAGE SYNTAX SKnn1 nn2 or SK PARAMETERS Description nn float jog velocity scaling coefficients Range Units nn none Defaults nnj missing error 38 COMMAND PARAMETER MISSING DESCRIPTION This command sets the jog velocity scaling coefficients for slave axis The jog velocity of slave axis is computed once every interval using user specified scaling coefficients and the master axis velocity at the time of computation The user specified coefficients are used as follows i AX Bx SEAC Zn where x is the jog velocity of the slave and is the velocity of the master axis Refer SI command to specify slave jog velocity update interval Note Appropriate trajectory mode has to be specified using TJ command before this command becomes effective RETURNS If sign is issued along with command the controller returns slave axis jog velocity scaling coefficients REL COMMANDS SS define master slave relationship SI set slave axis jog velocity update interval EXAMPLE 2551 set axis 2 to be the slave of axis 1 2SS query the master axis number for axis 2 1 controller returns a value of 1 2TJ6 set axis 2 trajectory mode to 6 SI10 set the jog vel
182. ear Panel Description NOTE For pin outs see Appendix C Axis Connectors AXIS 1 AXIS 6 Each installed axis driver card contains one 25 pin D sub connector used to connect a motion device to the controller Section 1 Introduction Section 1 Introduction GPIO Digital I O Connector This is a 50 pin D Sub connector used for general purpose Input Output signals A variety of commands are available to control these ports See Section 3 Remote Mode and Appendix C for Connector Pin Outs Axis Connectors 4 RS232 Analog I O Axis 4 Axis 2 Serial No Label Axis 6 Axis 5 Axis 3 Axis 1 Supply Motor Interlock Module Connector axis Connectors Figure 1 16 Rear Panel of the ESP7000 Motor Interlock Connector The BNC connector provides remote motor power interlock capability One or more external switches can be wired to remotely inhibit the motor power in a way similar to the STOP ALL key on the front panel The controller is shipped with a mating connector that provides the necessary wiring to enable proper operation without an external switch RS232 C Connector The RS232 C interface to a host computer or terminal is made through this 9 pin D Sub connector The pin out enables the use of an off the shelf pin to pin cable 1 23 GPIB IEEE488 Connector This is a standard 24 pin connector to interface with a standard TEEE488 controller Power Supply Module
183. earch Or Omen ecd otc ai eise tum eie taint 111 move to absolute 1 113 set position compare 114 g t FLAC ANE stat s tea E EA 117 MOVE to Te lative Posion uade opaco dura ese ba sas api dts 120 update motor driver settings aieo sese enfe eer a Pane EUR 121 Set gear CONSLAML 122 set maximum CULES cioe og o Rieder reno eaae ches eoa echoes MNT 123 BSS CTL WII NC MM MD DE 124 quit program mode aE E aE 125 TedUce motor TObqUe cose 126 Preface Preface QS QT QV RA RS SB SI SK SL SM SN SR SS ST SU TB TE TJ TP TS TV TX UF UH UL VA VB VE VF VU WP WS WT XM XX ZA ZB ZE ZF ZH ZS ZU 72 Nol 127 SEU tachomet r Parmi aud depen 128 SEE average Motor Voltages 129 eec ee 130 teser The COMM ONCE s si duse 132 set get DIO port A bit 4 135 set master slave jog velocity update 2 2 00222 138 set master slave jog velocity scaling 1
184. eate a new group 1 2 create new group 1 with physical axes 1 and 2 1VU query maximum velocity of axis 1 10 controller returns a value of 10 units second 2VU query maximum velocity of axis 2 15 controller returns a value of 15 units second 1HV10 set vectorial velocity of group 1 to 10 units second 1HV query vectorial velocity of group 1 10 controller returns a value of 10 units second Section 3 Remote Mode HW wait for group motion stop IMM PGM MIP USAGE SYNTAX xxHWnn PARAMETERS Description xx int group number nn float delay after group motion is complete Range XX 1to MAX GROUPS nn 0 to 60000 Units XX none nn milliseconds Defaults XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated nn missing error 7 PARAMETER OUT OF RANGE negative error 22 GROUP PARAMETER OUT OF RANGE out of range error 26 MAXIMUM WAIT DURATION EXCEEDED DESCRIPTION This command stops execution of any commands subsequent to it until the one prior to it has been completed For instance if a command preceding it is a group move command such as HL or HC it stops execution of any commands following it until the group has reached target position If nn is not equal to zero the controller waits an additional nn milliseconds after the group motion is complete before executing any furt
185. ed to it and the group was commanded to make an arc refer to HC command the first two axes in the group are used to make the desired move If sign takes the place of nn values this command reports the axes assigned to the group in the order of their assignment HV set vectorial velocity for a group HA set vectorial acceleration for a group HD set vectorial deceleration for a group HO enable a group HF disable a group HC move a group of axes to desired position along an arc HL move a group of axes to desired position along a line 1HN1 2 create a new group 1 with physical axes I and 2 1HN query axis assigned to group 1 1 2 controller returns the axes assigned to group 1 1HN2 3 create a new group 1 with physical axes I and 2 1HN query axis assigned to group 1 1 2 controller returns the axes assigned to group 1 TB read error message 0 450322 GROUP NUMBER ALREADY ASSIGNED 1HX delete group 1 1HN2 3 create a new group 1 with physical axes I and 2 1HN query axis assigned to group 1 2 3 controller returns the axes assigned to group 1 2HN query axis assigned to group 2 TB read error message 0 475322 GROUP NUMBER NOT ASSIGNED 2HN3 4 create a new group 2 with physical axes 3 and 4 2HN query axis assigned to group 2 TB read error message 0 500322 GROUP AXIS ALREADY ASSIGNED 2HN4 4 5 create a new group 2 with physical axes 4 4 and 5 2HN
186. ediately It can be executed when controller is idling or motion is in progress or inside a program Note Avoid changing deceleration during acceleration or deceleration phases of a move For better predictable results change deceleration only when all the axes assigned to this group are not in motion If sign takes the place of nn value this command reports the current setting AU set maximum acceleration and deceleration for an axis HN create a new group HA set vectorial acceleration for a group 3 73 EXAMPLE 1HN1 2 create a new group 1 with physical axes 1 and 2 1AU query maximum deceleration of axis 1 50 controller returns a value of 50 units second 2AU query maximum deceleration of axis 2 60 controller returns a value of 60 units second 1HD50 set vectorial deceleration of group 1 to 50 units second 1HD query vectorial deceleration of group 1 50 controller returns a value of 50 units second 3 74 Section 3 Remote Mode HE set group e stop deceleration USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxHEnn or xxHE xx int group number nn float vector e stop deceleration value XX 1to MAX GROUPS nn maximum of deceleration values assigned to all axes in the group to 2e9 encoder resolution XX none nn predefined units
187. eds the minimum of the maximum velocities of members of this group Refer to the description of HV command for more details 32 GROUP MAXIMUM ACCELERATION EXCEEDED The specified group acceleration exceeds the minimum of the maximum acceleration of members of this group Refer to the description of HA command for more details 33 GROUP MAXIMUM DECELERATION EXCEEDED The specified group deceleration exceeds the minimum of the maximum decelerations of members of this group Refer to the description of HD command for more details 34 GROUP MOVE NOT ALLOWED DURING HOMING Cannot make a coordinated move when one of the members of the group is being homed 35 PROGRAM NOT FOUND The issued command could not be executed because the stored program requested is not available 36 Reserved for future use A 3 A 4 37 AXIS NUMBER MISSING Axis number not specified The issued command requires a valid axis number Refer to the description of issued command for valid axis number range 38 COMMAND PARAMETER MISSING At least one parameter associated with this command is missing Refer to the description of issued command for valid number of parameters 39 PROGRAM LABEL NOT FOUND The issued command could not be executed because the requested label within a stored program is not available 40 LAST COMMAND CANNOT BE REPEATED An attempt was made to repeat the last previous commanded by just sending a carriage return This feature is not al
188. eleration to 30 mm sec set deceleration to 30 mm sec set following error threshold to 1 mm set trajectory mode to trapezoidal update motor driver configuration save configuration to non volatile memory The following commands should be reviewed for proper axis compatibility when connecting to a non Newport stage assuming that it is electrically compatible with the controller 1 level 2 ZA ZB ZH G 2 set amplifier configuration set feedback configuration set hardware limit configuration Appendix G Programming Non ESP Compatible Stages Appendix Factory Service This section contains information regarding factory service for the ESP7000 System The user should not attempt any maintenance or service of the system or optional equipment beyond the procedures outlined in the Trouble Shooting appendix of this manual Any problem that cannot be resolved should be referred to Newport Corporation Technical Customer Support contact information is listed in Table H 1 Telephone 1 800 222 6440 Fax 1 949 253 1479 Email rma service newport com Web Page URL www newport com srvc service html Table H 1 Technical Customer Support Contacts Contact Newport to obtain information about factory service Telephone contact number s are provided on the Service Form see next page Please have the following information available Equipment model number ESP7000 Equipment serial number for
189. en configured as input each bit can sink 32mA maximum DSP Reset Output The Reset output is a TTL buffered output that represents ESP7000 hardware reset status of the controller itself When the controller is held in a reset state this output is a logical LOW This output can be used to reset external devices whenever the ESP7000 DSP is reset E Stop Input The Emergency Stop E Stop input is pulled up to 5 volts with a 1KQ resistor The incoming signal to this input must be a low going TTL compatible digital pulse with a minimum 10 microsecond duration This signal should be debounced so as not to generate multiple E Stop within a 100 millisecond time period When this signal is asserted the controller will perform an Emergency Stop procedure as configured by the user When used with the ESP7000 motor driver this signal is coupled to the Stop All front panel pushbutton Global Position Capture Input The position capture input is pulled up to 5 volts with a resistor The ESP motion controller can be setup to initiate analog and or encoder data acquisition when this trigger is detected The input pulse must be a low going pulse with a width of at least 8008 The user specified analog and or encoder position data will be captured 60ns after falling edge of global position capture input trigger If there is a de bounce on the input signal the data is captured 60ns after the last falling edge Please refer to Position Capture
190. equiring high accuracy for small motions the system in Figure 5 3a is definitely preferred Local Error is a relative term that depends on the application usually no Local Error value is given with the system specifications The user should study the error plot supplied with the motion device and determine the approximate maximum Local error for the specific application 5 2 5 Resolution Resolution is the smallest motion that the controller attempts to make For all DC motor and most all standard stepper motor driven stages supported by the ESP7000 this is also the resolution of the encoder Keeping in mind that the servo loop is a digital loop the Resolution can be also viewed as the smallest position increment that the controller can handle 5 2 6 Minimum Incremental Motion The Minimum Incremental Motion is the smallest motion that a device can reliably make measured with an external precision measuring device The controller can for instance execute a motion equal to the Resolution one encoder count but in reality the load may not move at all The cause for this is in the mechanics Section 5 Motion Control Tutorial 5 5 5 6 Elasticity Motor Encoder NW Stiction Figure 5 4 Effect of Stiction and Elasticity on Small Motions Figure 5 4 shows how excessive stiction and elasticity between the encoder and the load can cause the motion device to deviate from ideal motion when executing small mot
191. er the table above to interpret the affect of these bit values 3 169 ZB set feedback configuration USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION 3 170 IMM PGM MIP xxZBnn xxZB xx int nn int XX E nn 3 XX nn XX missing out of range nn missing out of range critical setting during motion axis number feedback configuration 1to MAX AXES 0 to OFFFFH hexadecimal with leading zero 0 or to read current setting none none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE error xx17 ESP CRITICAL SETTINGS ARE PROTECTED error xx26 PARAMETER CHANGE NOT ALLOWED DURING MOTION This command is used to set the feedback configuration fault checking and event handling as well as stepper closed loop positioning for axis specified with xx NOTE If bit 0 or both bits 1 and 2 are set to 7 0 then no action will be taken by the controller NOTE The controller always interprets the nn value as a hexadecimal number even when the letter H is not appended to the desired value Since nn is a hexadecimal number it is possible that the most significant character left most character is an alphabet A F depending on the choice of values for various bits In order for the controller to distinguish between an ASCII command and its value it
192. es to non volatile memory Section 3 Remote Mode 3 141 SN set axis displacement units USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 142 IMM PGM MIP xxSNnn or xxSN xx int axis number nn int displacement units XX 1to MAX AXES nn 0 to 10 where 0 encoder count 6 micro inches 1 motor step 7 2 degree 2 millimeter 8 gradian 3 micrometer 9 radian 4 inches 10 milliradian 5 milli inches 11 microradian or to read present setting XX none XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE This command is used to set the displacement units for the for axis xx Note The unit of measure as used with this controller is intended as a label only It is the user s responsibility to convert and resend all affected parameters e g velocity acceleration etc when switching from one unit of measure to another If the 2 sign takes the place of nn value this command reports the current setting FR set full step resolution SU set encoder resolution 2SN read displacement unit setting of axis 2 2 controller returns a value 2 millimeter for axis 2 2SN 0 set displacement unit to 0 encoder count for axis 2 Section 3 Rem
193. ess It can be used as an immediate command or inside a program RETURNS If sign takes the place of nn value this command reports current setting REL COMMANDS JW VU EXAMPLE 2VU 10 2JH7 5 2JH 2 5 3 92 set jog low speed set maximum velocity read maximum velocity allowed axis 2 controller returns a value of 10 0 units second for axis 2 set jog high speed to 7 5 units second for axis 2 read jog high speed value for axis 2 controller returns a value of 7 5 units second for axis 2 Section 3 Remote Mode JK set jerk rate USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP or int nn float nn XX missing out of range nn missing out of range axis number jerk value 1 to MAX AXES 0 to 2e9 none 3 preset units second or to read current setting error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx15 MAXIMUM JERK EXCEEDED This command is used to set the jerk i e rate of change in acceleration value for an axis Its execution is immediate meaning that the jerk is altered when the command is processed and trajectory mode is set to S curve even while a motion is in progress It can be used as an immediate command or inside a progr
194. et compensation for the specified DAC channel In the case of ESP6000 and ESP7000 motion controllers there is only one DAC channel associated with every axis DAC channel 1 is associated with axis 1 DAC channel 2 with axis 2 etc In the case of ESP100 and ESP300 motion controllers however there are two DAC channels associated with every axis DAC channels 1 and 2 are associated with axis 1 DAC channels 3 and 4 with axis 2 etc In order for the DAC offset to take affect this command must be followed by the ASCII command UF Update Filter This offset may be saved to non volatile flash memory by issuing the ASCII command SM This will cause the DSP to automatically use the saved value after system reset or reboot NOTE DAC offset compensation is necessary on servo axes to prevent motor drift during motor off conditions If the 2 sign takes the place of nn value this command reports the current setting None Set the offset for DAC channel 1 to 0 05V 1UF Update the filter settings SM Save parameters to non dvolatile flash memory Section 3 Remote Mode DP read desired position USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE IMM PGM xxDP xx int XX XX XX missing out of range MIP axis number 1to MAX AXES none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE This command is use
195. et velocity for group 1 before creating group 1 A group has to be deleted refer HX command before axes assigned to the group can be changed The controller returns error 16 GROUP NUMBER ALREADY ASSIGNED if one attempts to change axes assigned to a group already created Please see the following table for correct method to change axes assigned to a group Correct Method Incorrect Method 1 2 1HN1 2 1 1HN2 3 1HN2 3 An axis cannot be a member of or assigned to different groups at the same time The controller returns error 18 GROUP AXIS ALREADY ASSIGNED if one Section 3 Remote Mode RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode attempts to assign an axis under such circumstances Refer HX command to delete a group An axis cannot be assigned more than once in a group The controller returns error 19 GROUP AXIS DUPLICATED if one attempts to assign an axis more than once to a group The order in which axes are assigned to a group is very important This is because it specifies the frame of reference in which coordinated motion of axes takes place For instance the command 1HN1 2 assigns axis numbers 1 and 2 to group number 1 where axis 1 is equivalent to X axis and axis 2 is equivalent to Y axis in a traditional cartesian coordinate system Reversing the ordering of axes viz 1HN2 1 reverses the axis assignment If a group has more than two axes assign
196. eters RETURNS If the 2 sign takes the place of nn value this command reports the current setting REL COMMANDS KI set integral gain factor KP set proportional gain factor KD set derivative gain factor UF update filter EXAMPLE 3KS0 01 set saturation level for axis 3 to 0 01 3UF update PID filter only now the KS command takes effect Section 3 Remote Mode 3 99 LP list program USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 100 IMM PGM MIP xxLP xx int rogram number 1 to 100 XX none XX missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE This command reads a specified program from non volatile memory and sends it to the selected communication port RS232 or IEEE488 During the transmission no other command should be sent to the controller Note The program list always terminates with the word END program listing EP enter program mode 3LP list program number 3 3MO enable axis 3 motor power IDL define return label 1 3PR 10 move axis 3 relative 10 units 3WS500 wait 500ms after axis 3 stops 3PR 10 move axis 3 relative 10 units 3WS500 wait 500ms after axis 3 stops 1JL5 jump to label 1 location 5 times END end of program list Section 3 Remote Mode MD read motion done status IMM PGM MIP USAGE SYNTAX xxMD PARAMETER
197. ets highlighted and can be modified by using the numeric keypad the arrow buttons or the control knob Pressing the Menu button labeled PID a list of all servo parameters and their values will appear on the display They have the following meaning See Figure 1 6 e Kp proportional gain e derivative gain e Ki integral gain e IL integral limit e Vff velocity feed forward Aff acceleration feed forward Selecting one of them with the Axis Selection Buttons will let the user modify any parameter value using the same controls and procedures described above To return to the TOP MENU the user must press the MENU BUTTON two or three times depending on the menu level the display is at Move LOCAL Mode The MOVE MENU screen displays the name and position of all axes Through the Menu Selection Buttons the user can select one of the five different types of motion CYCLE MOVE RELATIVE MOVE Manual JOG HOME or to ZERO POSITION the counter or a particular axis 2 3 2 4 ZERO The ZERO POSITION screen is enabled by pressing the ZERO function button in the MOVE MENU All installed axes will have an associated Axis Selection Button Pressing any of the Axis Selection Buttons will zero the position of the respective axis NOTE All configured axes can have their position zeroed even if the MOTOR POWER is turned off Pressing the MENU BUTTON returns the display to the MOVE MENU CYCLE The CYCLE MOTORS s
198. etween an ASCII command and its value it is recommended that the users always add a leading zero 0 to the nn value See table below for clarification Example Command Issued Controller Interpretation 1ZE123H nn 123H 0001 0010 0011 Binary 1ZE123 nn 123H 0001 0010 0011 Binary 17 0 25 nn F25H 1111 0010 0101 Binary 1ZEF25H Invalid command Section 3 Remote Mode BIT VALUE DEFINITION 0 0 disable E stop checking O 1 enable E stop checking 1 0 do not disable motor power E stop event 1 1 disable motor power on E stop event 2 0 do not abort motion on E stop event 2 1 abort motion on E stop event 3 0 reserved 3 1 reserved 4 0 reserved 4 1 reserved 5 0 reserved 5 1 reserved 6 0 reserved 6 1 reserved 7 0 reserved 7 1 reserved 31 0 reserved 31 1 reserved default setting RETURNS If the 2 sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS ZA ZB ZF ZH ZS ZZ EXAMPLE 2ZE 3H 2ZE 5H SM Section 3 Remote Mode set amplifier I O configuration set feedback configuration set following error configuration set hardware limit configuration set software limit configuration set general system configuration read e stop configuration of axis 2 controller returns a value of 3H for axis 2 set e stop configuration to 5H for axis 2 save all controller setting
199. eue the move command in via point buffer Yes Y Command flow control Figure 4 4 Block Diagram of Via Point Data Handling by Command Processor Section 4 Advanced Capabilities Process current move Isere amove Yes ee command pending in the gt No via point buffer No Y Process new move command Yes P No Current move Do not bring the current move target reached to a halt when target is reached Yes Pulkput the top mostmove Bring the current move to a halt command in the via point e Y when target is reached buffer and process it Figure 4 5 Block Diagram of Via Point Data Handling by Trajectory Generator 4 2 5 Miscellaneous Commands The following commands are available to operate on a group of axes simultaneously e HO and HF These commands are used to turn ON and turn OFF the power to all axes in a group respectively The axes assigned to a group can be powered ON or OFF individually using MO and MF commands also A group is considered to be ON if all axes assigned to that group are ON e HP This command is used to read the actual position of all axes in a group e HS This command is used to stop the group motion e HW This command is used to wait for the group motion to stop and a user settable delay period thereafter e HX This command is used to delete a gro
200. ewport Unidrive compatible programmable driver for DC servo axis This command should be used in conjunction with QT tachometer gain command The gear constant is defined as the number of revolutions the motor has to make for the motion device to move one displacement This command must to be followed by the QD update driver command to take affect If the 2 sign takes the place of nn value this command reports the current setting SN QD 05 QI 206 0 3937 20 0 25 2QT 7 0 20 set displacement units update driver set microstep factor set motor maximum current et average motor voltage read gear constant setting of axis 2 controller returns a value of 0 3937 rev unit for axis 2 set gear constant to 0 25 rev unit for axis 2 set tachometer gain to 7 V Krpm for axis 2 update programmable driver with latest settings for axis 2 Section 3 Remote Mode QI set maximum motor current USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM xxQInn or xxQI xx int nn float XX E nn 3 XX xx missing out of range nn missing out of range axis number motor current 1to MAX AXES 0 to maximum driver rating see Specifications section or to read present setting none none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF
201. f group 1 100 controller returns a value of 100 units second 3 75 HF group off IMM PGM MIP USAGE SYNTAX xxHF PARAMETERS Description xx 10 group number Range XX 1to MAX GROUPS Units XX none Defaults XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated DESCRIPTION This command turns power OFF of all axes assigned to a group Refer MF command to turn the power OFF of individual axes The group power is assumed to be OFF if power to any one of the axes in the group is OFF RETURNS If sign is issued along with command the controller returns 1 group power is ON 0 group power is OFF REL COMMANDS HN create a new group HO turn group power EXAMPLE 1 2 create new group 1 with physical axes 1 2 1HO turn group 1 power ON 1HF query group 1 power status 1 controller returns a value of 1 1HF turn group 1 power OFF 1HF query group 1 power status 0 controller returns a value of 0 3 76 Section 3 Remote Mode HJ set group jerk USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxHJnn or xxHJ xx int group number float vector jerk value XX 1 to MAX GROUPS nn 0 to 2e9 p
202. feedback encoder and servo loop controller Requires servo loop tuning Commutator may wear out in time Not suitable for high vacuum application due to the commutator arcing e Hardware and setup are more costly than for an open loop stepper motor full stepping Drivers Section 5 Motion Control Tutorial Motor drivers must not be overlooked when judging a motion control system They represent an important part of the loop that in many cases could increase or reduce the overall performance The ESP7000 is an integrated controller and driver The controller part is common for any configuration but the driver section must have the correct hardware for each motor driven The driver hardware is one driver card per axis that installs easily in the rear of the controller Each card has an end plate with the 25 pin D Sub motor connector 5 33 5 34 5 7 1 and an identifying label Always make sure that the motor specified on the driver card label matches the label on the motion device There are important advantages to having an integrated controller driver Besides reducing space and cost integration also offers tighter coordination between the two units so that the controller can more easily monitor and control the driver s operation Driver types and techniques vary widely In the following paragraphs we will discuss only those implemented in the ESP300 Stepper Motor Drivers Driving a stepper motor may look simple at
203. ge The linear compensation value nn is calculated according to the formula given below error n travel travel measured travel range error error accumulated over the measured travel range where NOTE The command is affective only after a home search OR or define home DH is performed on the specified axis If sign takes the place of nn value this command reports the current setting None If a stage has a travel range of 100 mm and it accumulates an error of 0 003 mm over the complete travel range n DRE 0 00003 100 1CO0 00003 Set linear compensation value for axis 1 to 0 00003 1CO Query linear compensation value for axis 1 0 00003 Controller returns a value of 0 00005 10R Perform home search on axis 1 1PA10 Move axis 1 to absolute 10 units Section 3 Remote Mode DB set position deadband USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxDBnn or xxDB xx int axis number nn int deadband value 0 to MAX AXES nn to 2e9 none nn encoder counts XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING This command is used to set the position deadband value for an axis Since a majority of electro mechanical systems have mechanical backlash or friction
204. gh 18 0 axis 3 amplifier fault input low 18 1 axis 3 amplifier fault input high 19 0 axis 4 amplifier fault input low 19 1 axis 4 amplifier fault input high 20 0 axis 5 amplifier fault input low 20 1 axis 5 amplifier fault input high 21 0 axis 6 amplifier fault input low 21 1 axis 6 amplifier fault input high 22 0 reserved 22 1 reserved 23 0 reserved 23 1 reserved 24 0 reserved 24 1 reserved 25 0 reserved 25 1 reserved 26 0 reserved 26 1 reserved 27 0 100 pin emergency stop unlatched low 27 1 100 pin emergency stop unlatched high 28 0 auxiliary I O emergency stop unlatched low 28 1 auxiliary I O emergency stop unlatched high 29 0 100 pin connector emergency stop latched low 29 1 100 pin connector emergency stop latched high 30 0 auxiliary I O conector emergency stop latched low 30 1 auxiliary I O conector emergency stop latched high 31 0 100 pin cable interlock low 31 1 100 pin cable interlock high HARDWARE STATUS REGISTER 2 BIT VALUE DEFINITION axis 1 home signal low axis 1 home signal high axis 2 home signal low axis 2 home signal high axis 3 home signal low axis 3 home signal high axis 4 home signal low axis 4 home signal high axis 5 home signal low axis 5 home signal high axis 6 home signal low ANB BWWNNRK KY OC eB Or Or Or OF OF axis 6 home signal high 3 118 Section 3 Remote Mode RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode
205. gram 3XX clear program 3 from memory if any 3EP activate program mode and enter following commands as program 3 QP end entering program and quit programming mode 3EX run stored program number 3 3 63 FE set maximum following error threshold IMM PGM MIP USAGE SYNTAX xxFEnn or xxFE PARAMETERS Description xx int axis number nn float maximum allowed following error Range XX 1to MAX AXES nn 0 to 2e9 encoder resolution or to read current setting Units XX none nn predefined units Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command sets the maximum allowed following error threshold for an axis This error is defined as the difference between the real position and the theoretical position of a motion device The real position is the one reported by the position sensing device encoder scale etc and the theoretical position is calculated by the controller each servo cycle If for any axes and any servo cycle the following error exceeds the preset maximum allowed following error the controller invokes the following error event handling process which is defined with the ZF command By default motor power is turned OFF Note Using the ZF command each axis can be individually configured to either turn motor power OFF abort
206. he amount of load that can be placed on a stage without damaging or excessively deforming it Determining the Load Capacity of a stage for a particular application is more complicated than it may first appear The stage orientation and the distance from the load to the carriage play a significant role For a detailed description on how to calculate the static Load Capacity please consult the motion control catalog tutorial section The dynamic Load Capacity refers to the motor s effort to move the load The first parameter to determine is how much load the stage can push or pull In some cases the two values could be different due to internal mechanical construction The second type of dynamic Load Capacity refers to the maximum load that the stage could move with the nominal acceleration This parameter is more difficult to specify because it involves defining an acceptable following error during acceleration Section 5 Motion Control Tutorial 5 2 12 5 2 13 Section 5 Motion Control Tutorial Maximum Velocity The Maximum Velocity that could be used in a motion control system is determined by both motion device and driver Usually it represents a lower value than the motor or driver are capable of In most cases including the ESP7000 the default Maximum Velocity should be increased The hardware and firmware are tuned for a particular maximum velocity that cannot be exceeded Minimum Velocity The Minimum Velocity usa
207. he interrupt the host computer interrupt service routine should perform an IEEE 488 serial poll If the interrupt was as a result of the RQ command then bit 6 of the response is 1 and the lower five bits equal the parameter nn This command can be used to notify the host computer of the progress or flow of command execution in the motion controller None SA set device address 2PR200 2WS 1PR100 1WS RQ3 generate interrupt when command is encountered set bit and 2 3 131 RS reset the controller USAGE SYNTAX PARAMETERS DESCRIPTION 3 132 IMM PGM MIP RS None This command is used to perform a hardware reset of the controller It performs the following preliminary tasks before resetting the controller 1 Stop all the axes that are in motion The deceleration value specified using the command AG is used to stop the axes 2 Wait for 500 ms to allow the axes to settle Disable all the axes by turning the power OFF 4 Reset to the controller card Once the command to reset the controller is detected by the DSP the controller will stay in reset for a minimum of 200 ms After the reset condition has occurred i e after the 200 ms reset time the controller firmware reboots the controller At this point all the parameters last saved to the non volatile flash memory on the controller will be restored Furthermore the controller will detect any stages ESP compatible or otherwise and
208. her commands RETURNS none REL COMMANDS HN create a new group HL move group to target position along a line EXAMPLE 1HN1 2 create a new group 1 with physical axes 1 and 2 2HN3 4 create a new group 2 with physical axes 3 and 4 1HV10 set vectorial velocity of group 1 to 10 units second 1 50 set vectorial acceleration of group 1 to 50 units second 1HD50 set vectorial deceleration of group 1 to 50 units second 2HV10 set vectorial velocity of group 2 to 10 units second 2 50 set vectorial acceleration of group 2 to 50 units second 2HD50 set vectorial deceleration of group 2 to 50 units second 1HO enable group 1 2HO enable group 2 1HL50 50 1H W500 2HL30 20 move group 1 to a target position 50 50 units axis 1 50 units and axis 2 50 units wait for the Section 3 Remote Mode 3 87 3 88 group to reach target position wait an additional 500 ms and then move group 2 to a target position 30 20 units axis 3 30 units and axis 4 20 units Section 3 Remote Mode HX delete group USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM xxHX xx int XX XX missing out of range not assigned MIP group number 1 to MAX GROUPS none error 13 GROUP NUMBER MISSING error 14 GROUP NUMBER OUT OF RANGE error 15 GROUP NUMBE
209. his data acquisition mode Param 6 Acquire one sample of data ES 1MF Turn OFF motor 1 when the external event trigger occurs DEI Enable analog data acquisition DD Query data acquisition done status 1 true 0 false If true DEO Disable trace variable data acquisition DG Get data collected Section 3 Remote Mode EX execute a program USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIPO xxEXnn xx int program number nn int number of times to execute the program XX 1 to 100 nn 1 to 2147385345 XX none nn none XX missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE nn missing assumed out of range error 7 PARAMETER OUT OF RANGE This command is used to start executing a program When the command is received the controller executes the program line by line or according to the flow control instructions During program execution only commands that ask for information and that stop the motion are still allowed Any of the following commands will terminate a program in one way or another AB AP MF RS and ST Most natural way to just stop a program execution is by using the AP command the other ones having a more drastic effect none QP quit programming mode EP enter program mode AP abort stored program execution XX erase pro
210. hly recommended that the users select the communication speed judiciously based on the length of the serial cable noise level of the work environment etc If the sign takes the place of nn value this command reports the current setting None BR Query the serial communication speed 19200 The controller responds with 19200 bps BR115200 Change the serial communication speed to 115200 bps Reinitialize the serial communication port on remote computer with 115200 bps BR Query the serial communication speed 115200 The controller responds with 115200 bps Section 3 Remote Mode CL set closed loop update interval USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxCLnn or xxCL xx int axis number nn int closed loop update interval 0 to MAX AXES nn 0 to 60000 XX none nn milliseconds missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE This command is used to set the closed loop update interval for an axis This will be the time duration between position error corrections during closed loop stepper positioning Note that this command is effective only for steeper motors Furthermore note that encoder feedback and closed loop positioning must
211. hod for making contours Contouring is the process of making complex trajectories or long moves that may involve linear and circular move segments These move segments can be sequenced in any order Arcs can be followed by arcs or lines and lines by arcs or other lines as shown in the following figures Since there is no pre processing of move segments involved in making a contour the user must ensure that there is no change in tangential velocity at the transition from one move to another If this constraint is not satisfied the transition from one move segment to another may cause excessive accelerations and shocks that could damage the stages Circular move 3 Circular move 1 Position of axis 2 Position of axis 1 Figure 4 2 A Contour with Multiple Circular Moves Circular moves Position of axis 2 Linear moves Position of axis 1 Figure 4 3 A Contour with Multiple Linear and Circular Moves In order to store the multiple move segment commands needed to make a contour we make use of a via point buffer This via point buffer contains group move commands essential to make a new move segment upon completion of the move segment currently in progress The new move commands are pulled out of the buffer on a FIFO basis The via point buffer can hold a maximum of 10 group move commands 4 9 4 10 If more than 10 group move commands are issued by a user the excess commands are flow controlled by
212. ial Relative error 100 80 60 40 20 1 2 3 4 5 6 7 8 9 10 11 Motion step size in resolution increments Figure 5 6 Error vs Motion Step Size Figure 5 6 shows an example of such a plot The graph represents the maximum relative error for different motion step sizes In this example the Minimum Incremental Motion that can be reliably performed with a maximum of 20 error is one equivalent to 4 resolution encoder increments 5 2 7 Repeatability Repeatability is the positioning variation when executing the same motion profile Assuming that the user has a motion sequence that stops at a number of different locations the Repeatability is the maximum variation in position all targets when the same motion sequence is repeated a large number of times It is a relative not absolute error between identical motions 5 2 8 Backlash Hysteresis For all practical purposes Hysteresis and Backlash have the same meaning for typical motion control systems the error caused by approaching a point from a different direction The difference is that Hysteresis refers to the compliance of the mechanical components while Backlash represents the play or looseness in the mechanical drive train All parameters discussed up to now that involve the positioning Error assumed that all motions were performed in the same direction If the user tries to measure the positioning error of a certain target destination approaching the
213. ial or single ended encoder inputs for feedback signal integrity e Watchdog timer and remote interlock for added system security safety 64kB Flash non volatile user program memory for storing up to 100 user defined programs 512kB Flash non volatile firmware memory for easy field upgrades e Field Programmable Gate Array FPGA for flexible hardware reconfiguration and upgrades RS232 communications link for easy user interfacing 488 GPIB interface for high speed parallel communication USB interface for high speed serial communication 2 compatible for Section 1 Introduction Section 1 Introduction 1 4 2 Specifications Universal Motion Controller Driver Integrated controller and driver in one chassis for simplified system hook up and improved reliability 32 bit floating point 60MHz DSP processor for high precision synchronized control Universal 6 axis stepper DC servo control in any combination for single unit XYZ OZ solution Supported Trajectories Trapezoidal and S curve velocity profile Non synchronized point to point Synchronized Circular Linear Interpolation Continuous path contouring for complex motion profiling Motor Control Digital PID FF feed forward servo loop for precise velocity profile tracking and accurate positioning 18 bit DAC command output improves stability for high precision application
214. ible Section 5 Motion Control Tutorial 5 13 Trajectory Servo Interpreter P Generator Controller Motion Controller A ON ee Figure 5 13 Servo Loop 5 3 1 PID Servo Loops The PID term comes from the proportional integral and derivative gain factors that are at the basis of the control loop calculation The common equation given for it is de K e K ledt K i f d dt where Kp Proportional gain factor K Integral gain factor Derivative gain factor e Instantaneous following factor The problem for most users is to get a feeling for this formula especially when trying to tune the PID loop Tuning the PID means changing its three gain factors to obtain a certain system response task quite different to achieve without some understanding of its behavior The following paragraphs explain the PID components and their operation P Loop Lets start with the simplest type of closed loop the P proportional loop The diagram in Figure 5 14 shows its configuration Trajectory gt Motor Generator Servo Controller Motion Controller O Figure 5 14 P Loop Configuration Encoder 5 14 Section 5 Motion Control Tutorial Section 5 Motion Control Tutorial Every servo cycle the actual position as reported by the encoder is compared to the desired position generated by the traject
215. in three different ways each one with its own advantages and disadvantages 1 Use only two adjacent phases e g phase 1 and 2 Advantage simplicity e Disadvantage lower efficiency since only half the windings are being used 2 Connect the two opposing phases 1 3 and 2 4 in series e Advantage the motor does not require more than the nominal current e Disadvantage the driver will see twice the nominal motor inductance that will reduce the motor s torque performance at higher speeds 3 Connect the two opposing phases 1 3 and 2 4 in parallel e Advantage the motor inductance does not increase allowing it to perform well at higher speeds Disadvantages requires the driver to supply twice the motor s nominal current DC Motor Drivers There are three major categories of DC motor drivers The simplest one is a voltage amplifier Figure 5 49 The driver amplifies the standard 10 V control signal to cover the motor s nominal voltage range while also supplying the motor s nominal current This type of driver is used mostly in low cost applications where following error is not a great concern The controller does all the work in trying to minimize the following error but load variations make this task very difficult Section 5 Motion Control Tutorial Section 5 Motion Control Tutorial control signal 10V Figure 5 49 DC Motor Voltage Amplifier The second type of DC motor
216. inging characteristics more than 3 cycles after stop To reduce ringing add some damping by increasing the Kd parameter Increase it by a factor of 2 while monitoring the following error As Kd is increased overshoot and ringing will decrease almost to zero NOTE Remember that if acceleration is set too high overshoot cannot be completely eliminated with Kd If Kd is further increased at some point oscillation will reappear usually at a higher frequency Avoid this by keeping Kd at a high enough value but not so high as to re introduce oscillation Increase Kp successively by approximately 20 until signs of excessive ringing appear again Alternately increase Kd and Kp until Kd cannot eliminate overshoot and ringing at stop This indicates Kp is larger than its optional value and should be reduced At this point the PID loop is very tight Ultimately optimal values for Kp and Kd depend on the stiffness of the loop and how much ringing the application can tolerate NOTE The tighter the loop the greater the risk of instability and oscillation when load conditions change Section 6 Servo Tuning 6 3 6 2 4 Errors At Stop Not In Position If you are satisfied with the dynamic response of the PID loop but the stage does not always stop accurately modify the integral gain factor Ki As described in the Motion Control Tutorial section the Ki factor of the PID works to reduce following error to near zero Unfort
217. ion 3 31 BA Set backlash compensation 3 32 BG Assign DIO bits to execute stored programs 3 33 BK Assign DIO bits to inhibit motion 3 34 Enable DIO bits to inhibit motion 3 35 BM Assign DIO bits to notify motion status 3 36 BN Enable DIO bits to notify motion status 3 37 Set DIO port direction 3 38 BP Assign DIO bits for jog mode 3 40 BQ Enable DIO bits for jog mode 3 41 BR Set serial communication speed 3 42 Set closed loop update interval 3 43 Set linear compensation 3 44 DB Set position deadband 3 45 DC Setup data acquisition 3 46 DD Get data acquisition done status 3 50 DE Enable disable data acquisition 3 51 DF Get data acquisition sample count 3 52 DG Get acquisition data 3 53 DH Define home 3 54 DL Define label 3 55 DO Set DAC offset e 3 56 DP Read desired position 3 57 DV Read desired velocity 3 58 Automatic execution on power on 3 59 EP Enter program mode 3 60 ES Define event action command string 3 61 EX Execute a program 3 63 FE Set maximum following error threshold 3 64 Section 3 Remote Mode 3 15 TABLE 3 5 2 Command List Alphabetical Continued In a PDF format you may click on a page number to automatically be connected
218. ion is 10000 counts mm the worst case error in capturing a position would be approximately 3 counts Please see calculation below Example 1 Worst case error Axis speed at setup time 7 us 40 mm sec 10000 counts mm 7 us 2 8 counts The timing latency between the registration of a position crossing by the hardware and sending out a trigger TTL pulse is 320ns The pulse width duration can be between 30 and 60ns Please see the timing diagram below for further details 4 20 Section 4 Advanced Capabilities where Td propagation delay and Tp output pulse width Figure 4 7 Timing Diagram of a TTL Pulse Generation Synchronized to Position Crossing Section 4 Advanced Capabilities Please refer to the following examples for further clarifications Example 2 The following program will home initialize axis 1 and move to an absolute target position Before the motion is started the controller will be configured to generate a single precise TTL pulse when absolute 12 34 is crossed EP ABSCOMPARE start program entry mode enable axis 1 motor power 1OR1 home axis 1 1 WS 1000 wait for home completion and dwell 1 second 1 PC 1 12 34 arm absolute position compare trigger output pulse at 12 34 1 PA 15 0 start absolute position move to location 15 0 1 WS 0 wait for home completion 0 0 disarm compare trigger output pulse mode QP end program entry mode E
219. ions The effect of these two factors has a random nature Sometimes for a small motion step of the motor the load may not move at all Other times the accumulated energy in the spring will cause the load to jump a larger distance The error plot will be similar to Figure 5 5 Figure 5 5 Error Plot Once the Minimum Incremental Motion is defined the next task is to quantify it This is more difficult for two reasons one is its random nature and the other is in defining what a completed motion represents Assume that the user has a motion device with a 1 um resolution If every time the user commands a 1 um motion the measured error is never greater than 2 the user will probably be very satisfied and declare that the Minimum Incremental Motion is better than 1 um If on the other hand the measured motion is sometimes as small as 0 1 um a 90 error the user could not say that 1 uum is a reliable motion step The difficulty is in drawing the line between acceptable and unacceptable errors when performing a small motion step The most common value for the maximum acceptable error for small motions is 20 but each application ultimately has its own standards One way to solve the problem is to take a large number of measurements a few hundred at minimum for each motion step size and present them in a format that an operator can use to determine the Minimum Incremental Motion by its own standards Section 5 Motion Control Tutor
220. is recommended that the users always add a leading zero 0 to the nn value See table below for clarification Example Command Issued Controller Interpretation 1ZB123H nn 123H 0001 0010 0011 Binary 1ZB123 nn 123H 0001 0010 0011 Binary 1ZBOF25H nn F25H 1111 0010 0101 Binary 1ZBF25H Invalid command Section 3 Remote Mode BIT VALUE DEFINITION 0 0 disable feedback error checking 0 1 enable feedback error checking 1 0 do not disable motor on feedback error event 1 1 disable motor on feedback error event 2 0 do not abort motion on feedback error event 2 1 abort motion on feedback error event 3 0 Reserved 3 1 Reserved 4 0 Reserved 4 1 Reserved 5 0 do not invert encoder feedback polarity 5 1 invert encoder feedback polarity 6 0 reserved 6 1 reserved 0 reserved 7 1 reserved 8 0 do not use encoder feedback for positioning 8 1 use encoder feedback for stepper positioning 9 0 disable stepper closed loop positioning 9 1 enable stepper closed loop positioning 10 0 reserved 10 1 reserved eee 31 0 reserved 31 1 reserved default setting RETURNS If the 2 sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS ZA ZE ZF ZH ZS ZZ EXAMPLE 2ZB 100 22 105 5 Section 3 Remote Mode set amplifier I O configuration set e stop configuration set following error configuration set
221. issued command for further details x32 INVALID TRAJECTORY MODE FOR MOVING The specified trajectory mode is invalid to make absolute or relative moves Refer to the description of PA and PR commands for valid trajectory modes to initiate motion x33 CLOSED LOOP ATTEMPTS EXCEEDED The axis was unable to reach a desired position even after a fixed number of closed loop attempts Refer to the description of CL command for further description A 7 A 8 Appendix A Error Messages Appendix Trouble shooting and Maintenance There are no user serviceable parts or user adjustments to be made to the ESP7000 Stand Alone Motion Controller WARNING Procedures are to be performed only by qualified service personnel Qualified service personnel should be aware of the shock hazards involved when instrument covers are removed and should observe the following precautions before proceeding e Turn off power switch and unplug the unit from its power source e Disconnect cables if their function is not understood e Remove jewelry from hands and wrist e Expect hazardous voltages to be present in any unknown circuits WARNING Fuse replacement involves removing an enclosure panel that can expose you to terminals having hazardous voltages in excess of 250 VAC at various locations CAUTION Verify proper alignment before inserting cables into connectors Do not force Appendix B Trouble Shooting and Maintenance B 1
222. l a selected I O input bit becomes high It is level not edge sensitive This means that at the time of evaluation if the specified I O bit xx is high already the program will continue to execute subsequent commands Note All DIO bits are pulled high on the board Therefore a missing signal will cause the wait to complete and subsequent commands will continue to be executed RETURNS none REL COMMANDS UL Wait for DIO bit low EXAMPLE 1EP Enter stored program 1 Turn axis 1 motor power ON 1 Move axis 1 indefinitely in positive direction 13UH Wait for DIO bit 13 to go HIGH before executing any subsequent commands 157 Stop axis 1 WT500 Wait for 500 ms 1 Move axis 1 indefinitely in negative direction QP Quit program mode Section 3 Remote Mode 3 155 UL wait for DIO bit low IMM PGM MIP USAGE SYNTAX XxUL PARAMETERS Description int DIO bid number Range Xx 0 to 23 for ESP6000 and ESP7000 controllers 0 to 15 for ESP100 and ESP300 controllers Units XX none Defaults XX missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command causes a program to wait until a selected I O input bit becomes low It is level not edge sensitive This means that at the time of evaluation if the specified I O bit xx is low already the program will continue to execute subsequent commands RETURNS none REL COMMANDS UL Wai
223. l position of linear move The desired final position is specified along with this command This command makes all axes assigned to the group move with predefined group tangential velocity acceleration and deceleration along a line A trapezoid velocity profile is employed when a group jerk is set to zero Otherwise an S curve velocity profile is employed The linear move is a true linear interpolation meaning yg m x x9 yo x Xo where Xo and Yo represent initial position of the group X and Y represent desired final position of the group 4 2 3 2 Making Circular Move Once a group has been defined and all group parameters have been specified the ASCII command HC can be used to move the group from an initial position to a final position along a circle The current position of axes is the initial position of circular move The final position of move is calculated based on the desired center of circle and sweep angle specified along with this command All sweep angles are measured in degrees The sign of angles follow the trigonometric convention positive angles are measured counterclockwise This command makes all axes assigned to the group move with predefined group tangential velocity acceleration and deceleration along a circle A trapezoid velocity profile is employed to produce the desired motion The circular move is a true arc of a circle meaning 4 7 4 8 where r
224. ler and reported on the display and or in the error register Consult Appendix A Error Messages and for a complete list and description Fuse Replacement WARNING Power down equipment and unplug AC power cord before replacing fuses At the rear of the ESP7000 pop out the fuse holder cover plate with a small thin blade screwdriver see Figure B 1 and ease the fuse holder out of the AC plug receptacle NOTE The fuse holder has a dual function It is also a voltage selector The voltage selection function is not being used in the ESP7000 The power supply has universal input and can work with 115VAC 230VAC The Voltage Selector Fuse Holder can be plugged in either way the arrow pointing toward 120V or 220V After easing out the fuse holder remove and inspect the 2 fuses Replace as needed with 10A T 250V fuses Appendix B Trouble Shooting and Maintenance Re insert into the AC plug receptacle by pushing in the fuse holder until the cover plate is flush with the outside surface of the Power Entry Module Fuse Holder Cover Plate AC Plug Receptacle Power Switch Figure 1 Rear Power Line Panel Fuse Replacement Re connect and power up the system to verify that the problem has been corrected Cleaning Clean the exterior metallic surfaces of the ESP7000 with water and a clean lint free cloth Clean external cable surfaces with alcohol using a clean lint free cloth WARNING
225. leration acceleration range of values Desired Desired Desired velocity velocity velocity When the trigger axis is configured as a slave axis Desired Desired Basted the desired position for the slave is dependent on position position position the gear r GR trajectory mode TJ and the Actual Actual position Actual position master axis desired position If one wishes to tune position this slave axis without reconfiguring it as its own master options 2 and 3 may be used to control the source of the trace variable data self or master 3 48 Section 3 Remote Mode RETURNS None REL COMMANDS set analog input mode DD get data acquisition done status DE enable disable data acquisition DF get data acquisition status number of samples collected DG get data acquisition data EXAMPLE DC10 1 1 1 0 1000 Acquire trace variable data for axis 1 in scaled integer format Collect 1000 samples one sample servo cycle DEI Enable trace variable data acquisition DD Query data acquisition done status 1 true 0 false If true DEO Disable trace variable data acquisition DG Get data collected Section 3 Remote Mode 3 49 DD get data acquisition done status IMM PGM MIP USAGE SYNTAX DD PARAMETERS none DESCRIPTION This command returns the status of a data acquisition request RETURNS aa where aa 1 for True 0 for False REL COMMANDS DC setup data acquisition
226. leration values 5 19 5 4 3 Home Search Home search is a specific motion routine that is useful for most types of applications Its goal is to find a specific point in travel relative to the mounting base of the motion device very accurately and repeatable The need for this absolute reference point is twofold First in many applications it is important to know the exact position in space in space even after a power off cycle Secondly to protect the motion device from hitting a travel obstruction set by the application or its own travel limits the controller uses programmable software limits To be efficient though the software limits must be placed accurately in space before running the application To achieve this precise position referencing the ESP7000 motion control system executes a unique sequence of moves First lets look at the hardware required to determine the position of a motion device The most common and the one supported by the ESP7000 are incremental encoders By definition these are encoders that can tell only relative moves not absolute position The controller keeps track of position by incrementing or decrementing a dedicated counter according to the information received from the encoder Since there is no absolute position information position zero is where the controller was powered on and the position counter reset To determine an absolute position the controller must find a switch that is u
227. lication requirements For stepper motors the main concern is not to loose steps 9or synchronization during the acceleration Besides the motor and driver performance the load inertia plays a significant role For DC motor systems the situation is different If the size of the following error is of no concern during the acceleration high Maximum Acceleration values can be entered The motion device will move with the highest natural acceleration it can determined by the motor driver load inertia etc and the errors will consist of just a temporary larger following error and a velocity overshoot In any case special consideration should be given when setting the acceleration Though in most cases no harm will be done in setting a high acceleration value avoid doing so if the application does not require it The driver motor motion device and load undergo maximum stress during high acceleration Section 5 Motion Control Tutorial 5 2 16 Combined Parameters Very often a user looks at an application and concludes that they need certain overall accuracy This usually means that the user is combining a number of individual terms error parameters into a single one Some of this combined parameters even have their own name even though not all people mean the same thing by them Absolute Accuracy Bi directional Repeatability etc The problem with these generalizations is that unless the term is well defined and the testing clo
228. lize axis 1 and move to an absolute target position Before the motion is started the controller will be configured to generate a single precise TTL pulse when absolute position 12 34 is crossed Section 3 Remote Mode 1EP start program entry mode 1MO enable axis 1 motor power 1 home axis 1 1WS1000 wait for home completion and dwell 1 second 1 PC 1 12 34 arm absolute position compare trigger output pulse at 12 34 1 PA 15 0 start absolute position move to location 15 0 1 WS 0 wait for home completion 1 PC 0 0 disarm compare trigger output pulse mode QP end program entry mode 3 115 EXAMPLE 2 3 116 The following program will home initialize axis 1 and move to an absolute target position Before the motion is started the controller will be configured to generate a precise TTL pulse every 1 00 units of relative distance 2EP start program entry mode 1MO enable axis 1 motor power 1 home axis 1 1 WS 1000 wait for home completion and dwell 1 second 1 PC2 1 00 arm relative position compare trigger pulse every 1 00 units 1 PA 15 0 start absolute position move to location 15 0 1 WS 0 wait for home completion 1 PC 0 0 disarm compare trigger output pulse mode QP end program entry mode Section 3 Remote Mode PH get hardware status USAGE SYNTAX PARAMETERS DESCRIPTION Section 3 Remote Mode IMM PGM MIP PH None
229. lowed for commands that carry strings in addition to the two letter ASCII mnemonic Issue the last command again 41 MAX NUMBER OF LABELS PER PROGRAM EXCEEDED The number of labels used in the stored program exceeds the allowed value Below is a list of all possible error messages that are axis specific FF Here x represents the axis number x00 MOTOR TYPE NOT DEFINED A valid motor type was not defined for the requested axis Refer to the description of QM command to define a motor type x01 PARAMETER OUT OF RANGE The specified parameter is out of range Refer to the description of issued command for valid parameter range x02 AMPLIFIER FAULT DETECTED There was an amplifier fault condition x03 FOLLOWING ERROR THRESHOLD EXCEEDED The real position of specified axis was lagging the desired position by more encoder counts than specified with the FE command Refer to the description of ZF command to configure the motion controller tasks upon encountering a following error x04 POSITIVE HARDWARE LIMIT DETECTED The motion controller sensed a high level at its positive travel limit input Refer to the description of ZH command to configure the motion controller tasks upon encountering a hardware limit Appendix A Error Messages Appendix A Error Messages x05 NEGATIVE HARDWARE LIMIT DETECTED The motion controller sensed a high level at its negative travel limit input Refer to the description of ZH command to configure
230. lt all bits will be at HIGH logic if not connected to external circuit and configured as input Furthermore the direction of all the ports is set to input by default following a controller reset The next section details the way in which these DIO bits can be used to initiate the motion of desired axes through stored programs The subsequent sections outline the way to inhibit the motion of desired axes and to monitor the motion status of these axes using DIO bits Using DIO to Execute Stored Programs ESP series of motion controllers can synchronize the initiation of any motion profile to external events In order to accomplish this task users must write their desired motion profile as a stored program and assign this stored program to a desired DIO bit Section 4 Advanced Capabilities Section 4 Advanced Capabilities The direction of the DIO port this DIO bit belongs to must then be set to input in order for the controller to detect the external event Once these preliminaries are completed the controller will execute the user specified stored program whenever it detects a change in the state HIGH to LOW logic level of the corresponding DIO hardware Please review the examples below for further clarifications Example 1 EP ABSOMM Define stored program called Abs mm 1MO 2MO Turn axes 1 2 ON 1TJ1 2TJ1 Set trajectory mode for axes 1 2 to TRAPEZOID 1 0 2PAO Move axes 1 2 to absolute 0 units 1WS1
231. mand is processed even while a motion is in progress It can be used as an immediate command or inside a program Avoid changing the velocity during the acceleration or deceleration periods For better predictable results change velocity only when the axis is not moving or when it is moving with a constant speed RETURNS If the 2 sign takes the place of nn value this command reports the current setting REL COMMANDS AC set acceleration VA set velocity VU set maximum velocity PA execute an absolute motion PR execute a relative motion EXAMPLE 2VB read desired base velocity of axis 2 5 controller returns a velocity value of 5 units s 2VB10 set axis 2 base velocity to 10 units s 2VB read base velocity of axis 2 10 controller returns a velocity value of 10 units s 3 158 Section 3 Remote Mode E read controller firmware version USAGE SYNTAX PARAMETERS Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP VE none timeout error 2 RS 232 COMMUNICATION TIME OUT This command is used to read the controller type and version Note Important information needed when asking for technical support for the motion control system or when reporting a problem is the controller version Use this command to determine the controller type and in particular the firmware version ESP300 Version xx yy where version and release
232. mmand is used to read the actual position It returns the instantaneous real position of the specified axis nn where nn actual position in pre defined units PA move to an absolute position PR move to a relative position DP read instantaneous desired position 3TP read real position on axis 3 5 322 controller returns real position 5 322 for axis 3 Section 3 Remote Mode TS read controller status USAGE SYNTAX PARAMETERS DESCRIPTION IMM PGM MIP TS None This command is used to read the controller status byte The byte returned is in the form of an ASCII character The value of each bit in the status byte can be deduced after converting the ASCII character into a binary value Each bit of the status byte represents a particular controller parameter as described in the following table Note Please refer to the Appendix for a complete ASCII to binary conversion table INTERPRETATION OF LEFT MOST ASCII CHARACTER Meaning for pum uis Bit LOW Bit HIGH 0 Axis 1 motor state Stationary In motion 1 Axis 2 motor state Stationary In motion 2 Axis 3 motor state Stationary In motion 3 Axis 4 motor state Stationary In motion 4 Motor power of at least one axis OFF ON 5 Reserved Default 6 Reserved Default 7 Reserved Default INTERPRETATION OF RIGHT MOST ASCII CHARACTER Note This ASCII chara
233. motion 3 145 MOTION DEVICE PARAMETERS Cmd Description IMM PGM MIP Page FE Set following error threshold 3 54 FR Full step resolution 3 56 GR Set gear ratio 3 57 Set gear constant 3 122 QI Motor current 3 123 Define motor type 3 124 QR Torque reduction 3 126 05 Set microstep factor 3 127 Define tachometer constant 3 128 Set motor voltage 3 129 SI Set master slave jog update 3 138 interval SK Set slave axis jog velocity 3 139 coefficients SL Set left limit 3 140 SN Set units 3 142 SR Set right limit 3 143 SS Set master slave relationship 3 144 SU Set encoder resolution 3 146 PROGRAMMING Cmd Description IMM PGM MIP Page DL Define label 3 Dd EO Automatic execution on power 3 39 on EP Enter program download mode 3 50 Execute stored program 3 53 JL Jump to label 3 4 Section 3 Remote Mode 3 11 LP List program 3 100 Quit program mode 3 125 SM Save to non volatile memory 3 141 Get available program memory 3 165 XX Delete a stored program 3 L66 TRAJECTORY DEFINITION Cmd Description IMM PGM
234. motion controller can identify four different areas within one encoder cycle This type of decoding is called X4 or quadrature decoding meaning that the encoder resolution is multiplied by 4 For example and encoder with 10 um phase period can offer a 2 5 um resolution when used with a X4 type decoder Physically and encoder has two parts a scale and a read head The scale is an array of precision placed marks that are read by the head The most commonly used encoders optical encoders have a scale made out of a series of transparent and opaque lines placed on a glass substrate or etched in a thin metal sheet Figure 5 27 The encoder read head has three major components a light source a mask and a detector Figure 5 28 The mask is a small scale like piece having identically spaced transparent and opaque lines Combining the scale with the read head when one moves relative to another the light will pass through where the transparent areas line up or blocked when they do not line up Figure 5 29 Section 5 Motion Control Tutorial 5 23 Figure 5 27 Optical Encoder Scale mask Figure 5 28 Optical Encoder Read Head The detector signal is similar to a sine wave Converting it to a digital waveform the user will get the desired encoder signal But this is only one phase only half of the signal needed to get position information The second channel is obtained the same way but from a mask that is placed 90 out of
235. motion using e stop deceleration or ignore the error RETURNS If the 2 sign takes the place of nn value this command reports the current setting REL COMMANDS ZF set following error event configuration EXAMPLE 3FE read maximum following error for axis 3 0 5 controller returns for axis 3 following error of 0 5 unit 3FE 1 0 set maximum following error for axis 3 to 1 unit 3 64 Section 3 Remote Mode FP set position display resolution IMM PGM MIP USAGE SYNTAX xxFPnn xxFP PARAMETERS Description int axis number nn int display resolution Range 1 to MAX AXES nn 0107 or to read present setting Units XX none nn none Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 2 PARAMETER OUT OF RANGE DESCRIPTION This command is used to set the display resolution of position information For instance if nn 4 the display will show values as low as 0 0001 units If nn 7 the display will show values in exponential form If the user units refer SN command are in encoder counts or stepper increments the position information is displayed in integer form independent of the value set by this command RETURNS If sign takes the place of nn value this command reports current setting REL COMMANDS None EXAMPLE 1FP read position display resolution for
236. moved individually using PA or PR commands if its trajectory mode is specific to master slaving This command gets executed immediately and can also be called from within a program If 2 sign is issued along with command the controller returns master axis number TJ set trajectory mode GR set master slave reduction ratio 2SS1 set axis 2 to be the slave of axis 1 255 query the master axis number for axis 2 1 controller returns a value of 1 2TJ5 set axis 2 trajectory mode to 5 2GRI 0 set the reduction ratio of axis 2 to 1 0 1MO turn axis 1 motor power ON 2MO turn axis 2 motor power ON 1PA10 move axis 1 to absolute 10 units 2PA20 move axis 2 to absolute 10 units TB read error messages 232 242000 AXIS 2 INVALID TRAJECTORY MODE FOR MOVING controller returns appropriate error message Section 3 Remote Mode S T stop motion USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxST xx int axis number XX 1to MAX AXES XX none of range error 9 AXIS NUMBER OUT OF RANGE This command stops a motion in progress using deceleration rate programmed with AG set deceleration command on the specified axes If the ST command is sent with no axis parameter all axes are stopped none AB abort motion AG set deceleration MF motor power off 2PA40 move
237. multaneously 5 28 Timing Diagram Half Stepping Motor 5 28 Energizing Two Phases with Different M OCA M E 5 29 Timing Diagram Continuous Motion Ideal ides ttt ti UR 5 29 Timing Diagram Mini Stepping 5 29 Single Phase Energization 5 30 External Force Applied 5 30 Unstable ieeiatie eite tim 5 31 Torque and Tooth Alignment 5 31 atu eeu 5 32 Preface Figure 5 44 Simple Stepper Motor Driver 5 34 Figure 5 45 Current Build up in Phase 5 34 Figure 5 46 Effect of a Short ON Time on Current 5 35 Figure 5 47 Motor Pulse with High Voltage Chopper 5 35 Figure 5 48 Dual H Bridge Driver sss 5 36 Figure 5 49 DC Motor Voltage Amplifier 5 37 Figure 5 50 DC Motor Current Driver 5 37 Figure 5 51 DC Motor Velocity Feedback Driver 5 38 Figure 5 52 DC Motor Tachometer Gain and 5 38 Figure 7 1 Hand held Keypad Image 7 1 Figure 7 2 Rack Mount Bracket Installation 7 3 Figure 7 3 Driver 7 4 Figure 7 4 Driver Card Installation suse 7 4 Figure B 1 Rear Power Line Panel Fuse Replacement B 5 Figure 1 RS 232C Connector Pin Out
238. n This manual has been provided for information only and product specifications are subject to change without notice Any change will be reflected in future printings 1999 Newport Corporation 1791 Deere Ave Irvine CA 92606 949 863 3144 P N 28314 01 Rev E IN 04993 04 02 Preface Preface CN Newport EU DECLARATION OF CONFORMITY We declare that the accompanying product identified with the mark complies with requirements of the Electromagnetic Compatibility Directive 89 336 EEC and Low Voltage Directive 73 23 Model Number ESP7000 Year mark affixed 2000 Type of Equipment Electrical equipment for measurement control and laboratory use Standards Applied Compliance was demonstrated to the following standards to the extent applicable BS EN61326 1998 Electrical equipment for measurement control and laboratory use EMC requirements This equipment meets the CISPR 11 Class A radiated and conducted emission limits BS EN 61000 3 2 Harmonic current emissions Class A BS EN 61000 3 3 Voltage fluctuations and flicker BS EN 61010 1 Safety requirements for electrical equipment for measurement control and laboratory use Pak a ate Bob LaTouche VP European Operations VP of IMS Zone Industrielle 1791 Deere Avenue 45340 Beaune la Rolande France Irvine CA USA BF 05991 12 99 Table of Contents Section No Title Page Wattanty
239. n stop motion urn motor power ON turn axis 2 motor power OFF query axis 2 motor power status controller returns a value of 0 turn axis 2 motor power ON query axis 2 motor power status controller returns a value of 1 Section 3 Remote Mode MO motor on IMM PGM MIP USAGE SYNTAX xxMO or xxMO PARAMETERS Description int axis number Range xx to MAX AXES Units Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE DESCRIPTION This command turns power ON of the specified motor axis CAUTION If the motor power was turned off by the controller detecting a fault condition before turning the power back on make sure that the cause of the fault was corrected RETURNS If sign is issued along with command the controller returns 1 motor power is ON 0 motor power is OFF REL COMMANDS AB abort motion ST stop motion urn motor power OFF EXAMPLE MO turn axis 2 motor power ON 2MO query axis 2 motor power status 1 controller returns a value of 1 2MF turn axis 2 motor power OFF 2MO query axis 2 motor power status 0 controller returns a value of 0 Section 3 Remote Mode 3 103 MT move to hardware travel limit USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 104 IMM PGM MIP xxMTnn or xxMT xx i
240. n DIO bits to notify motion 3 36 status BN Enable DIO bits to notify motion 3 37 status BO Set DIO Port Direction 3 38 Assign DIO for jog mode 3 10 BQ Enable disable DIO jog mode 3 1 DC Setup data acquisition 3 6 DD Get data acquisition done status 3 50 DE Enable disable data acquisition 3 DF Get data acquisition sample count 3 2 DG Get acquisition data 3 B ES Define event action command 3 51 string PC Set position compare mode 3 RA Read analog input 3 130 5 Set DIO state 3 135 UL Wait for DIO bit low 3 156 UH Wait for DIO bit high 3 155 GROUP FUNCTIONS Cmd Description IMM PGM MIP Page HA Set group acceleration 3 58 Read list of groups assigned 3 70 Move group along an arc 3 71 HD Set group deceleration 3 73 HE Set group E stop deceleration 3 15 Group motor power OFF 3 76 HJ Set group jerk 3 77 HL Move group along a line 3 78 Create new group 3 30 HO Group motor power ON 3 32 HP Get group position 3 33 HQ Wait for group via point buffer 3 34 near empty HS Stop group motion 3 35 HV Set group velocity 3 36 HW Wait for group motion to stop 3 37 HX Delete a group 3 39 HZ Get group size 3 90 Section 3 Remote Mode 3 13 DIGITAL FILTERS
241. n axis that was not powered ON Refer to the description of MO and MF commands to turn the power to an axis ON or OFF respectively x14 Reserved for future use x15 MAXIMUM JERK EXCEEDED The specified axis jerk exceeds maximum jerk allowed for the axis Refer to the description of JK command for valid jerk range x16 MAXIMUM DAC OFFSET EXCEEDED The specified axis DAC offset exceeds maximum value allowed for the axis Refer to the description of issued command for valid range A 5 A 6 x17 ESP CRITICAL SETTINGS ARE PROTECTED An attempt was made to modify parameters that are specific to smart stages or Unidriver x18 ESP STAGE DEVICE ERROR An error occurred while reading a smart stage x19 ESP STAGE DATA INVALID Smart stage data is invalid x20 HOMING ABORTED Axis home search was aborted This message is obtained when home search was not completed either due to an axis not being enabled or due to the occurrence of a fault condition Refer to the description of OR command for information related to locating the home position of an axis x21 MOTOR CURRENT NOT DEFINED Maximum current for the motor is not specified Refer to the description of QI command to query or set the maximum motor current for an axis x22 UNIDRIVE COMMUNICATIONS ERROR There was no communication between motion controller and the Unidriver x23 UNIDRIVE NOT DETECTED Unidrive could not be detected by the motion controller x24 SPEED OUT OF RANGE
242. nal stage Procedures for adding a driver card are provided in the following paragraphs WARNING Power off all equipment and unplug AC power cord s before installing any equipment CAUTION The ESP7000 controller and driver cards are sensitive to static electricity Wear a properly grounded anti static strap when handling equipment Section 7 Optional Equipment 7 3 Shut down all stage operations Power down all equipment refer to the Controls and indicators paragraph in System Setup and unplug AC power cord s Loosen the upper and lower thumbscrews on one of the blank cut out panels at the rear of the ESP7000 controller and remove the panel from the slot Carefully remove the driver card to be installed from its packaging Inspect the driver card for loose components or other problems see Figure 7 3 Refer to Appendix H Factory Service to report discrepancies Figure 7 3 Driver Card Insert the driver card into the black guides top and bottom in the slot see Figure 7 4 Figure 7 4 Driver Card Installation 7 4 Section 7 Optional Equipment Push gently until the edge connector at the back of the card mates with the motherboard chassis connector Tighten the thumbscrews on the driver card Connect the stage to the newly installed axis Plug in the ESP7000 power cord and power up the controller Section 7 Optional Equipment 7 5 7 6 Section 7 Optional Equipment Appe
243. ndix A Error Messages The ESP controller has an elaborate command interpreter and system monitor Every command is analyzed for syntax and correct format after it is received The result of the analysis is stored in an output buffer in plain English System inputs are monitored while motion is in progress and holding position and any change is reported to the user via the output buffer To read the contents of the output buffer send command TB tell buffer For more compact error messages use the TE command The ESP controller response to this command is a one byte binary coded error number e g 33 For the sake of convenience error messages are divided into two categories non axis specific error messages and axis specific error messages Below is a list of all possible ESP controller error messages that are not axis specific 0 NO ERROR DETECTED No errors exist in the output buffer 1 PCI COMMUNICATION TIME OUT A communication transfer was initiated through PCI bus interface and was never completed 2 Reserved for future use 3 Reserved for future use 4 EMERGENCY STOP ACTIVATED An emergency stop was executed because the motion controller received a character or STOP ALL AXES button was pressed 5 Reserved for future use 6 COMMAND DOES NOT EXIST The issued command does not exist Check the ASCII mnemonic 7 PARAMETER OUT OF RANGE The specified parameter is out of range Refer to the description of issued c
244. nector Pin Assignments C 3 4 Stepper Motor Phase 3 Output This output must be connected to Winding B lead of a two phase stepper motor The voltage seen at this pin is pulse width modulated with maximum amplitude of 48V DC Stepper Motor Phase 4 Output This output must be connected to Winding B lead of a two phase stepper motor The voltage seen at this pin is pulse width modulated with maximum amplitude of 48V DC Tacho Generator Input This input can be connected to the positive lead of a tachometer The maximum input voltage range is 10V Tacho Generator Input This input can be connected to the negative lead of a tachometer The maximum input voltage range is 10V Travel Limit Input This input is pulled up to 5V with a 4 7KQ resistor by the controller and represents the stage negative direction hardware travel limit The active true state is user configurable The default is active HIGH Travel Limit Input This input is pulled up to 5V with a 4 7KQ resistor by the controller and represents the stage negative direction hardware travel limit The active true state is user configurable default is active HIGH Encoder A Input The A input is pulled up to 5V with a 1KQ resistor The signal is buffered with 261 532 differential receiver The A encoded signal originates from the stage position feedback circuitry and is used for position tracking Encoder A Input The A inpu
245. ng error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE missing Unidrive error xx23 UNIDRIVE NOT DETECTED DESCRIPTION This command is used to update Newport programmable driver 1 Unidrive settings into working registers Note This command should not be issued during motion since the motor power is automatically turned OFF RETURNS none REL COMMANDS QS set microstep factor QG set gear constant QT set tachometer gain QV set average motor voltage EXAMPLE 201 read maximum motor current setting of axis 2 1 6 controller returns a value of 1 6 Amp for axis 2 2QI 1 2 set maximum motor current to 1 2Amp for axis 2 20D update programmable driver with latest settings for axis 2 SM save all controller settings to non volatile memory Section 3 Remote Mode 3 121 QG set gear constant USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 122 IMM PGM xxQGnn or xxQG xx int nn float XX E nn 3 XX nn XX missing out of range nn missing out of range axis number gear constant 1to MAX AXES 0 to 2e9 or to read present setting none evolution unit of measure error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE This command is used to set the gear constant for a N
246. ng DIO to Inhibit Motion ESP series of motion controllers can inhibit the motion of any axis in response to external events In order to accomplish this task users must define the DIO bit to be employed to inhibit the motion of a desired axis and the logic state in which that bit should be in order to inhibit motion Once this done the feature has to be enabled Furthermore the direction of the DIO port this DIO bit belongs to must be set to input in order for the controller to detect the external event At this point if the selected axis is already in motion and DIO bit is asserted e stop is executed E stop configuration Refer ZE command for further details If the axis is not moving any new move commands are refused as long as the DIO bit is asserted In either case AXIS XX DIGITAL I O INTERLOCK DETECTED error is generated where XX is the axis whose motion is inhibited through DIO Please review the example below for further clarifications Example 3 2BK1 1 Use DIO bit to inhibit motion of axis 2 This DIO bit should be HIGH when axis 2 motion is inhibited 2BLI Enable inhibition of motion using DIO bits for axis 2 BO 04H 04H 0100 Binary Set DIO ports A B to input and port C to output l i e set bits 0 15 to input and 16 23 to output After the above commands are sent to the controller the controller will inhibit the motion of axis 2 when DIO bit is at a HIGH logical level and generate
247. nge XX 1to MAX AXES nn for positive direction or for negative direction Units XX none nn none Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing ositive direction DESCRIPTION This command is used to move an axis to its nearest index positive or negative It uses the home search speed during travel to nearest index Note This command cannot be issued after enabling DAQ refer ASCII command DE RETURNS If sign takes the place of nn value this command reports 1 if motion is done or 0 if motion is in progress REL COMMANDS OR home location search OH set home search speed EXAMPLE 3MZ move axis 3 to nearest index in positive direction 3MZ query motion status 0 controller returns 0 indicating motion is in progress Section 3 Remote Mode 3 107 OH set home search high speed IMM PGM MIP USAGE SYNTAX xxOHnn or xxOH PARAMETERS Description xx int axis number nn float high speed value Range XX 1to MAX AXES nn 0 to maximum value allowed by VU command or to read present setting Units XX none nn reset units second Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx10 MAXIMUM VELOCITY EXCEEDED error xx24 SPEED OUT OF RANGE DESCRIPTION This command sets the high speed used to search for home loca
248. ning Procedures Servo tuning is usually performed to achieve better motion performance such as reducing the following error statically and or dynamically or because the system is malfunctioning oscillating and or shutting off due to excessive following error Acceleration plays a significant role in the magnitudes of the following error and overshoot especially at start and stop Rapid velocity changes represent very high acceleration causing large following errors and overshoot Use the smallest acceleration the application can tolerate to reduce overshoot and make tuning the PID filter easier Section 6 Servo Tuning 6 1 6 2 6 2 1 6 2 2 6 2 3 NOTE In the following descriptions it is assumed that a software utility is being used to capture the response of the servo loop during a motion step command and to visualize the results Hardware And Software Requirements Hardware Requirements Tuning is best accomplished when the system response can be measured This can be done with external monitoring devices but can introduce errors The ESP controller avoids this problem by preventing an internal trace capability When trace mode is activated the controller records a number of different parameters The parameters can include real instantaneous position desired position desired velocity desired acceleration DAC output value etc The sample interval can be set to one servo cycle or any multiple of it and
249. nique to the entire travel called a home switch or origin switch An important requisition is that this switch must be located with the same accuracy as the encoder pulses If the motion device is using a linear scale as position encoder the home switch is usually placed on the same scale and read with the same accuracy If on the other hand a rotary encoder is used the problem becomes more complicated To have the same accuracy a mark on the encoder disk could be used called index pulse but because it repeats itself every revolution it does not define a unique point over the entire travel An origin switch on the other hand placed in the travel of the motion device is unique but not accurate repeatable enough The solution is to use both following a search algorithm origin switch x pulse Figure 5 22 Origin Switch and Encoder Index Pulse 5 20 Section 5 Motion Control Tutorial Section 5 Motion Control Tutorial An origin switch Figure 5 22 separates the entire travel in two areas one for which it has a high level and one for which is low The most important part of it is the transition between the two areas Also looking at the origin switch level the controller knows on which side of the transition it currently is and which way to move to find it The task of the home search routine is to identify one unique index pulse as the absolute position reference This is done by the first finding the origin
250. nn missing error 38 COMMAND PARAMETER MISSING out of range error xx04 POSITIVE HARDWARE LIMIT EXCEEDED out of range error xx05 NEGATIVE HARDWARE LIMIT EXCEEDED out of range error xx06 POSITIVE SOFTWARE LIMIT EXCEEDED out of range rror xx07 NEGATIVE SOFTWARE LIMIT EXCEEDED This command initiates a relative motion When received the selected axis xx will move with the predefined acceleration and velocity to a relative position nn units away from the current position If the requested axis is member of a group this command does not initiate the desired motion Instead error xx31 COMMAND NOT ALLOWED DUE TO GROUP ASSIGNMENT is generated Refer HL and HC commands to move along a line or an arc If this command is issued when trajectory mode for this axis is not in trapezoidal or s curve mode the controller returns error xx32 INVALID TRAJECTORY MODE FOR MOVING Note Even though the command is accepted while a motion is in progress care should be taken not to reverse direction of motion none AC set acceleration PA move to absolute position MD move done status ST stop motion VA et velocity 3VA8 set velocity of axis 3 to 8 units 5 3PR2 34 move axis 3 2 34 units away from the current position Section 3 Remote Mode QD update motor driver settings IMM PGM MIP USAGE SYNTAX xxQD PARAMETERS Description xx int axis number Range XX 1to MAX AXES Units XX none Defaults XX missi
251. noise is decreased However mini stepping comes at a price First the driver electronics are significantly more complicated Secondly the holding torque or one step is reduced by the mini stepping factor In other words for a x10 mini stepping it takes only 1 10 of the full step holding torque to cause the motor to have a positioning error equivalent to one step a mini step To clarify a little what this means lets take a look at the torque produced by a stepper motor For simplicity lets consider the case of a single phase being energized Figure 5 39 Once the closest rotor tooth has been pulled in assuming that the user doesn t have any external load the motor does not develop any torque This is a stable point If external forces try to move the rotor Figure 5 40 the magnetic flux will fight back The more teeth misalignment exists the larger the generated torque eS Figure 5 39 Single Phase Energization Figure 5 40 External Force Applied If the misalignment keeps increasing at some point the torque peaks and then starts diminishing again such that when the stator is exactly between the rotor teeth the torque becomes zero again Figure 5 41 This is an unstable point and any misalignment or external force will cause the motor to move one way or another Jumping from one stable point to another is called missing steps one of the most critiqued characteristics of stepper motors Section
252. nsmission of characters from the ESP by enabling the Request To Send RTS signal once the controller s Clear To Send CTS signal is ready Before sending any further characters the ESP will wait for a CTS from the host As soon as its command buffer is full the controller de asserts CTS Then as memory becomes available because the controller reads and executes commands in its buffer it re asserts the CTS signal to the host terminal IEEE 488 Interface HARDWARE CONFIGURATION A typical 488 setup consists of a controller host terminal and several devices connected to the bus All devices are connected in parallel to the data lines data management and synchronization lines As aresult of this type of connection each device on the bus must have a unique address so that the controller can selectively communicate with it Section 3 Remote Mode Section 3 Remote Mode The address can be set through the optional front panel display or with the SA set address command note that the factory default is address 1 COMMUNICATION PROTOCOL The IEEE 488 interface is implemented on the motion controller somewhat differently from a typical instrument because the standard IEEE 488 2 command set and command format are inadequate for a complex motion control Since the ESP controller has its own language and command set the IEEE 488 interface is used only as a communication port The extended protocol is not supported Th
253. nt axis number nn char direction of motion XX 1to MAX AXES nn for positive direction or for negative direction XX none nn none XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing positive direction This command is used to move an axis to its limit positive or negative It uses the home search speed during travel to hardware limit Note This command cannot be issued after enabling DAQ refer ASCII command DE If sign takes the place of nn value this command reports 1 if motion is done or 0 if motion is in progress OR home location search OH set home search speed 3MT move axis 3 to positive travel limit 3MT query motion status 0 controller returns 0 indicating motion is in progress Section 3 Remote Mode MV move indefinitely USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS Section 3 Remote Mode IMM PGM MIP xxMVnn or xxMV xx int axis number nn char direction of motion XX 1to MAX AXES nn for positive direction or for negative direction XX none nn none XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing positive direction out of range error xx04 POSITIVE HARDWARE LIMIT EXCEEDED out of range error xx05 NEGATIVE HARDWARE LIMIT EXCEEDED out of range error xx06 POSITIVE SOFT
254. ntroller returns a value of 10 units s 2VUS set axis 2 maximum maximum to 8 units s 2VA6 set axis 2 working velocity to 6 units s Section 3 Remote Mode 3 161 WP wait for position IMM PGM MIP USAGE SYNTAX xx WPnn PARAMETERS Description int axis number nn float position value Range 1 to MAX AXES nn starting position to destination of axis number xx Units predefined units Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command stops program execution until a user specified position is reached The program continues executing any subsequent commands only after axis xx has reached position nn Note Ensure that position nn is within the travel range of axis xx The controller cannot always detect if a value is outside the travel range of an axis to flag an error especially while making coordinated motion of multiple axes Wait commands are primarily intended for use in internal program execution or in combination with the RQ command If used in command mode it is important to note that input command processing is suspended until the wait condition has been satisfied RETURNS None REL COMMANDS WT wait WS wait for motion stop EXAMPLE 2PA 10 2WS move axis 2 to position 10 units and wait for stop
255. o be read accurately Refer BO command for further details RETURNS If the sign takes the place of nn value this command reports the current assignment REL COMMANDS BL Enable DIO bits to inhibit motion BO Set DIO port A B C direction BM Assign DIO bits to notify motion status EXAMPLE BO 04H Set DIO ports A B to input and C to output 2BK 1 1 Use DIO bit 1 to inhibit motion of axis 2 This DIO bit should be HIGH when axis 2 motion is inhibited 2BL 1 Enable inhibition of motion using DIO bits for axis 2 2BK Query the DIO bit assignment for axis 2 1 1 The controller responds with the assigned values 3 34 Section 3 Remote Mode BL enable DIO bits to inhibit motion USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxBLnn xxBL xx int axis number nn int disable or enable XX 1 to MAX AXES nn 0 disable and 1 enable or to read current setting None missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xxl PARAMETER OUT OF RANGE This command is used to disable or enable motion inhibition of requested axes through DIO bits If the sign takes the place of nn value this command reports the current status BK Assign DIO bits to inhibit mo
256. o ground with 1KQ resistors by the controller This facilitates both single and double ended signal handling into a 26LS32 differential receiver The Index signal originates from the stage and is used for homing the stage to a repeatable location Encoder Supply 5V 250mA Maximum 5V supply is available from the ESP7000 The standard supply configuration is 5V 250mA maximum This supply is provided for stage home index travel limit and encoder feedback circuitry Limit Ground Ground for stage travels limit signals Limit ground is combined with digital ground at the controller side Shield Ground Motor cable shield ground C 1 5 Auxiliary I O 37 Pin Connector This connector provides access to the ESP7000 auxiliary I O signals The auxiliary I O connector provides access to a additional quadrature encoder counters b digital I O c E Stop input Appendix C Connector Pin Assignments C 5 Connector pin outs are listed in Table C 3 and functionally described in Section C 1 6 C 1 6 Signal Descriptions Auxiliary I O 37 Pin Connector 5V 250mA maximum 5V supply available from the PC 12V 250mA maximum 12V supply available from the PC 12V 250mA maximum 12V supply available from the PC Pin Description 1 Auxiliary Ch 7 Input A 2 Auxiliary Ch 7 Input B
257. ocity update interval of slave axis to 10 msec SI query the jog velocity update interval of slave axis 10 controller returns a value of 10 SK0 5 0 set the jog velocity scaling coefficients to 0 5 and 0 SK query the jog velocity scaling coefficients 0 5 0 controller returns 0 5 and 0 Section 3 Remote Mode 3 139 SL set left travel limit USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 140 IMM PGM MIP xxSLnn or xxSL xx int axis number nn float left negative software limit XX 1 to MAX AXES nn 2e9 encoder resolution to 0 XX none nn predefined motion units XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE This command defines the value for the negative left software travel limit It should be used to restrict travel in the negative direction to protect the motion device or its load For instance if traveling full range a stage could push its load into an obstacle To prevent this the user can reduce the allowed travel by changing the software travel limit Since a motion device must be allowed to find its home position the home switch and or sensor must be inside the travel limits This means that both positive and negative travel limits cannot be set on the same
258. oduction C Top Menu b v More Poran Move Program Motor Power Configuration Floppy Run Disk Stored Options Program Program Menu Update Update Save eons Select A DSP CPU 2 Stored Configuration Configuration Firmware Firmware Program Y Section 1 Introduction Click on SELECT button to perform appropriate activities Click on MENU button to return to program menu Figure 1 14 Program Menu Flow Diagram 1 21 1 22 1 4 4 MOTOR POWER When the user selects the MOTOR POWER button from the TOP MENU screen the MOTOR POWER screen displays and gives the user a choice of selecting individual or ALL axes See Example in Figure 1 15 Motor Power Unknown 0 0000 0FF 2 Unknown ORL ON 3 Unknown 0 0000 0FF 4 Unknown 0 0000 ON 5 Unknown 0 0000 0FF 6 Unknown Figure 1 15 Motor Power Screen The MOTOR POWER screen will appear showing OFF displayed in the display window for each axis 1 Ifthe user presses ALL ON button the display window will show the word ON highlighted for each axis 2 If the user selects a particular axis the ESP7000 will indicate ON for each axis selected See Figure 1 15 3 The user can turn off the Motor Power by pressing the ALL OFF button and the display window will show the word OFF for each axis R
259. of the time Figure 5 47 nominal current Phase ON Figure 5 47 Motor Pulse with High Voltage Chopper Once the desired current value is reached a chopper circuit activates to keep the current close to the nominal value Unipolar Bipolar Drivers In the examples described in Section 5 7 1 Stepper Motor Drivers each phase has its own commutator transistor to control the current that flows through it Having one end permanently connected to the power source the current will flow through each phase always in the same direction For this reason these types of drivers are called Unipolar On the other hand Figure 5 48 shows a Bipolar Driver built in a dual H bridge configuration The name H Bridge comes from the topology of the transistors controlling one load coil In this case by turning on diagonally transistors 1 4 or 2 3 the current could be made to flow either way through the coil This means that the driver can control not just the intensity of the magnetic field generated by the stator but also its polarity Implicitly the only stepper motors that can be used with such a driver are the ones with polarized rotors the Permanent Magnet and the Hybrid types 5 35 5 36 5 7 3 VK nh Figure 5 48 Dual H Bridge Driver The question that arises from this driver configuration is how to connect a four phase stepper motor to a driver that drives only two coils This could be accomplished
260. olution is 10000 counts mm the worst case error in capturing a position crossing would be approximately 3 counts Please see calculation below Worst case error Axis speed at setup time 7 micro seconds 40 mm sec 10000 counts mm 7 micro seconds 2 8 counts However if this command was issued when the axis is at standstill the worst case error in capturing a position crossing is within 1 encoder count Note The position compare hardware feature is only supported on ESP6000 and ESP7000 controllers axes 1 and 2 Note This feature is implemented using the auxiliary counter channels 7 and 8 in conjunction with axes counters 1 and 2 Therefore if either axis 1 or 2 is configured in any compare mode then auxiliary counters channel 7 and 8 are used and not available e g cannot be used for trackball or master slave modes Counters 7 amp 8 are released and made available when the compare mode is disarmed e g x PC 0 Note A detailed TTL output timing diagram is available in the Advanced Capabilities section of the User s Manual Note Please find TTL compare output signal designations and electrical specifications in the Connector Pin Assignment Appendix section of the User s Manual If the sign takes the place of nn1 value this command reports the current assignment PA Move to absolute position PR Move to relative position WP Wait for position EXAMPLE 1 The following program will home initia
261. ommand DC for further details correct syntax etc Steps ASCII Command Action by Controller 1 Setup data acquisition DC10 1 1 1 0 1000 Start trace variable data acquisition when trigger axis 1 starts motion Collect 1000 samples one sample every servo cycle 2 Enable data acquisition DE1 Controller enables data acquisition Data acquisition process will start when trigger axis starts motion 3 Query data acquisition done DD Controller responds with the acquisition status status A response implies data acquisition is done A response 0 implies data acquisition is in progress 4 Query number of samples DF Controller responds with the number of collected data samples acquired at the time of processing this command 5 Users may query the data acquisition status until the controller responds a value of 1 i e data acquisition is DONE 6 Disable data acquisition DEO Controller disables data acquisition 7 Get data collected DG Controller responds with the data collected Table 4 3 An Example of Trace Variable Data Acquisition Commands related to data acquisition analog or trace variable are listed in Table 4 4 refer to Section 3 Remote Mode for additional details 4 4 Section 4 Advanced Capabilities Command Description AM Set analog input mode DC Setup data acquisition DD Query data acquisition done
262. ommand Issued Controller Interpretation 1ZF123H nn 123H 0001 0010 0011 Binary 1ZF123 nn 123H 0001 0010 0011 Binary 1ZFOF25H nn F25H 1111 0010 0101 Binary 1ZFF25H Invalid command Section 3 Remote Mode BIT VALUE DEFINITION 0 0 disable motor following error checking O 1 enable motor following error checking 1 0 do not disable motor power on following error event 1 1 disable motor power on following error event 2 0 do not abort motion on following error event 2 1 abort motion on following error event 3 0 reserved 3 1 reserved 4 0 reserved 4 1 reserved 5 0 reserved 5 1 reserved 6 0 reserved 6 1 reserved 7 0 reserved 7 1 reserved 31 0 reserved 31 1 reserved default setting RETURNS If the sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS ZA ZB ZE ZH ZS ZZ FE EXAMPLE 2ZF 3H 2ZF 5H SM Section 3 Remote Mode set amplifier I O configuration set feedback configuration set e stop configuration set hardware limit configuration set software limit configuration set general system configuration set following error threshold read following error configuration of axis 2 controller returns a value of 3H for axis 2 set following error configuration to 5H for axis 2 save all controller settings to non volatile memory 3 175 ZH set hardware limit c
263. ommand for valid parameter range 8 CABLE INTERLOCK ERROR The 100 pin cable between motion controller board and driver is disconnected Appendix A Error Messages A 1 A 2 9 AXIS NUMBER OUT OF RANGE The specified axis number is out of range Refer to the description of issued command for valid axis number range 10 Reserved for future use 11 Reserved for future use 12 Reserved for future use 13 GROUP NUMBER MISSING Group number is not specified The issued command requires a valid group number Refer to the description of issued command for valid group number range 14 GROUP NUMBER OUT OF RANGE The specified group number is out of range Refer to the description of issued command for valid group number range 15 GROUP NUMBER NOT ASSIGNED The specified group has not been assigned Refer to the description of HN command to create a new group with this group number 16 GROUP NUMBER ALREADY ASSIGNED The specified group number has already been assigned Refer to the description of HB command to query the list of group numbers already assigned 17 GROUP AXIS OUT OF RANGE At least one of the axis numbers specified to be a member of this group is out of range Refer to the description of HN command for valid range of axis numbers that can be assigned to a group 18 GROUP AXIS ALREADY ASSIGNED At least one of the axis numbers specified to be a member of this group is already a member of a different group 19 GROUP AXIS D
264. ommands through one of its interfaces IEEE 488 RS 232C or USB using a computer or terminal Stage Used interchangeably with motion device and positioner 1 5 1 4 System Overview 1 6 1 4 1 The ESP7000 is an integrated controller and driver in one chassis that simplifies system hook up and provides improved reliability The ESP7000 can drive and control up to six axes of motion using any combination of DC and or stepper motors Each driver module will drive 2 or 4 phase stepper and brush DC servo motors at 3A max per axis This capability will allow the user to drive any of Newport s wide selection of standard stages The controller uses a 32 bit floating point 60 MHz DSP processor for high precision synchronized control and supports sophisticated trajectories like synchronized circular linear interpolation and continuous path contouring for complex motion profiling The controller can also execute trapezoidal and S curve velocity profile for smooth jerk free positioning The previously defined ESP architecture consists of the DSP based controller motor driver and ESP compatible stages The system is designed to operate with Newport Corporation s ESP compatible stages but can be configured to function with other stages Features e 24 user programmable digital I O Opto2 internal external event synchronization e 8 channel 16 bit A to D input for high resolution analog data acquisition e Different
265. on a FIFO basis and the buffer level equals nn commands issued subsequent to this one get executed If sign takes the place of nn value the controller returns the room available in via point buffer for more commands HN create a new group HL move group to target position along a line HC move group to target position along an arc 1 2 create new group 1 with physical axes 1 and 2 1HV10 set vectorial velocity of group 1 to 10 units second 1 50 set vectorial acceleration of group 1 to 50 units second 1HD50 set vectorial deceleration of group 1 to 50 units second 1HO enable group 1 1HL10 10 move group 1 to target pos 10 10 ax 1 10 2 10 units 1HL20 20 move group 1 to target pos 20 20 ax 1 20 2 20 units This command gets enqueued in the via point buffer if it was received prior completion of the previous move command 1HL50 50 move group 1 to target pos 50 50 ax 1 50 2 50 units 1 010 wait until the via point buffer level equals 10 commands 1HC40 60 180 move group 1 along an arc with center of arc at 40 60 units by a sweep angle of 180 deg from current position Section 3 Remote Mode HS stop group motion USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE IMM PGM xxHS xxHS xx int XX missing out of r
266. on speed over serial interface nn 9600 19200 38400 57600 or 115200 or to read the current setting nn bits per second bps nn missing error 38 COMMAND PARAMETER MISSING outofrange error 7 PARAMETER OUT OF RANGE This command is used to set the communication speed between a remote computer and the motion controller over the serial RS 232 interface Different speeds supported by the ESP motion controllers include 9600 19200 38400 57600 and 115200 bps The default factory setting is 19200 bps The desired serial communication speed may be saved to non volatile flash memory by issuing the ASCII command SM This will cause the DSP to automatically use the saved value after system reset or reboot NOTE This command takes affect immediately after it is processed by the DSP As a result users are reminded that they cannot communicate with the controller following a change in communication speed using this command until they reinitialize the serial port on the remote computer with the same speed Please see the example below NOTE The software utilities ESP Download and ESP Tuning supplied with all ESP motion controllers except ESP6000 support only 19200 bps communication speed ESP Terminal however supports all speeds CAUTION ESP motion controllers do not do any form of error checking CRC Cyclic Redundancy Check or Checksum on the data that is being transmitted across the serial interface As a result it is hig
267. onfiguration USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION 3 176 IMM PGM MIP xxZHnn or xxZH xx int nn int XX E nn 3 XX nn i XX missing out of range nn missing out of range critical setting axis number hardware limit configuration 1to MAX AXES 0 to OFFFFH hexadecimal with leading zero 0 or to read current setting none none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE error xx17 ESP CRITICAL SETTINGS ARE PROTECTED This command is used to set the hardware limit checking polarity and event handling for axis specified with xx NOTE If bit 0 or both bits 1 and 2 are set to zero O then no action will be taken by the controller NOTE The controller always interprets the nn value as a hexadecimal number even when the letter H is not appended to the desired value Since nn is a hexadecimal number it is possible that the most significant character left most character is an alphabet A F depending on the choice of values for various bits In order for the controller to distinguish between an ASCII command and its value it is recommended that the users always add a leading zero 0 to the nn value See table below for clarification Example Command Issued Controller Interpretation 1ZH123H nn 123H 0001 0010 0011 Bin
268. or distinction between two different stepper motor technologies variable reluctance and permanent magnet motors The variable reluctance motors are usually small low cost large step angle stepper motors The permanent magnet technology is used for larger high precision motors The stepper motor advances to a new stable position by means of several stator phases that have the teeth slightly offset from each other To illustrate this Figure 5 32 shows a stepper motor with four phases and to make it easier to follow it is drawn in a linear fashion as a linear stepper motor 1 gt UJ 1 gt Figure 5 32 Four Phase Stepper Motor The four phases from A to D are energized one at a time phase A is shown twice The rotor teeth line up with the first energized phase A If the current to phase A is turned off and B is energized next the closest rotor tooth to phase B will be pulled in and the motor moves one step forward If on the other hand the next energized phase is D the closest rotor tooth is in the opposite direction thus making the motor to move in reverse Phase C cannot be energized immediately after A because it is exactly between two teeth so the direction of movement is indeterminate To move in one direction the current in the four phases must have the following timing diagram Figure 3 33 5 27
269. ors for all possible motions Since this is practically impossible an acceptable compromise is to perform the following test Starting from one of travel the user can make small incremental moves and at every stop the user should record the position Error The user performs this operation for the entire nominal travel When finished the Error data is plotted on a graph similar to Figure 5 2 Error max error Position Figure 5 2 Position Error Test The difference between the highest and the lowest points on the graph is the maximum possible Error that the motion device can have This worst case number is reported as the positioning Accuracy It guaranties the user that for any application the positioning error will not be greater than its value Local Accuracy For some applications it is important to know not just the positioning Accuracy over the entire travel but also over a small distance To illustrate this case Figure 5 3a and Figure 5 3b shows two extremes cases Error max error Position Figure 5 3a High Accuracy for Small Motions Section 5 Motion Control Tutorial Error max error Position Figure 5 3b Low Accuracy for Small Motions Both error plots from Figure 5 3a and Figure 5 3b have a similar maximum Error But if the user compares the maximum Error for small distances the system in Figure 5 3b shows significantly larger values For applications r
270. ort present axis 3 velocity feedforward setting 1 4 controller returns a value of 1 4 3VF1 5 set acceleration feed forward gain factor for axis 3 to 1 5 3UF update PID filter only now the VF command takes effect Section 3 Remote Mode VU set maximum velocity IMM PGM MIP USAGE SYNTAX xxVUnn or xxVU PARAMETERS Description xx int axis number nn float velocity value Range to MAX AXES nn 0 to 2e 9 or to read current setting Units XX none nn predefined units second Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx10 MAXIMUM VELOCITY EXCEEDED error xx2 Axis xx PARAMETER OUT OF RANGE DESCRIPTION This command is used to set the maximum velocity value for an axis This command remains effective even if the requested axis is member of a group In this case an error message GROUP MAXIMUM VELOCITY EXCEEDED is generated if the commanded value is less than group velocity Refer to Advanced Capabilities section for a detailed description of grouping and related commands RETURNS If the 2 sign takes the place of nn value this command reports the current setting REL COMMANDS VA set velocity PA execute an absolute motion PR execute a relative motion AG set deceleration AC set acceleration EXAMPLE 2VU read maximum allowed velocity of axis 2 10 co
271. ory generator The difference e is the positioning error the following error Amplifying it multiplying it by K generates a control signal that converted to an analog signal is sent to the motor driver There are a few conclusions that could be drawn from studying this circuit e The motor control signal thus the motor voltage is proportional to the following error e There must be a following error in order to drive the motor e Higher velocities need higher motor voltages and thus higher following errors Atstop small errors cannot be corrected if they don t generate enough voltage for the motor to overcome friction and stiction e Increasing the gain reduces the necessary following error but too much of it will generate instabilities and oscillations Loop To eliminate the error at stop and during long constant velocity motions usually called steady state error an integral term can be added to the loop This term integrates adds the error every servo cycle and the value multiplied by the K gain factor is added to the control signal Figure 5 15 Servo Controller Trajectory e sd Motor Generator Encoder Motion Controller O Figure 5 15 PI Loop Configuration The result is that the integral term will increase until it drives the motor by itself reducing the following error to zero At stop this has the very desirable effect of driving the positioning error to zero During a long constant
272. ote Mode SR set right travel limit USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxSRnn xxSR xx int axis number nn float right positive software limit XX 1 to MAX AXES nn 2e9 encoder resolution to 0 XX none nn defined motion units XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE This command defines the value for the positive right software travel limit It should be used to restrict travel in the positive direction to protect the motion device or its load For instance if traveling full range a stage could push its load into an obstacle To prevent this the user can reduce the allowed travel by changing the software travel limit Since a motion device must be allowed to find its home position the home switch and or sensor must be inside the travel limits This means that both positive and negative travel limits cannot be set on the same side of the home position A more obvious restriction is that the negative limit cannot be greater than the positive limit If any of these restrictions is not respected the controller will return PARAMETER OUT OF RANGE Note If the command is issued for an axis in motion the new limit should not be set
273. ower source Disconnect all cables Remove any jewelry from hands and wrists Use only insulated hand tools Maintain grounding by wearing a wrist strap attached to instrument chassis CAUTION The ESP7000 contains static sensitive devices Exercise appropriate caution when handling ESP7000 boards cables and other internal components Appendix E System Upgrades E 1 CAUTION Do not install anything into your ESP7000 except items provided by Newport specifically for installation into the ESP7000 Adding Axes 1 Turn the power off and unplug the power cord from the controller Disconnect all cables from the controller 2 Turn and loosen the 2 thumb screws as shown below See Figure E 1 which shows how to remove an Axis Driver Module Thumb Screws Figure 1 Removal of an Axis Driver Module 3 Carefully slide out the axis Driver Module 4 Insert the driver module for axis 5 The connector of the driver module is keyed to prevent insertion with improper polarity Make sure the keys line up properly before you try to insert the module See Figure E 2 5 Attach the driver panel to the rear panel of the unit with the 2 supplied thumb screws The unit is now ready for use E 2 Appendix E System Upgrades Connector for the Driver Thumb Screws Driver Module Figure E 2 Interior of the Axis Driver Module showing connector Adding 488 1 Follow steps 1 3 adding axes 2
274. p The command can be sent at any time but it has no effect until the UF update filter 1s received See the Servo Tuning chapter on how to adjust the PID filter parameters RETURNS If the 2 sign takes the place of nn value this command reports the current setting REL COMMANDS KI set integral gain factor KD set proportional gain factor KS set saturation gain factor UF update filter EXAMPLE 3KP0 01 set proportional gain factor for axis 3 to 0 01 3UF update PID filter only now the KP command takes effect 3 98 Section 3 Remote Mode KS set saturation level of integral factor IMM PGM MIP USAGE SYNTAX xxKSnn or xxKS PARAMETERS Description xx int axis number nn float saturation level of integrator KS Range XX 1to MAX AXES nn 0 to 2e9 or to read current setting Units XX none nn none Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command sets the saturation level of the integral factor of the PID closed loop and is useful for preventing integral wind up It is active for any DC servo based motion device that has been selected to operate in closed loop The command can be sent at any time but it has no effect until the UF update filter 1s received See the Servo Tuning chapter on how to adjust the PID filter param
275. patible motorized positioner not detected 13 axis 6 ESP compatible motorized positioner detected 14 reserved 14 reserved 15 reserved 15 reserved eee 31 0 reserved 31 1 reserved Section 3 Remote Mode Section 3 Remote Mode 3 181 RETURNS This command reports the current setting in hexadecimal notation REL COMMANDS ZA set amplifier I O configuration ZB set feedback configuration ZE set e stop configuration ZF set following error configuration ZH set hardware limit configuration ZS set software limit configuration ZZ set system configuration EXAMPLE ZU read ESP system configuration 150015 controller returns a value of 150015H 3 182 Section 3 Remote Mode LL set system configuration USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION Section 3 Remote Mode IMM PGM MIP ZZnn or ZZ nn int system configuration nn 0 to OFFFFH hexadecimal with leading zero 0 or to read current setting nn none nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE This command is used to configure system fault checking event handling and general setup for all axes NOTE If bit 0 or both bits 1 and 2 are set to zero O then no action will be taken by the controller NOTE The controller always interprets the nn value as a hexadecimal number even when the letter H is not appended to the desired value
276. phase relative to the first one Figure 5 30 5 24 Section 5 Motion Control Tutorial Section 5 Motion Control Tutorial Figure 5 29 Single Channel Optical Encoder Scale and Read Head Assembly Figure 5 30 Two Channel Optical Encoder Scale and Read Head Assembly There are two basic types of encoders linear and rotary The linear encoders also called linear scales are used to measure linear motion directly This means that the physical resolution of the scale will be the actual positioning resolution This is their main drawback since technological limitations prevent them from having better resolutions than a few microns To get higher resolutions in linear scales a special delicate circuitry must be added called scale interpolator 5 25 Other technologies like interferometry or holography can be used but they are significantly more expansive and need more space The most popular encoders are rotary Using gear reduction between the encoder and the load significant resolution increases can be obtained at low cost But the price paid for this added resolution is higher backlash In some cases rotary encoders offer high resolution without the backlash penalty For instance a linear translation stage with a rotary encoder on the lead screw can easily achieve 1 um resolution with negligible backlash NOTE For rotary stages a rotary encoder measures the output angle directly In this case the encoder placed
277. plementation The enqueued commands get executed on a FIFO basis when the move already in progress has reached its destination The group does not come to a stop at the end of last move Instead there will be a smooth transition to the new move command just as if it were one compound move combination of multiple moves Note Only trapezoid velocity profile is employed linear interpolation motion Note The transition from last move to new move will be smooth if tangential velocity at the end of last move is the same as that at the beginning of new move 3 71 RETURNS 3 72 REL COMMANDS EXAMPLE If sign takes the place of nn values this command reports the commanded center position of arc and sweep angle HN HV HD 1HN1 2 1HV10 1 50 1HD50 1HO 1HP 50 50 create a new group set vectorial velocity for a group set vectorial acceleration for a group set vectorial deceleration for a group enable a group disable a group move a group of axes to desired position along a line create a new group 1 with physical axes 1 and 2 set vectorial velocity of group 1 to 10 units second set vectorial acceleration of group 1 to 50 units second set vectorial deceleration of group 1 to 50 units second enable group 1 query current group position controller returns axis 1 50 units and axis 2 50 units 1HC40 60 180 set axis 1 arc cen
278. program Inside a program it is useful in conjunction with program flow control commands It could for instance terminate a program on the occurrence of a certain external event monitored by an I O bit none EX execute a program 3EX execute program 3 AP stop program execution Section 3 Remote Mode AU set maximum acceleration and deceleration USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxAUnn or xxAU xx int axis number nn float acceleration value XX 1to MAX AXES nn 0 to 2e 9 or to read current setting XX none nn predefined units second XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx11 MAXIMUM ACCELERATION EXCEEDED error xxl PARAMETER OUT OF RANGE This command is used to set the maximum acceleration and deceleration value for an axis This command remains effective even if the requested axis is member of a group In this case two error messages GROUP MAXIMUM ACCELERATION EXCEEDED or GROUP MAXIMUM DECELERATION EXCEEDED are generated if the commanded value is less than group acceleration or deceleration respectively Refer to Advanced Capabilities section for a detailed description of grouping and related commands If the 2
279. query axis assigned to group 2 TB read error message 0 525322 GROUP AXIS DUPLICATED 3 81 HO group on IMM PGM MIP USAGE SYNTAX xxHO or xxHO PARAMETERS Description int group number Range 1 to MAX GROUPS Units Defaults XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated DESCRIPTION This command turns power ON of all axes assigned to a group Refer MO command to turn the power ON of individual axes The group power is assumed to be ON if power to all axes in the group is ON RETURNS If sign is issued along with command the controller returns REL COMMANDS EXAMPLE 3 82 1 2 0 d HN HF 1HN1 2 1HO 1HO 1HF 1HO group power is ON group power is OFF create anew group turn group power OFF create a new group 1 with physical axes 1 and 2 turn group 1 power ON query group 1 power status controller returns a value of 1 turn group 1 power OFF query group 1 power status controller returns a value of 0 Section 3 Remote Mode HP read group position USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE IMM PGM xxHP xx int 2 XX missing out of range not assigned floating point MIP group numbe
280. r 1to MAX GROUPS none error 13 GROUP NUMBER MISSING error 14 GROUP NUMBER OUT OF RANGE error 15 GROUP NUMBER NOT ASSIGNED truncated This command is used to read the actual position the instantaneous real position of all axes assigned to a group nn nn nn where nn actual position of ith axis in the group HN HC HL 1HN1 2 10 50 Section 3 Remote Mode create a new group move a group of axes to desired position along an arc move a group of axes to desired position along a line create a new group 1 with physical axes 1 and 2 read position of group 1 controller returns axis 1 10 units axis 2 50 units 3 83 HQ wait for group command buffer level USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 84 IMM PGM MIP xxHQnn or xxHQ xx int group number nn float level in group via point buffer 1 to MAX GROUPS nn to 10 default for maximum targets in via point buffer milliseconds missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated nn Missing parameter error 21 GROUP PARAMETER MISSING This command stops enqueuing new commands into the via point buffer until the buffer level equals nn As commands in the buffer get executed
281. r responses from the controller are always terminated by a carriage return line feed combination This setting may not be changed If the IEEE interface is used the IEEE controller has to be configured to terminate the input read function when it senses the line feed character 3 4 1 Summary of Command Syntax COMMAND FORMAT EET The general format of a command is a two character mnemonic AA Both upper and lower case are accepted Depending on the command it could also have optional or required preceding xx and or following nn parameters 3 7 BLANK SPACES Blank spaces are allowed and ignored between parameters and commands For the clarity of the program and memory saving considerations use blank spaces with restraint The following two commands are equivalent 2 PA 1000 2PA1000 but the first example is very confusing and uses more than twice the memory COMMAND LINE Commands are executed line by line A line can consist of one or a number of commands The controller will interpret the commands in the order they are received and execute them sequentially This means that commands issued on the same line are executed significantly closer to each other than if they would be issued on separate lines The maximum number of characters allowed on a command line is 80 SEPARATOR Commands issued on the same line must be separated by semicolons Multiple parameters issued for the same command are separated by
282. r of the LOCAL motion commands Section 1 Introduction Section 1 Introduction 1 6 1 1 6 2 Motor ON After the controller is properly configured and the stages connected as described the motors can be powered on Make sure that the motion devices are placed on a flat surface and their full travel is not obstructed CAUTION Be prepared to quickly turn the motor power off by pressing the STOP ALL button or power switch if any abnormal operation is observed After the power switch is pushed in the controller performs the start up sequence as described in Section 1 5 1 Power On The default state after start up is motor power OFF The display indicates disabled motor power by illuminating a yellow LED next to the appropriate Axis Selection Buttons To apply power to the motors follow the procedures defined in MOTOR POWER earlier in this section Homing Motion Devices It is good practice to always home the motion device before executing any motion As described in detail in Section 5 Motion Control Tutorial homing a motion device means executing a special routine that locates a predetermined position The ESP7000 distinguishes between 3 different types of home 1 The position defined by the location of a switch mechanical electro optical etc mounted on the stage 2 The position defined by the location of a switch mounted on the stage plus the occurrence of an index pulse after the switch is triggered
283. r of the front panel will initiate a motion inhibit sequence on all axes This function is user programmable and could be set individually for each axis anywhere from a hard emergency stop to a do nothing action The default setting is a controlled stop followed by a motor power off Pressing the MENU BUTTON returns the display to the MOVE MENU JOG The JOG MODE screen is enabled by pressing the JOG Menu Selection Button in the MOVE MENU All configured axes that have a motion device connected will have an associated Axis selection Button Pressing any of the Axis Selection Buttons will display a graphical jog symbol in the function button box and highlight it There are a total of six different symbols that can be selected by pressing the same button repeatedly The symbols and their meaning are in order 2 5 2 6 Select axis not yet selected for jogging Jog using left right Direction Function Buttons right arrow button moves in positive direction Jog using left right Direction Function Buttons left arrow button moves in positive direction Jog using up down Direction Function Buttons up arrow button moves in positive direction Jog using up down Direction Function Buttons up arrow button moves in positive direction Jog using the control knob counter clockwise rotation move in positive direction Jog using the control knob clockwise rotation moves in positive direction Figure 2 1 Jog Mode Direction S
284. r or terminal Additionally an optional alphanumeric keypad with an LCD display enables the user to access the full command set of the ESP7000 without the use of a computer interface See Section 7 2 of this document The ESP7000 employs a set of over 100 commands Please refer to Section 3 Remote Mode for a detailed description of the ESP7000 command set 2 1 In Program Execution Mode internally stored programs are executed without any operator intervention See Section 3 1 Operating Options the LOCAL Mode This section defines the HOW instructions for the functions of those Operating Options in the LOCAL Mode Please remember that all functions can also be accessed with remote commands See Section 3 Remote Mode Typical functions or parameters that can be set are e Motor Power e Motor Configuration e Move functions e Program execution 221 Motor Power The Motor Power option is obtained from the TOP MENU screen It allows the user to set the power ON OFF for individual axes or all axes at once See MOTOR POWER and Figure 1 15 When the user presses the MOTOR POWER button from the TOP MENU screen the MOTOR POWER screen will display For each axis that has a stage connected and a valid configuration a Menu Box will appear next to the corresponding Axis Selection Button Inside each box the label ON or OFF will indicate the state of the respective motor If an axis does not detect a stage or it
285. r presses ERROR button an ERROR LIST screen displays if there are No Errors the screen will display NO ERRORS Press the MENU button to exit to return to the MORE screen NOTE The Error notation is gone from the TOP MENU 1 14 Section 1 Introduction Section 1 Introduction Setup When the user presses the SETUP button a CONTROLLER SETUP screen displays and indicates two choices DISPLAY or INTERFACE 1 When DISPLAY is selected the DISPLAY SETUP screen is shown There are two choices for Display Setup BackLight or Contrast The user can adjust these parameters by using the Direction Function Buttons The user should press MENU button to return to the CONTROLLER SETUP screen 2 When INTERFACE is selected the INTERFACE SETUP screen is displayed and indicates two choices Serial Communication or IEEE488 Communication 3 When SERIAL COMMUNICATION is selected the RS 232 COMMUNICATION screen is displayed The user can select and modify BAUD RATE ilii When BAUD RATE is selected arrows are displayed so the user can increase or decrease the amount displayed using the Direction Function Buttons 4 When IEEE488 COMMUNICATION is selected the IEEE488 COMMUNICATION screen is displayed The user can select and modify ADDRESS Note This follows the same process as RS 232 COMMUNICATION shown above NOTE The user can press the MENU button to EXIT these Setup screens after data has been revised MOTION C
286. r then presses the LEFT direction button ONCE and the selected axis will move slowly in the Positive direction Pushing RIGHT direction button will move the stage in negative direction Pushing the same Axis Selection Button AGAIN the displays The user then presses the UP direction button ONCE and the selected axis will move slowly in the positive direction Pushing DOWN direction button will move the stage in a negative direction Section 1 Introduction Section 1 Introduction 4 Pushing the same Axis Selection Button AGAIN the user presses the button ONCE the 4 displays The user then presses the DOWN direction button once and the selected axis will move slowly in the positive direction Pushing UP direction button will move the stage in a negative direction Pushing the same Axis Selection Button AGAIN the counterclockwise rotation symbol displays After the green LED illuminates above the CONTROL KNOB on the Front Panel the user rotates the knob in a counterclockwise direction for positive stage movement clockwise for negative stage movement Pushing the same Axis Selection Button AGAIN the clockwise rotation symbol displays After the green LED illuminates above the CONTROL KNOB on the Front Panel the user rotates the knob in a clockwise direction for positive stage movement counterclockwise for negative stage movement NOTE Remember that only motions inside the software travel limits are allowed see SR
287. re DIO port A as output SB 0FFH set all port A DIO output HIGH 3 136 Section 3 Remote Mode SH set home preset position USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxSHnn or xxSH xx int axis number nn float home preset position XX 1to MAX AXES nn any position within the travel limits XX none nn defined motion units missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx01 PARAMETER OUT OF RANGE This command defines the value that is loaded in the position counter when home is found The default value for all motion devices is 0 This means that unless a new value is defined using this command the home position will be set to 0 when a home search is initiated using the OR command or from the front panel if available Note The change takes effect only when a subsequent home search routine is performed To make the change permanent use the SM command to save it in the non volatile memory If the 2 sign takes the place of nn value this command reports the current setting DH define home 3MO turn axis 3 motor power ON 3SH75 0 set axis 3 home position to 75 0 units 3ORI perform a home search on axis 3 3MD query axis 3 motion status 1
288. re DIRECTION output as active low for negative move configure DIRECTION output as active high for negative move do not invert servo DAC output polarity invert servo DAC output polarity amplifier enable output active low amplifier enable output active high stepper motor winding is FULL stepper motor winding is HALF reserved reserved default setting This bit assignment is effective only on ESP100 and ESP300 motion controllers Also any change in motor winding takes affect only when the controller is reset or power cycled As a result amplifier I O configuration must be saved to memory and controller must be reset for this change to take affect If the 2 sign takes the place of nn value this command reports the current setting in hexadecimal notation ZB ZE ZF ZH ZS ZZ set feedback configuration set e stop configuration set following error configuration set hardware limit configuration set software limit configuration set general system configuration Section 3 Remote Mode EXAMPLE Section 3 Remote Mode 2ZA read amplifier I O configuration of axis 2 123H controller returns a value of 123H for axis 2 123H 0001 0010 0011 Binary Bits 0 1 5 8 1 All other bits 0 2ZA 125H set amplifier I O configuration to 125H for axis 2 125 0001 0010 0101 Binary Bits 0 2 5 8 1 All other bits 0 SM save all controller settings to non volatile memory Please ref
289. red output This active low output pulse is used to trigger external devices events whenever the crossing of a desired position is detected by the ESP motion controller hardware The output pulse width is in the range of 30 to 60ns Since this output is buffered by IC SN74F21 it can source 1mA maximum or sink 20mA maximum Please refer to Position Compare Output Triggering section in the Advanced Capabilities Tutorial for further details Axis Ch 6 Input A This input is hard wired to the 50 pin Axis 6 encoder channel A input Therefore this input can only be used if five 5 or fewer axes of motion are incorporated The single ended A input is pulled up to 5V with a 1KQ resistor The signal is buffered with a 26LS32 receiver The A quadrature encoded signal originates from external feedback circuitry and is used for position tracking Axis Ch 6 Input B This input is hard wired to the 50 pin Axis 6 encoder channel B input Therefore this input can only be used if five 5 or fewer axes of motion are incorporated The single ended B input is pulled up to 5 volts with a 1KQ resistor The signal is buffered with a 26LS32 receiver The B quadrature encoded signal originates from external feedback circuitry and is used for position tracking Auxiliary Ch 7 Input A 0 The A input is pulled up to 5 volts with a 1KQ resistor The signal is buffered with 261 532 differential receiver The A quadrature encoded sign
290. redefined units second XX missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated nn missing error 7 PARAMETER OUT OF RANGE negative error 22 GROUP PARAMETER OUT OF RANGE out of range error 22 GROUP PARAMETER OUT OF RANGE This command is used to set the vectorial jerk value for a group This value will be used during coordinated motion of axes assigned to the group It will override any original jerk values specified for individual axes using JK command The axes original values will be restored when the group to which they have been assigned is deleted If vectorial jerk is set to zero a trapezoid velocity profile is employed during motion Otherwise an S curve velocity profile is employed This command takes effect immediately It can be executed when controller is idling or motion is in progress or inside a program Note Avoid changing jerk during acceleration or deceleration phases of a move For better predictable results change jerk only when all the axes assigned to this group are not in motion If sign takes the place of nn value this command reports the current setting HN create a new group HV set vectorial velocity for a group HA set vectorial acceleration for a group HD set vectorial deceleration for a group HK set vectorial e stop jerk for a group 1HN1 2 create a new group 1 with
291. request DG get acquired data DF data acquisition status returns of samples collected DE enable disable data acquisition EXAMPLE DC10 1 1 1 0 1000 Acquire trace variable data for axis 1 in scaled integer format Collect 1000 samples one sample servo cycle DEI Enable trace variable data acquisition DD Query data acquisition done status 1 true 0 false If true DEO Disable trace variable data acquisition DG Get data collected 3 50 Section 3 Remote Mode DE enable disable data acquisition USAGE SYNTAX PARAMETERS Description Range DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP DEnn nn nn int True False nn 1 for True 0 for False This command is used to enable disable the data acquisition request Note This command cannot be issued when 1 An axis is being homed refer ASCII command OR 2 An axis is being moved to a travel limit refer ASCII command MT 3 An axis is being moved to an index refer ASCII command MZ None DC setup data acquisition request DG get acquired data DF data acquisition status returns of samples collected DD data acquisition done status DC10 1 1 1 0 1000 Acquire trace variable data for axis 1 in scaled integer format Collect 1000 samples one sample servo cycle DE1 Enable trace variable data acquisition DD Query data acquisition done status 1 true 0 false
292. rial poll command depends on the IEEE 488 controller Using that interrupt service routine a serial poll command can be issued to each device The device polled at each instance will respond with a status byte Bit 6 of the status byte indicates whether a specific device i e ESP controller generated the service request or not Bits 0 through 5 are under user control and are set with the RQ command For example command 5 sets bits 0 and 2 This is useful in helping the application program determine which RQ in a program with multiple RQs generated the SRQ Software Utilities 3 6 In order to communicate with the controller the user must have a terminal or a computer capable of communicating through RS 232C or IEEEA88 One approach is to use a computer with communications software that can emulate a terminal Windows 95 provides an RS232 terminal emulation program named Hyper Terminal HyperTrm Exe located in Accessories HyperTrm allows the user to send ASCII commands to the motion controller The user can even download text files with stored programs Additionally it can be used to download controller firmware for future upgrades For IEEE488 communications National Instruments Inc provides a program named IBIC with their products that allow the user to send and receive ASCII characters and download files This could be useful in determining that the interface is working Command Syntax As mentioned previou
293. ribed in the following paragraphs Programmable Gain Six Pole Anti 16 bit 100 kHz Instrumentation alias Filter A D Converter Amplifier Sample Trigger Control Timer or Software Driven Figure 4 1 Analog To Digital Flow Diagram One of the eight 8 analog voltage input signals is initially selected by the input multiplexer MUX based on the data acquisition setup command DC issued by user The signal then passes to a Programmable Gain Instrumentation Amplifier PGIA which must be pre set to accept a designated voltage range using the analog input mode command AM The amplified signal is routed through an anti alias filter which filters input at the servo cycle frequency The filtered signal is then converted into digital form using a 16 bit A D converter for processing by the Digital Signal Processor DSP The A D converter can read from one to eight channels one at a time during a servo cycle about 400 milliseconds Sampling is not instantaneous but occurs at 30 micro second intervals between each input signal In BIPOLAR mode the accuracy of the digitized signal is t 2 5 millivolts of the input signal BIPOLAR mode is generally recommended over UNIPOLAR mode In UNIPOLAR mode there may be considerable variation in the reported digitized signal as compared to the input signal depending on the gain selection A typical acquisition sampling tray is shown in Table 4 1 First Last Element Element Ch 1
294. rollers support acquisition of two different types of data analog data and trace variable data This data can be collected using one of two different modes fixed and continuous The following sub section detail acquisition of analog data and the subsequent sub section explains acquisition of trace variable data Analog Data Acquisition The ESP controller supports acquisition of up to eight 8 analog channels and eight 8 position feedback encoder channels sampling rate and number of samples to be collected can easily be made using ASCII command DC Furthermore the initiation of data acquisition is very flexible and can be configured using the same command The controller supports eight 8 different ways of selecting the analog input mode ADC gain and polarity through ASCII command AM Through this command users can select gains of 1 25 2 5 5 0 or 10 0 volts in either uni polar 0 to or bi polar to format for all analog inputs The controller card provides a multiplexed eight 8 channel 16 bit Analog To Digital converter ADC for processing analog signals from its analog I O connector This connector can be accessed via 4 1 8 Single Ended Inputs Newport s optional analog cable The cable attaches to an open slot at the back of a personal computer for convenient hook up to customer provided devices A simplified block diagram of the converter and associated circuitry is shown in Figure 4 1 and desc
295. rouble Shoot Guide sss B 2 Table C 1 Digital Connector Pin Outs sess C 2 Table C 2 Driver Card Connector Pin Outs C 3 Table Auxiliary I O Connector Pin Outs C 6 Table C 4 IEEE 486 Interface Connector C 10 Table C 5 Analog Connector Pin Outs C 12 Table D 1 Binary Conversion Table Listing D 1 Table H 1 Technical Customer Support Contacts H 1 Preface Preface Command Index Section 3 Command Description Page in section 3 AB abort MOONT 21 AC SOL acce Prati eas urat mapa iue Mea SUE c oU a MR E Le 22 AE Set e Stop deceleration 24 AF set acceleration feed forward 4 26 27 set analog Input mode oed esa eR NEA 20 abor progra eese ve esee oc 30 AU set maximum acceleration and deceleration s sss 31 BA 5 eene fo 32 BG assign DIO bits to execute stored programs 33 BK assign DIO bits to inhibit motion sene 34 BL enable DIO bits to inhibit motion
296. rrections It then waits for the timer to reset before checking the position error again This process is repeated until the position error reduces to the desired value deadband The corrective actions taken by the controller to reduce positioning error are dependent upon the way in which the stepper motors are controlled digital pulse generation or analog sinusoidal commutation 4 14 Section 4 Advanced Capabilities Figure 4 6 Block Diagram of Closed Loop Stepper Motor Positioning In the case of digitally controlled stepper motors new corrective move commands are internally issued by the controller In the case of Commutated stepper motors the electrical angle is adjusted The following steps See Table 4 10 may be followed to setup the closed loop stepper motor positioning interval Steps ASCII Command Action by Controller 1 Set feedback configuration 1ZB300 Enable encoder feedback and closed loop positioning of stepper motors for axis 1 2 Specify deadband value 1DB1 Set deadband value for axis 1 to 1 encoder count 3 Specify closed loop update 1CL50 Set closed loop update interval for axis 1 to 50 milliseconds Table 4 8 An Example of Closed Loop Stepper Motor Positioning Setup Commands related to closed loop stepper positioning are listed in Table 4 11 refer to Section 3 Remote Mode for additional details Section 4 Advanced Capabilities 4 15
297. rst one represents the desired motion increment and the second the current position Section 2 Modes of Operation Section 2 Modes of Operation To avoid a move on the axes for which no value has been entered when a MOVE ALL command is issued the user should set increment value to zero All configured axes that have a motion device connected will have an associated Menu selection Button Pressing any of the Menu Selection Buttons will highlight the desired motion increment of the respective axis The values can be modified by using the numeric keypad Once all desired motion increments have been made the user can select to move one or all axes simultaneously Pressing MOVE ONE Menu Selection Button will start a motion on the axis for which the Selected button is highlighted Pressing MOVE ALL Menu Selection Button will start a motion on all axes NOTE All axes start the motion in the same time but each axis moves with its specified motion parameters velocity acceleration trajectory type etc This means that the axes perform a non coordinated motion thus not reaching their respective target at the same time By pressing any of these STOP buttons the user can abort the motion on any moving axis individually If the STOP ALL BUTTON from the Menu Selection Buttons is pressed all axes in motion will stop moving simultaneously with the specified deceleration NOTE Pressing the RED STOP ALL BUTTON in the lower right corne
298. s 16 MHz max encoder input frequency for high speed high resolution applications Motion Drive Capability ESP Stage compatible for plug and play capability Easily configurable to drive non ESP stages 2 or 4 phase stepper Brush DC servo at max per axis drive large selection of stages and actuators 250x max programmable micro step resolution for ultra smooth stepper positioning Options Front Panel with large graphical LCD display pushbuttons and 3 5 floppy drive for easy jog control and axis configuration Hand held keypad for local non computer programming 19 Rack mount brackets Blank Front Panel Physical Specifications Six 6 universal motor driver cards for any combination of stepper and DC servo motors 500W power supply Fuse Type T10A 250V 1 7 48V Pulse Width Modulated PWM output Line voltage 115 230 VAC 50 60 Hz Auto Range Operating Temperature 5 C to 40 C Humidity 20 to 85 Relative Humidity Weight 26 lbs 10 8 Kg max Dimensions 4U 16 9 wide x 17 deep x 6 5 tall 0 5 bottom clearance Figure 1 1 ESP7000 Motion Controller Driver 1 4 3 Description of Front Panel Versions The ESP7000 is available with either a blank front panel or a front panel with an LCD display and pushbuttons When operated via the front panel with display a menu system allows the user to set up the controller and perform simple motion sequences withou
299. s 2 to reach destination wait an additional 500ms and then move axis 3 to position 5 units 3 163 WT wait USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 164 IMM PGM MIP WTnn nn int wait time delay nn 0 to 60000 nn milliseconds missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE This command causes the controller to pause for a specified amount of time This means that the controller will wait nn milliseconds before executing the next command Note Even though this command can be executed in immediate mode its real value is as a flow control instruction inside programs Wait commands are primarily intended for use in internal program execution or in combination with the RQ command If used in command mode it is important to note that input command processing is suspended until the wait condition has been satisfied none WS wait for stop WP wait for position 2MO WTA400 2PA2 3 turn axis motor ON wait an additional 400 ms and then move axis 2 to position 2 3 units Section 3 Remote Mode XM read available memory USAGE SYNTAX PARAMETERS DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP XM None
300. s both single and double ended signal handling into a 26LS32 differential receiver The A quadrature encoded signal originates from external feedback circuitry and is used for position tracking Auxiliary Ch 8 Input B The B input is pulled up to 5 volts with a 1KQ resistor The signal is buffered with a 261 532 differential receiver The B quadrature encoded signal originates from external feedback circuitry and is used for positioning tracking Auxiliary Ch Input B The B input is pulled up 0 5 volts and pulled down to ground with 1KQ resistors This facilitates both single and double ended signal handling into a 26LS 32 differential receiver The B quadrature encoded signal originates from external feedback circuitry and is used for position tracking Digital Ground Ground reference used for all digital signals Appendix C Connector Pin Assignments Digital I O The digital I O can be programmed to be either input or output in 8 bit blocks via software and is pulled up to 5 volts with a resistor In the auxiliary connector only 4 bits of digital I O from each 8 bit block are made available so that users can program 4 bits as output and 4 bits of input Bits 0 3 are controlled by Port A API calls and bits 8 11 by Port B API calls Note that these digital I O signals are internally hard wired to digital I connector signals When configured as output each bit can source 64mA maximum Wh
301. s to non volatile memory 3 173 ZF set following error configuration USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION 3 174 IMM PGM MIP xxZFnn or xxZF xx int nn int XX nn 3 XX nn 2 XX missing out of range nn missing out of range axis number following error configuration 1to MAX AXES 0 to OFFFFH hexadecimal with leading zero 0 or to read current setting none none error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE error 38 COMMAND PARAMETER MISSING error xx2 PARAMETER OUT OF RANGE critical setting error xx17 ESP CRITICAL SETTINGS ARE PROTECTED This command is used to set the following error configuration fault checking and event handling for axis specified with xx NOTE If bit 0 or both bits 1 and 2 are set to 7 0 then no action will be taken by the controller NOTE The controller always interprets the nn value as a hexadecimal number even when the letter H is not appended to the desired value Since nn is a hexadecimal number it is possible that the most significant character left most character is an alphabet A F depending on the choice of values for various bits In order for the controller to distinguish between an ASCII command and its value it is recommended that the users always add a leading zero 0 to the nn value See table below for clarification Example C
302. s up the data acquisition mode to acquire two analog channels 1 and 2 and two position channels 1 and 3 data when an external event trigger is detected by the controller Furthermore it turns OFF axis 1 motor power after data has been captured DC3 1 3 5 0 1 Param 1 Acquire analog position data on an external trigger Param 2 No consequence for this mode Param 3 Acquire analog channels 1 amp 2 319 101 Param 5 No consequence for this mode Param 6 Acquire one sample of data Turn OFF motor 1 when the external event trigger occurs DEI Enable analog data acquisition DD Query data acquisition done status 1 true 0 false 4 23 4 24 If true DEO Disable trace variable data acquisition DG Get data collected The user specified analog and or encoder position data will be captured 60ns after falling edge of position capture input trigger If there is a de bounce on the input signal the data is captured 20ns after the last falling edge Please see the timing diagram below for further details Figure 4 8 Timing Diagram of Position Capture Synchronized to Extend input Trigger 4 7 3 Hardware Required Position Capture Input Triggering The external input required to trigger the capture of desired axes position must be connected to Auxiliary I O connector pin 20 This input is pulled up to 5 volts with a 1KQ resistor The input pulse must be a low going
303. same two phases simultaneously but with different currents For example lets say that phase A has the full current and phase B only half This means that phase A will pull the rotor tooth twice as strongly as B does The rotor tooth will stop closer to A somewhere between the full step and the half step positions Figure 5 36 Figure 5 36 Energizing Two Phases with Different Intensities The conclusion is that varying the ratio between the currents of the two phases the user can position the rotor anywhere between the two full step locations To do so the user needs to drive the motor with analog signals similar to Figure 5 37 ANON Boy N CaN DNS N Figure 5 37 Timing Diagram Continuous Motion Ideal But a stepper motor should be stepping The controller needs to move it in certain known increments The solution is to take the half sine waves and digitize them so that for every step command the currents change to some new pre defined levels causing the motor to advance one small step Figure 5 38 she e ae eu E D cg cp Figure 5 38 Timing Diagram Mini Stepping 5 29 5 30 This driving method is called mini stepping or micro stepping For each step command the motor will move only a fraction of the full step Motion steps are smaller so the motion resolution is increased and the motion ripple
304. save all controller settings to non volatile memory Section 3 Remote Mode GR set master slave reduction ratio USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxGRnn or xxGR xx int axis number nn float reduction ratio XX 1to MAX AXES nn 1 000 000 none nn none missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 2 PARAMETER OUT OF RANGE This command sets the master slave reduction ratio for a slave axis The trajectory of the slave is the desired trajectory or actual position of the master scaled by reduction ratio Refer to the TJ command to specify the desired trajectory mode for a slave axis Note Use this command very carefully The slave axis will have its speed and acceleration in the same ratio as the position Also ensure that the ratio used for the slave axis does not cause overflow of this axis parameters speed acceleration especially with ratios greater than 1 If sign is issued along with command the controller returns master slave reduction ratio SS define master slave relationship 2551 set axis 2 to be the slave of axis 1 255 query the master axis number for axis 2 1 controller returns a value of 1 2TJ5 set axis 2 traje
305. sely simulates the application the numbers could be of little value The best approach is to carefully study the application extract from the specification sheet the applicable discrete error parameters and combine them usually add them to get the worst case general error applicable to the specific case This method not only offers a more accurate value but also gives a better understanding of the motion control system performance and helps pinpoint problems Also due to integrated nature of the ESP7000 system many basic errors can be significantly corrected by another component of the loop Backlash Accuracy and Velocity Regulation are just a few examples where the controller can improve motion device performance Control Loops When talking about motion control systems one of the most important questions is the type of servo loop implemented The first major distinction is between open and closed loops Of course this is of particular interest when driving stepper motors As far as the DC servo loops the PID type is by far the most widely used The ESP7000 implements a PID servo loop with velocity and acceleration feed forward The basic diagram of a servo loop is shown in Figure 5 13 Besides the command interpreter the main two parts of a motion controller are the trajectory generator and the servo controller The first generates the desired trajectory and the second one controls the motor to follow it as closely as poss
306. sign takes the place of nn value this command reports the current setting VA set velocity PA execute an absolute motion PR execute a relative motion AG set deceleration AC et acceleration AU read maximum allowed acceleration deceleration of axis 2 10 controller returns a value of 10 units s2 2AC9 set acceleration to 9 units s2 2AG6 set deceleration to 6 units s2 2AU15 set axis 2 maximum acceleration deceleration to 15 units s2 2AU read maximum allowed acceleration amp deceleration of axis 2 15 controller returns a value of 15 units s 3 31 BA set backlash compensation IMM PGM MIP USAGE SYNTAX xxBAnn or xxBA PARAMETERS Description xx int axis number nn float backlash compensation value Range XX 1to MAX AXES nn to distance equivalent to 10000 encoder counts Units XX none nn user units Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command initiates a backlash compensation algorithm when motion direction is reversed The controller keeps track of the motion sequence and for each direction change it adds the specified nn correction Setting nn to zero disables the backlash compensation NOTE The command is affective only after a home search OR or define home DH is performed on the specified
307. site polarized sections These motors offer the best combination of efficiency and fine stepping angles and can be driven by both unipolar and bipolar drivers 5 31 5 32 5 6 2 Advantages Stepper motors are primarily intended to be used for low cost microprocessor controlled positioning applications Due to some of their inherent characteristics they are preferred in many industrial and laboratory applications Some of their main advantages are Low cost full step open loop implementation No servo tuning required Good position lock in No encoder necessary Easy velocity control Retains some holding torque even with power off No wearing or arcing commutators Preferred for vacuum and explosive environments Disadvantages Some of the main disadvantages of the stepper motors are Could loose steps synchronization in open loop operation Requires current dissipates energy even at stop Generates higher heat levels than other types of motors Moves from one step to another are made with sudden motions Large velocity ripples especially at low speeds causing noise and possible resonances e Load torque must be significantly lower than the motor holding torque to prevent stalling and missing steps e Limited high speed DC Motors A DC motor is similar to a permanent magnet stepper motor with an added internal phase commutator Figure 5 43 J Ae Ba Ds Be 5
308. sly the ESP controller utilizes an ASCII command set and also outputs system status in ASCII format Commands may be either upper or lower case characters The diagram below illustrates the ESP controller command syntax As indicated in this diagram a valid command consists of three main fields The first field consists of a numerical parameter the second field consists of a two letter ASCII mnemonic and the third field consists of numerical parameter The command is finally terminated by a carriage return For example 3PA10 0 is a valid command Section 3 Remote Mode Section 3 Remote Mode If a command does not require parameter xx and or parameter that field may be skipped by leaving a blank character space For example 3WS and AB are all valid commands If a command requires multiple parameters in the third field all these parameters must be comma delimited For example 1HN1 2 is a valid command In a similar fashion multiple commands can be issued on a single command line by separating the commands by a semi colon For example 3MO 3PA10 0 3WS 3MF is a valid command line parameter b parameter E inn parameter command separator separator 2 terminator carriage return Figure 3 1 Command Syntax Diagram NOTE A controller command or a sequence of commands has to be terminated with a carriage return character Howeve
309. so or if the AB abort motion command is processed Note E stop deceleration value cannot be set lower than the normal deceleration value Refer the description of AG command for range of deceleration values RETURNS If the 2 sign takes the place of nn value this command reports the current setting REL COMMANDS VA set velocity PA execute an absolute motion PR execute a relative motion 3 24 Section 3 Remote Mode EXAMPLE Section 3 Remote Mode AU AG AC 2AE 100 2AE150 set maximum acceleration and deceleration set deceleration set acceleration read e stop deceleration of axis 2 controller returns a value of 100 units s2 set e stop deceleration to 150 units s 3 25 AF set acceleration feed forward gain IMM PGM MIP USAGE SYNTAX xxAFnn or xxAF PARAMETERS Description int axis number nn float acceleration feed forward gain factor Range 1 to MAX AXES nn 0 to 2e9 or to read current setting Units XX none nn none Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx2 PARAMETER OUT OF RANGE DESCRIPTION This command sets the acceleration feed forward gain factor Af It is active for any DC servo based motion device See the Feed Forward Loops in Motion Control Tutorial section to understand the basic principles of feed forward
310. specified If xx is missing or set to 0 the controller returns the values found in all eight ADC converters ADC channels are located on the analog I O connector on the controller card The following block diagram illustrates the implementation of analog to digital conversion in ESP controller Programmable Gain Six Pole Anti 16 bit 100 kHz Instrumentation alias Filter A D Converter Amplifier 8 Single Ended Inputs Sample Trigger Control Timer or Software Driven RETURNS read ADC channel REL COMMANDS AM set analog input mode EXAMPLE 1RA read the value of ADC channel 1 2 3456 12456 controller returns a value of 2 3456V and servo clock tick number when conversion was done read the value of all eight ADC channels 2 3456 3 2240 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 224578 controller returns values of all ADC channels and servo clock tick number when conversion was done 3 130 Section 3 Remote Mode RQ generate service request SRQ USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP RQnn nn int interrupt number nn 0 to 31 nn none nn missing 0 out of range error 7 PARAMETER OUT OF RANGE This command generates an interrupt service request to the host computer The parameter nn is used to identify the RQ command which generated the interrupt Upon receiving t
311. splay window as they are typed The ESP7000 changes the parameter on the HIGH SPEED screen The user should press the MENU button to exit and returns the user to the JOG MODE screen The LOW SPEED selection follows the same process as the HIGH SPEED The user should press the MENU button to exit and returns the user to the JOG MODE screen Section 1 Introduction Jog Mode 1 Unknown Unknown Unknown 4 Unknown 0 0000 setect 5 Unknown 0 0000 5 Unknown Lov E Speed Sheed Figure 1 12 Jog Mode Screen To toggle between the High and Low Speed loops available only when using Direction Function buttons for control the user must start jogging in one direction and while jogging press momentarily the button to move in the opposite direction NOTE If using the Control Knob only low speed velocities are available 5 When the user presses the HOME key from the MOVE MENU screen the HOME MENU screen displays The user chooses the desired axis by pressing the appropriate Axis Selection Button See Figure 1 13 Home Menu 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 Figure 1 13 Home Menu Screen Section 1 Introduction 1 19 Once an axis has been deleted the screen will display a HOME selection Selecting HOME will execute the user s algorithm on the appropriate axes NOTE ONLY ONE AXIS WILL HOME AT A TIME NOTE While HOME is in progress STOP will be displ
312. squares mark which mode the command can be used in USAGE B IMM B PGM modes of operation SYNTAX xxAAnn generic syntax format PARAMETERS Description xx int description of parameter Nn float description of parameter parameter could be integer number floating point number character or string Range xx minimum value to maximum value nn minimum value to maximum value Units XX units description nn units description Defaults XX missing default or error if parameter is missing out of range default or error if parameter is out of range nn missing default or error if parameter is missing out of range default or error if parameter is out of range DESCRIPTION detailed description of the command Note notes reminders and things to consider when using the command if any RETURNS Type format and description of the return the command is Generating if any ERRORS Error Code description of errors the command could Generate if misused REL COMMANDS brief definition of related commands EXAMPLE Command Discussed description Other command description Controller return description motor type if the command is specific for a motor type DC or stepping it will be labeled here otherwise this field 1s blank The mode mnemonics has the following meanings IMMediate mode controller is in idle mode and the commands are executed immediately Pro
313. ss overshoot e Use the default values provided with the system for all standard motion devices as a starting point e Use the minimum value for Ki that gives acceptable performance The integral gain factor can cause overshoot and oscillations A summary of servo parameter functions is listed in Table 6 1 Section 6 Servo Tuning Parameter Function Value Set Too Low Value Set Too High Kp Determines stiffness of servo loop Servo loop too soft with high following errors Servo loop too light and or causing oscillation Kd Main damping factor used to eliminate oscillation Uncompensated oscillation caused by other parameters being high Higher frequency oscillation and or audible noise in the motor caused by large ripple in the motor voltage Reduces following error during long motions and at stop Stage does not reach or stay at the desired stop position Oscillations at lower frequency and higher amplitude Vff Reduces following error during the constant velocity phase of a motion Negative following error during the constant velocity phase of a motion Stage lags the desired trajectory Positive following error during the constant velocity phase of a motion Stage is ahead of the desired trajectory Aff Reduces following error during the acceleration and deceleration phases of a motion Negative following error during the acceleration phase of
314. status DE Enable or disable data acquisition DG Get acquired data Table 4 4 Data Acquisition Commands ASCII Grouping 4 2 1 4 2 2 Section 4 Advanced Capabilities Introduction Grouping Coordinated motion of multiple axes is required to produce a desired contour in a multi dimensional space For instance if we want to move from one point to another along a line or along a circle or a combination of both line and circle we require coordinated motion of multiple axes One way to facilitate such coordinated motion is grouping the axes involved in producing the desired motion This is akin to defining the coordinate system in which the desired contour is being made Coordinated motion on a 2 D plane therefore requires a group comprised of any two axes while a similar motion in a 3 D space requires a group consisting of any three axes For sake of simplicity all further discussion of coordinated motion will be restricted to a 2 D plane The procedure for defining a group and all the group parameters required for making coordinated motion is described in Section 4 2 2 Section 4 2 3 discusses the commands that actually make the coordinated motion The procedure for making long moves or contours that involve a combination of circular and linear moves is described in Section 4 2 4 Miscellaneous grouping commands are discussed in Section 4 2 5 Defining a Group and Group Parameters This subsection dis
315. switch transition and then the very first index pulse Figure 5 23 So far we can label the two motion segments D and E During D the controller is looking for the origin switch transition and during E for the index pulse To guarantee the best accuracy possible both D and E segments are performed at a very low speed and without a stop in between Also during E the display update is suppressed to eliminate any unnecessary overhead D motion gt gt origin switch encoder index pulse Figure 5 23 Slow Speed Origin Switch Search The routine described above could work but has one problem Using the low speeds it could take a very long time if the motion device happens to start from the opposite end of travel To speed things up we can have the motion device move fast in the vicinity of the origin switch and then perform the two slow motions D and E The new sequence is shown in Figure 5 24 origin switch encoder index pulse Figure 5 24 High Low Speed Origin Switch Search 5 21 Motion segment B is performed at high speed with the pre programmed home search speed When the origin switch transition is encountered the motion device stops with an overshoot reverses direction and looks for it again this time with half the velocity segment Once found it stops again with an overshoot reverses direction and executes D and E
316. t a computer interface BLANK FRONT PANEL This version does not provide local operation via a display See Figure 1 2 Use of the Hand held Keypad is the only local operation Power Section This section is equipped with e Power Button BLACK e Stop All Button RED The black push button type switch on the left corner is used to turn power ON or OFF The on state is indicated with a green LED above the push button The Blank Front Panel also has e Keypad Connector Receptacle e An LED for each of the six axes to tell the user axis status Section 1 Introduction Section 1 Introduction Axis LEDs Stop All Motion P B K ower Button eypad Hutton Figure 1 2 Blank Front Panel FRONT PANEL WITH DISPLAY A general view of the front panel is shown in Figure 1 3 The areas on the panel include 3 5 Floppy Disk Drive Display LCD with menu screen capability Axis Selection Buttons Control Knob Stop All Button Emergency Stop Keyboard Connector Direction Function Buttons Numeric Keypad Menu Button Menu Selection Buttons Power Button Front Panel Detail Descriptions 3 5 Floppy Disk Drive The 3 5 Floppy Disk Drive is used for installation and to store motion programs firmware upgrades Display LCD The front panel display is a backlit LCD used for a variety of controller functions The title of the current menu screen is displayed along the top portion of the LCD Depending on the menu submen
317. t for DIO bit low EXAMPLE 1EP Enter stored program 1 Turn axis 1 motor power ON 1 Move axis 1 indefinitely in positive direction 13UL Wait for DIO bit 13 to go LOW before executing any subsequent commands jT Stop axis 1 WT500 Wait for 500 ms IMV Move axis 1 indefinitely in negative direction QP Quit program mode 3 156 Section 3 Remote Mode VA set velocity USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxVAnn or int axis number nn float velocity value XX 1to MAX AXES nn 0 to maximum value allowed by VU command or to read current setting XX none nn preset units second XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx10 MAXIMUM VELOCITY EXCEEDED This command is used to set the velocity value for an axis Its execution is immediate meaning that the velocity is changed when the command is processed even while a motion is in progress It can be used as an immediate command or inside a program If the requested axis is member of a group the commanded velocity becomes effective only after the axis is removed from the group Refer the Advanced Capabilities section for detailed description of grouping and related
318. t is pulled up to 5V and pulled down to ground with IKO resistors This facilitates both single and double ended signal handling into a 26LS32 differential receiver The A encoded signal originates from the stage position feedback circuitry and is used for position tracking Encoder B Input The B input is pulled up to 5V with a resistor The signal is buffered with a 26LS32 differential receiver The B encoded signal originates from the stage position feedback circuitry and is used for position tracking Appendix C Connector Pin Assignments Encoder B Input The B input is pulled up to 5V and pulled down to ground with 1KQ resistors This facilitates both single and double ended signal handling into a 26LS32 differential receiver The B encoded signal originates from the stage position feedback circuitry and is used for position tracking Encoder Ground Ground reference for encoder feedback Home Input This input is pulled up to 5V with a 1KQ resistor by the controller The Home signal originates from the stage and is used for homing the stage to a repeatable location Index Input The Index input is pulled up to 5V with a 1KQ resistor by the controller and is buffered with a 26LS32 differential receiver The Index signal originates from the stage and is used for homing the stage to a repeatable location Index Input The Index input is pulled up to 5V and pulled down t
319. t when the motor stops the device is at the correct position The velocity plot of this type of motion will have a trapezoidal shape Figure 5 20 For this reason this type of motion is called a trapezoidal motion Section 5 Motion Control Tutorial 5 4 2 Section 5 Motion Control Tutorial Desired Velocity Time Figure 5 20 Trapezoidal Motion Profile The position and acceleration profiles relative to the velocity are shown in Figure 5 21 Position Desired Velocity Acceleration Figure 5 21 Position and Acceleration Profiles Besides the destination the acceleration and the velocity of the motion the constant portion of it can be set by the user before every move command Advanced controllers like the ESP7000 allow the user to change them even during the motion Jog Motion When setting up an application it is often necessary to move stages manually while observing motion The easy way to do this without resorting to specialized input devices such as joysticks or track wheels is to use simple push button switches This type of motion is called a jog When a jog button is pressed the selected axis starts moving with a pre defined velocity The motion continues only while the button is pressed and stops immediately after its release The ESP7000 offers two jog speeds Both high speed and low speed are used programmable The jog acceleration is also ten times smaller than the programmed maximum acce
320. tage The following steps may be taken for a slave axis to follow master s position This mode may be chosen exclusively when absolute or relative move commands can be used to the master Steps Move Command Action by Move Command 1 Define master slave relationship 2SS1 Axis 2 is the slave of axis 1 2 Define master slave reduction 2GR0 5 Master s position is scaled by 0 5 to ratio obtain slave s position 3 Define slave axis trajectory mode 2TJ4 or 5 Set slave axis trajectory mode 4 Define master axis trajectory 1TJ1 or 2 Set master axis trajectory mode mode 5 Issue move commands to master 1PA10 axis Move master to absolute 10 units 1PR10 Move master by relative 10 units 4 3 3 Table 4 5 Slave to A Different Stage Steps Slave to a Trackball The following steps may be taken for a slave axis to follow master s velocity This mode may be chosen exclusively when absolute or relative move commands cannot be issued to the master Section 4 Advanced Capabilities In this case when the master is moved by the user the slave axis responds by jogging in proportion to the master s velocity The slave axis jog velocity update interval and the scaling coefficients can be defined by the user Steps Move Command Action by Move Command 1 Define master slave relationship 2SS4 Axis 2 is the slave of axis 4 2 Define slave axis jog vel Update 25110
321. tatus NOTE All direction bits are automatically zeroed or cleared after a system reset Therefore all DIO ports default to input by default NOTE Each DIO bit has a pulled up resistor to 5V Therefore all bits will be at HIGH logic level if not connected to external circuit and configured as input BIT VALUE DEFINITION 0 0 port A bit 0 at logic level 0 LOW 0 1 port bit 0 at logic level 1 HIGH 1 0 port A bit 1 at logic level 0 LOW 1 port A bit 1 at logic level 1 2 0 port A bit 2 at logic level 0 LOW 2 1 port A bit 2 at logic level 1 HIGH 3 0 port A bit 3 at logic level 0 LOW 3 1 port A bit 3 at logic level 1 HIGH 4 0 port A bit 4 at logic level 0 LOW 4 1 port A bit 4 at logic level 1 HIGH Section 3 Remote Mode 3 135 5 0 port A bit 5 at logic level 0 LOW 5 1 port A bit 5 at logic level 1 HIGH 6 0 port A bit 6 at logic level 0 LOW 6 1 port A bit 6 at logic level 1 HIGH 7 0 port A bit 7 at logic level 0 LOW 7 1 port A bit 7 at logic level 1 HIGH 23 0 bit 23 at logic level 0 LOW 23 1 port C bit 23 at logic level 1 HIGH default setting RETURNS If the 2 sign takes the place of nn value this command reports the current setting in hexadecimal notation REL COMMANDS BO set DIO port direction EXAMPLE BO read DIO port direction configuration OH controller returns a value of OH all ports are input BO 1H configu
322. ter 40 units 1HC set axis 2 arc center 60 units set sweep angle of arc 180 degrees query target position of the commanded move 40 60 180 controller returns axis 1 arc center 40 units axis 2 arc center 70 units and arc sweep angle 180 degrees Section 3 Remote Mode HD set group deceleration USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS Section 3 Remote Mode IMM PGM MIP xxHDnn or xxHD xx int group number nn float vector deceleration value 1 to MAX GROUPS 0 to minimum the maximum deceleration values of all axes assigned to this group predefined units second missing error 13 GROUP NUMBER MISSING out of range error 14 GROUP NUMBER OUT OF RANGE not assigned error 15 GROUP NUMBER NOT ASSIGNED floating point truncated nn missing error 7 PARAMETER OUT OF RANGE negative error 22 GROUP PARAMETER OUT OF RANGE out of range error 25 GROUP MAXIMUM DECELERATION EXCEEDED This command is used to set the vectorial deceleration value for a group This value will be used during coordinated motion of axes assigned to the group It will override any original deceleration values specified for individual axes using AG command The axes original values will be restored when the group to which they have been assigned is deleted This command takes effect imm
323. ter H is not appended to the desired value Since nn is a hexadecimal number it is possible that the most significant character left most character is an alphabet A F depending on the choice of values for various bits In order for the controller to distinguish between an ASCII command and its value it is recommended that the users always add a leading zero 0 to the nn value See table below for clarification Example Command Issued Controller Interpretation 1ZA123H nn 123H 0001 0010 0011 Binary 1ZA123 nn 123H 0001 0010 0011 Binary 17 0 25 nn F25H 1111 0010 0101 Binary 1ZAF25H Invalid command 3 167 RETURNS REL COMMANDS 3 168 BIT VALUE DEFINITION 0 0 1 2 Un gt UC P2 QN tA 8 9 10 10 11 31 31 or SS Se _ disable amplifier fault input checking enable amplifier fault input checking do not disable motor on amplifier fault event disable motor on amplifier fault event do not abort motion on amplifier fault event abort motion on amplifier fault event reserved reserved reserved reserved amplifier fault input active low amplifier fault input active high configure step motor control outputs for STEP DIRECTION configure step motor control outputs for STEP STEP configure STEP output as active low configure STEP output as active high configu
324. the deceleration is changed when the command is processed even while a motion is in progress It can be used as an immediate command or inside a program If the requested axis is a member of a group the commanded deceleration becomes effective only after the axis is removed from the group Refer to Advanced Capabilities section for a detailed description of grouping and related commands Avoid changing the deceleration during the acceleration or deceleration periods For better predictable results change deceleration only when the axis is not moving or when it is moving with a constant speed If the 2 sign takes the place of nn value this command reports the current setting VA set velocity PA execute an absolute motion PR xecute a relative motion AU set maximum acceleration and deceleration AC set acceleration 3 27 EXAMPLE 3 28 2AU 10 2AC9 2AG6 2AG read maximum allowed acceleration deceleration of axis 2 controller returns a value of 10 units s2 2 set acceleration to 9 units s set deceleration to 6 units s2 read maximum current deceleration of axis 2 2 controller returns a value of 6 units s Section 3 Remote Mode AM set analog input mode IMM PGM MIP USAGE SYNTAX AMnn or AM PARAMETERS Range nn 0 to 7 to read current setting Units nn none Defaults nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RA
325. the total number of samples can be up to 1000 This is a powerful feature that the user can take advantage of to get maximum performance out of the motion system Software Requirements Users can write their own application s or use the ESP tune exe Windows utility Correcting Axis Oscillation There are three parameters that can cause oscillation The most likely to induce oscillation is Ki followed by Kp and Kd Start by setting Ki to zero and reducing Kp and Kd by 50 If oscillation does not stop reduce Kp again When the axis stops oscillating system response is probably very soft The following error may be quite large during motion and non zero at stop Continue tuning the PID with the procedures described in the next paragraph Correcting Following Error If the system is stable and the user wants to improve performance start with the current PID parameters The goal is to reduce following error during motion and to eliminate it at stop Section 6 Servo Tuning Guidelines for further tuning based on performance starting point and desired outcome are provided in the following paragraphs Following Error Too Large This is the case of a soft PID loop caused by low values for Kp and Kd It is especially common after performing the procedures described in paragraph 6 2 2 First increase Kp by a factor of 1 5 to 2 Repeat this operation while monitoring the following error until it starts to exhibit excessive r
326. tion BO Set DIO port A B C direction BM Assign DIO bits to notify motion status BN Enable DIO bits to notify motion status BO 04H Set DIO ports A and B to input and port C to output 2BK 1 1 Use DIO bit 1 to inhibit motion of axis 2 This DIO bit should be HIGH when axis 2 motion is inhibited 2BL 1 Enable inhibition of motion using DIO bits for axis 2 2BK Query the DIO bit assignment for axis 2 1 1 The controller responds with the assigned values 2BL Query the status of inhibiting motion for axis 2 through DIO 1 The controller responds with 1 indicating feature is enabled 3 35 BM assign DIO bits to notify motion status IMM PGM MIP USAGE SYNTAX xxBMnnl nn2 or xxBM PARAMETERS Description xx int axis number nni int bit number for notifying motion status nn2 int bit level when axis is not moving Range 1 to MAX AXES nni 0 to 23 nn2 0 LOW and 1 HIGH to read current setting Units None Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nnl missing error 38 COMMAND PARAMETER MISSING out of range error xxl PARAMETER OUT OF RANGE nn2 missing error 38 COMMAND PARAMETER MISSING out of range error xxl PARAMETER OUT OF RANGE DESCRIPTION This command is used to assign DIO bits for notifying the motion status moving or not moving of a selected axis When the selected axis is not moving
327. tion for an axis Its execution is immediate meaning that the value is changed when the command is processed including when motion is in progress It can be used as an immediate command or inside a program RETURNS If sign takes the place of nn value this command reports current setting REL COMMANDS OR search for home OL set home search low speed EXAMPLE 30H10 set home search high speed of axis 3 to 10 units sec 30H query home search high speed of axis 3 10 controller returns a value of 10 0 units second 3 108 Section 3 Remote Mode OL set home search low speed IMM PGM MIP USAGE SYNTAX xxOLnn or xxOL PARAMETERS Description xx int axis number nn float low speed value Range XX 1to MAX AXES nn 0 to maximum value allowed by VU command or to read present setting Units XX none nn preset units second Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error xx10 MAXIMUM VELOCITY EXCEEDED error xx24 SPEED OUT OF RANGE DESCRIPTION This command sets the low speed used to search for home location for an axis Its execution is immediate meaning that the value is changed when the command is processed including when motion is in progress It can be used as an immediate command or inside a program RETURNS If sign takes the place of nn value this command reports current setting REL
328. tion of via point buffer implementation The enqueued commands get executed on a FIFO basis when the move already in progress has reached its destination The group does not come to a stop at the end of last move Instead there will be a smooth transition to the new move command just as if it were one compound move combination of multiple moves Note The transition from last move to new move will be smooth if tangential velocity at the end of last move is the same as that at the beginning of new move If sign takes the place of nn values this command reports the target positions of axes assigned to the group Section 3 Remote Mode REL COMMANDS EXAMPLE Section 3 Remote Mode HN HV HA HD 1HN1 2 1HV10 1HA50 1HD50 1HO 1HP 0 0 191 50 50 1HL 50 50 create a new group set vectorial velocity for a group set vectorial acceleration for a group set vectorial deceleration for a group enable a group disable a group move a group of axes to desired position along an arc create a new group 1 with physical axes 1 and 2 set vectorial velocity of group 1 to 10 units second set vectorial acceleration of group 1 to 50 units second set vectorial deceleration of group 1 to 50 units second enable group 1 query current group position controller returns axis 1 0 units and axis 2 0 units move axis 1 to a target position 50 units move axis 2
329. tion only when all the axes assigned to this group are not in motion RETURNS If sign takes the place of nn value this command reports the current setting REL COMMANDS AU set maximum acceleration and deceleration for an axis HN create a new group HD set vectorial deceleration for a group 3 68 Section 3 Remote Mode EXAMPLE Section 3 Remote Mode 1HN1 2 1AU 50 2AU 60 1 50 1 50 create new group 1 with physical axes 1 and 2 query maximum acceleration of axis 1 controller returns a value of 50 units second query maximum acceleration of axis 2 controller returns a value of 60 units second set vectorial acceleration of group 1 to 50 units second query vectorial acceleration of group 1 controller returns a value of 50 units second 3 69 HB read list of groups assigned USAGE SYNTAX PARAMETERS DESCRIPTION RETURNS REL COMMANDS EXAMPLE 3 70 IMM PGM MIP None This command is used to read the group numbers that have already been created or assigned This command reports the current setting If no groups have been created controller returns error number 15 GROUP NUMBER NOT ASSIGNED HN HX 1HN1 2 1HN 1 2 2HN3 4 2HN 3 4 HB 12 create new group delete a group create a new group 1 with physical axes 1 and 2 read axes assigned to group 1 controller returns the axes assigned to group 1
330. tion status 1 controller returns a value of 1 when motion is done 3TP query axis 3 position 0 controller returns a value of 0 units Section 3 Remote Mode PA move to absolute position USAGE SYNTAX PARAMETERS Description Range Units Defaults DESCRIPTION RETURNS REL COMMANDS EXAMPLE Section 3 Remote Mode IMM PGM MIP xxPAnn xxPA xx int axis number nn float absolute position destination XX 1to MAX AXES nn any position within the travel limits and within 2e9 encoder resolution XX defined motion units error 37 AXIS NUMBER MISSING error 9 AXIS NUMBER OUT OF RANGE XX missing out of range error 38 COMMAND PARAMETER MISSING error xx04 POSITIVE HARDWARE LIMIT EXCEEDED error xx05 NEGATIVE HARDWARE LIMIT EXCEEDED error xx06 POSITIVE SOFTWARE LIMIT EXCEEDED error xx07 NEGATIVE SOFTWARE LIMIT EXCEEDED nn missing out of range out of range out of range out of range This command initiates an absolute motion When received the selected axis xx will move with the predefined acceleration and velocity to the absolute position specified by nn If the requested axis is member of a group this command does not initiate the desired motion Instead error xx31 COMMAND NOT ALLOWED DUE TO GROUP ASSIGNMENT is generated Refer HL and HC commands to move along a line or an arc If this command is issued when trajectory mode
331. tion to 9 units s2 set deceleration to 6 units s2 set axis 2 maximum acceleration deceleration to 15 units s2 read maximum allowed acceleration amp deceleration of axis 2 controller returns a value of 15 units 3 23 AE set e stop deceleration IMM PGM MIP USAGE SYNTAX xxAEnn or xxAE PARAMETERS Description xx int axis number nn float e stop deceleration value Range XX 1 to MAX AXES nn current normal deceleration value to 2e9 encoder resolution or to read current setting Units predefined units second2 Defaults XX missing error 37 AXIS NUMBER MISSING out of range error 9 AXIS NUMBER OUT OF RANGE nn missing error 38 COMMAND PARAMETER MISSING out of range error 1 PARAMETER OUT OF RANGE DESCRIPTION This command is used to set the e stop deceleration value for an axis Its execution is immediate meaning that the e stop deceleration value is changed when the command is processed even while a motion is in progress It can be used as an immediate command or inside a program If the requested axis is a member of a group the commanded e stop deceleration becomes effective only after the axis is removed from the group Refer to Advanced Capabilities section for a detailed description of grouping and related commands E stop deceleration is invoked upon a local e stop condition e g front panel Stop All pushbutton Interlock etc has occurred if configured to do
332. tions if equipped The address change takes affect immediately after the command is processed Note Use the SM command to save new address setting to non volatile memory RETURNS If the sign takes the place of nn value this command reports the current setting REL COMMANDS none EXAMPLE SA 3 set device address to 3 SA read present device address setting 3 controller returns device address 3 SM save all settings to non volatile memory 3 134 Section 3 Remote Mode SB set get DIO port A B C bit status IMM PGM MIP USAGE SYNTAX SBnn or SB PARAMETERS Description nn int hardware limit configuration Range nn 0 to OFFFFFFH hexadecimal with leading zero 0 or to read current setting Units nn None Defaults nn missing error 38 COMMAND PARAMETER MISSING out of range error 7 PARAMETER OUT OF RANGE DESCRIPTION This command is used to either set all digital DIO port A B and C logic level or read its present status Bits 0 7 correspond to port A bits 8 15 to port B and bits 16 23 to port C Each 8 bit port can be set as either input or output with the BO command A DIO within a port configured as an input can only report its present HIGH or LOW logic level Whereas a DIO bit within a port configured as an output can set 1 or clear 0 the corresponding DIO hardware to HIGH or LOW logic level Reading the status of a port configured as output returns its present output s
333. u choices or controller functions are displayed along the bottom and will correlate with a Menu Selection Button 1 9 1 10 Axis dependent selections will typically be displayed along the right hand side of the LCD These will correlate with the Axis Selection Buttons The rest of the LCD is used for display of data Located underneath the display the user will find the five Menu Selection Buttons These buttons are used to navigate through the menu system and at times select certain function criteria See Figure 1 3 3 5 Floppy Axis Disk Drive Display LCD Selection Control Knob Buttons Power Direction Bod id Function e Button Menu Menu Sa all Selection Button Numeric Buttons Buttons Keypad Keypad Connector Figure 1 3 ESP7000 Front Panel with displays Fop Hen O 0 0000 Figure 1 4 Menu Item Display Section 1 Introduction Section 1 Introduction Axis Selection Buttons The six Axis Selection push buttons allow the user to select an axis in any chosen menu Each button has a Status LED which will illuminate yellow indicating a configured axis that is currently disabled Control Knob This knob allows the user to control a specific function in the current menu display e g Jog Home etc Red Stop All Button For safety reasons motor power can be controlled separately This is done from the front panel with the STOP ALL button For easier identification the STOP AL
334. ue to such physical attributes a significant position error can be generated when systems are moved from one position to another by stepper motors without any closed loop control mechanism This error can be further accentuated by micro stepping and non collection of encoders necessary to have closed loop control and motors ESP series of motion controller s support closed loop positioning of stepper motors to eliminate such errors The next subsection details the implementation of this feature in ESP controllers 4 4 2 Feature Implementation While closed loop control of stepper motors can be done during tracking as well as regulation ESP controllers closed loop stepping feature is effective only during regulation i e desired motion is completed and the motor is holding position This was done in order to avoid tuning of control gains such as proportional Kp integral Ki derivative Kd gains etc Users need to only enable the feature and define two 2 parameters desired deadband and closed loop update interval The following block diagram illustrates this feature When the desired motion is completed the controller calculates position error and evaluates if the error is within the user specified deadband If it is no further corrective actions are commanded On the other hand if the error is larger than the desired value the controller starts the closed loop update interval timer and issues commands to make necessary co
335. unately it can also contribute to oscillation and overshoot Change this parameter carefully and if possible in conjunction with Kd Start with the integral limit set to a high value and Ki value at least two orders of magnitude smaller than Kp Increase its value by 50 at a time and monitor overshoot and final position at stop If intolerable overshoot develops increase the Kd factor Continue increasing Ki and Kd alternatively until an acceptable loop response is obtained If oscillation develops immediately reduce Ki Remember that any finite value for Ki will eventually reduce the error at stop It is simply a matter of how much time is acceptable for the application In most cases it is preferable to wait a few extra milliseconds to get to the stop in position rather than have overshoot or run the risk of oscillations Following Error During Motion This is caused by a Ki value that is too low Follow the procedures in the previous paragraph keeping in mind that it is desirable to increase the integral gain factor as little as possible Points To Remember e Use the Windows based ESP tune exe utility to change PID parameters and to visualize the effect Compare the results and parameters used with the previous iteration e The ESP controller uses a servo loop based on the PID with velocity and acceleration feed forward algorithm e Use the lowest acceleration the application can tolerate Lower acceleration generates le
336. up e HZ This command is used to read the size or the number of axes assigned to a group Slaving a Stage to Trackball Joystick a Different Stage 4 31 Introduction Slaving Stage ESP series of motion controllers allow three different ways in which a slave axis can respond to a master axis They are Section 4 Advanced Capabilities 4 11 4 12 1 Slave to master s desired position trajectory 2 Slave to master s actual position feedback 3 Slave to master s actual velocity for jogging The first two ways may be used when absolute or relative move commands can be issued to the master This is the situation when both master and slave axes are driven by valid motor types The third way may be used when move commands cannot be issued to the master This is the situation when the slave axis is driven by a valid motor type but the master such as trackball or joystick is not In any case a series of preliminary commands have to be issued before the desired master slave response is obtained These include defining master slave relationship appropriate constants and trajectory mode The next section outlines the steps to be taken for a slave axis to follow master s position The subsequent section outlines the steps to be taken for a slave axis to follow master s velocity The final section outlines the steps to be taken to jog an axis based on inputs from a digital joystick 4 3 2 Slave to A Different S
337. us memory Remote Interfaces In this manual Remote Interface refers to the two communication interfaces that the controller can use to communicate with a computer or a terminal via commands in ASCII format It is not called a Computer Interface since any device capable of sending ASCII characters can be interfaced with the controller The remote interface should not be confused with the General Purpose Input Output digital I Os a k a GPIO Section 3 Remote Mode 3 3 3 4 3 2 1 3 2 2 RS 232C Interface HARDWARE CONFIGURATION The serial RS 232C communication interface on the ESP controller is accessed through the 9 pin Sub D connector located on the rear panel The pin out is designed to interface directly with an IBM PC or compatible computer using a straight through cable Appendix C shows the pin out of the RS 232C connector and different cable types that may be used to interface to a computer COMMUNICATION PROTOCOL The RS 232C interface must be properly configured on both devices communicating A correct setting is one that matches all parameters baud rate number of data bits number of stop bits parity type and handshake type for both devices The ESP RS 232C configuration is fixed at 8 data bits no parity and 1 stop bit To prevent buffer overflow when data is transferred to the ESP controller input buffer a CTS RTS hardware handshake protocol is implemented The host terminal can control tra
338. ware Required Position Capture Input Triggering 4 24 Section 5 Motion Control Tutorial 5 1 5 1 M tion Systems eiiie 5 1 5 2 Specification Definitions 5 2 5 2 1 Following Error 5 3 5 2 2 ETOT 5 3 2 2 37 5 3 5 2 4 Local Accuracy ccs evene MON 5 4 3 2 9 RESOLU ON teat ie ioi 5 5 5 2 0 Minimum Incremental Motion 5 5 5 2 7 Repeatability eese 5 7 5 2 8 Backlash Hysteresis 5 7 5 2 9 Pitch Roll and Yaw 5 8 2 2 10 FW OD DIG i eae ep REIN 5 9 5 2 11 Load Capacity io 5 10 5 2 12 Maximum Velocity 5 11 5 2 13 Minimum Velocity 5 11 5 2 14 Velocity Regulation 5 12 5 2 15 Maximum Acceleration 5 12 5 2 16 Combined Parameters 5 13 5 3 Control Loops dietus 5 13 5 3 1 PID Servo 5 14 5 3 2 Feed Forward Loops 5 16 5 4 Motion 5 18 5 44 1 Move 5 18 5 4 2__ Jog MOBODS Ua dida d pite o QUU 5 19 54 3 JHOHmieSeareli oes 5 20 5 5 EnBCOdGtS c e tee iet 5 22 5 6 IVIGLOIS 5 26 Preface
339. xample 3 The following program will home initialize axis 1 and move to an absolute target position Before the motion is started the controller will be configured to generate a precise TTL pulse every 1 00 units of relative distance EP RELCOMPARE start program entry mode 1 MO enable axis 1 motor power 1 home axis 1 1WS 1000 wait for home completion and dwell 1 second 4 21 1 PC 2 1 00 arrm relative position compare trigger pulse every 1 00 units 1 PA 15 0 start absolute position move to location 15 0 1 WS 0 wait for home completion PC0 0 disarm compare trigger output pulse mode QP end program entry mode NOTE This feature is implemented using the auxiliary counter channels 7 and 8 in conjunction with axes counters and 2 Therefore if either axis 1 or 2 are configured in any compare mode then auxiliary counters channel 7 and 8 are used and not available e g cannot be used for trackball or master slave modes Counters 7 amp 8 are released and made available when the compare mode is disarmed e g xxPC 0 4 6 3 Hardware Required Position Compare Output Triggering The trigger pulses generated by the motion controller can be accessed through Auxiliary I O connector pins 17 and 18 Pin 17 is used in conjunction with axis 1 and pin 18 in conjunction with axis 2 Both of these outputs are buffered by IC P N SN74F21 As a result they can source 1mA maximum or sink 2
340. y mode 3 149 ZA Set amplifier configuration 3 167 ZB Set feedback configuration 3 170 ZE Set E stop configuration 3 172 ZF Set following error configuration 3 174 ZH Set hardware limit configuration 3 176 ZS Set software limit configuration 3 178 70 Get ESP system configuration 3 180 ZZ Set system configuration 3 183 STATUS FUNCTIONS Cmd Description IMM PGM MIP Page DP Get target position 3 57 DV Get working speed 3 58 ID Get stage model and serial 3 21 number MD Get axis motion status 3 101 Get hardware status 3 L17 TB Get error message 3 147 TE Get error number 3 148 Get position 3 150 TS Get controller status 3 151 TV Get velocity 3 152 TX Get controller activity 3 153 VE Get firmware version 3 159 Get available program memory 3 165 3 10 Section 3 Remote Mode MOTION amp POSITION CONTROL Description IMM PGM MIP Page AB Abort motion 3 21 DH Define home 3 54 MT Move to hardware travel limit 3 104 Move indefinitely 3 105 MZ Move to nearest index 3 107 OR Origin searching 3 111 Move absolute 3 113 Move relative 3 120 ST Stop
341. ypad on the Front Panel allows the user to enter numeric values onto the display screen See Figure 1 6 Axia a 0 000012 hccalaratrone 0 0000 109000 0000 Error 1000 0000 e en Parameters for Axis 1 displayed Numeric Keypad Figure 1 6 Numeric Keypad to enter specific Parameters Menu Button When the user presses the Menu button on the Front Panel it allows the user to go from a sub menu screen up one level in the menu hierarchy Menu Selection Buttons These five Menu Selection push buttons below the display window allows the user to navigate through the menu system See paragraph called Menu Section and the Menu Matrix Section 1 Introduction Section 1 Introduction Power Button The BLACK Power button has an associated four state LED s Power On green Standby yellow Power Fault red and Power Off gray POWER ON indicates the main power switch is ON and the system is active STAND BY indicates the main power switch is on and the system is INACTIVE POWER FAULT indicates a malfunction of the power supply POWER OFF indicates the ESP7000 main power switch is OFF MENU SECTION The ESP7000 features five push buttons below the display window on the front panel This menu access allows the user to setup and use the motion system without a computer interface When the black POWER button is pressed the display shows the

ESP7000 Motion Controller/Driver

Contents

Download Pdf Manuals

Related Search

Related Contents