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User manual for DC servo motor driver TDC001

1. Ijue Crewe eror Satins Dje Sace eo fsa Fig 5 1 Typical APT User Screen 1 Run the APT User program Start Programs Thorlabs APT APT User 23 Chapter 5 2 Notice how the Z612 B actuator type selected in Section 3 5 is displayed in the Settings window See Section 5 10 and Section 6 3 for further details on the parameter values shown in the Settings display Tibial Cond me SN 83000001 V1 0 12 1 0 8 a Jog Travel a Home Homed Moving 7 Stop Enable E o o es Rev Hardware Shea Fwd Hardware THORLARS A Ident Active Error l Settings Fig 5 2 DC Driver T CubeSoftware GUI The APT User utility will be used throughout the rest of this tutorial to interface with the DC servo motor controller 24 HA0142T Rev 12 February 2011 DC Servo Motor Driver 5 3 Homing Motors Homing the motor moves the actuator to the home limit switch and resets the internal position counter to zero The limit switch provides a fixed datum that can be found after the system has been powered up Grahical Conta I Tia 1 aRt ra SN 83000001 V1 0 12 1 0 8 Jog Travel Home Moving y Stoj Enable E e s l Rev Hardware oO EE THORLAZS L idet Active Error Settings oO Fwd Hardware Fig 5 3 DC Driver T Cube Software GUI 1 Click the Home button Notice that the led in the button lights to indicate that homing is in progress and the displ
2. mode After each mode change the Active LED on the unit will flash five times ee 22 HA0142T Rev 12 February 2011 Chapter 5 PC Operation Tutorial 5 1 Introduction The following brief tutorial guides the user through a typical series of moves and parameter adjustments performed using the PC based APT software It assumes that the unit is electrically connected as shown in Section 3 3 1 and that the APT Software is already installed see Section 3 1 For illustration purposes it also assumes that a Z612 motor is connected to the Motor connector on the rear panel 5 2 Using the APT User Utility The APT User exe application allows the user to interact with any number of APT hardware control units connected to the PC USB Bus or simulated via the APTConfig utility This program allows multiple graphical instrument panels to be displayed so that multiple APT units can be controlled All basic operating parameters can be set through this program and all basic operations such as motor moves can be initiated Hardware configurations and parameter settings can be saved which simplifies system set up whenever APT User is run up ET A Motor sw 63000001 EEK T motor su 20000001 EN 20000001 Vi 0 12 1 038 Travel Moving Enable Ghannel SN 21000001 V1 0 12 1 0 5 v2 cae ie A vots ep a lt gt 4 5 s W jopen Loop Mi Closed Loop Jog JB Open Loop J Closed Loop Ume pesam mamm o
3. Current Configuration Names J Load Save Set as Current Add Remove Controllers Loaded Configuration Details to from Configuration Control Unit 1Ch DC Driver T Cube TDC 001 X Simulator Configuration Simulator Configurations Configuration LAB 1 Current Configuration Names Load Save Set as Current Add Remove Controllers Loaded Configuration Details Reelin ule OU at 83000001 1Ch DC Driver T Cube TDC 001 Control Unit 1Ch DC Driver T Cube TDC 001 E Enter 6 digit Serial Number 000001 Add Remove Chapter 5 6 In the Enter 6 digit serial number field enter the serial number of your OptoDC unit Each physical APT hardware unit is m programmed with a unique 8 digit serial number In order to simulate a set of real hardware the Config utility allows an 8 digit serial number to be associated with each simulated unit It is good practice when creating simulated configurations for software development purposes to use the same serial numbers as any real hardware units that will be used Although serial numbers are 8 digits as displayed in the Load Configuration Details window the first two digits are added automatically and identify the type of control unit The prefixed digits relating to the DC Servo Driver T Cube are 83xxxxxx 1 Ch DC Driver T Cube 7 Click the Add button 8 Repeat items 1 to 7 as required A unit can be removed from the configuration by s
4. TDCOO 1 DC Servo Motor Driver User Guide Contents Chapter 1 Safety ccccicsiccces casts 2elivarcs deecetvetseccceceete TENNAN NAERA 1 1 Safety Information 1 2 General Warnings Chapter 2 Introduction and Overview cesccesseeseeeceeeeeeeeeeeeeeseeneneeeeeeeees 5 Qf LUPO DUCHON iorra ind osnessuivensisianisidiedsiaisasisistasioetalosioss 2 2 T Cube Controller HUD wucccccccccccccsssssssceneeceececeecnecneeeesenseeseceeceaeeenssanananeess 2 3 APT PC Software Overview 2 3 1 IMPODUCHON senenin aseonccacesssieaden datdedawseayscatevhvadasneena Ceccuheed desdandveaueedatexkcvadenais 23 2 AP TUSGr WGN sccccesccstee crcesarerceeciatee oraaa SENE 2 3 3 APT Config Utility 000 2 3 4 APT Server ActiveX Controls 2 3 5 Software Upgrade Sinior aia Eaa eisai einai alas Chapter 3 Getting Started cccccsessseeeeeseeeeeeeeeseeeeeeeeneseeeeseseeseeeeeneeeenenenes 3 1 Install The Software 3 2 Mechanical Installation esessenseenennaeneenennneennnnnennannnnnennnnnnnrnnnnnnennnn ne 3 2 1 Environmental Conditions cccccceeesceeeeeneeeeeeneeeeeeaeeeeeeeeeeecaeeeeeaaeeeeeaeeeeeeas 3 2 2 Mounting Options 3 2 3 Removing the Baseplate 3 3 Electrical Installation 0 04 3 3 1 Connecting a Motor s 3 3 2 Using The TCH002 Controller Hub 3 3 3 Connecting To A Standalone Power Supply 3 4 Connect The Hardware 2 sscccccceseseeceeceneeaeeeeceeesaeaeseesea
5. 3 for details on performing a Home move E 2 3 Limit Switches A linear stage moves between two stops and movement outside these limits is physically impossible Linear stages can include stages that control the angle of a platform within a certain range although the movement of the platform is not really linear but angular Rotary stages can rotate indefinitely like a wheel Linear and rotary stages can contain microswitches that detect certain positions of the stage but they differ in the way these switches are used All linear stages have a ve limit switch to prevent the stage from accidentally being moved too far in the ve direction see Fig E 3 Once this switch is activated movement stops The switch also provides a physical datum used to find the Home position Some linear stages and actuators also have a ve limit switch such as the ZST range of actuators whereas others rely on a physical stop to halt the motion in the positive direction A rotary stage has only one switch used to provide a datum so that the Home position can be found Movement is allowed right through the switch position in either direction 60 HA0142T Rev 12 February 2011 DC Servo Motor Driver Datum switch ve limit switch ve limit switch or stop Linear stage Rotary stage Fig E 3 Stage limit switches E 2 4 Minimum and Maximum Positions These positions are dependent upon the stage or actuator to which the motors are fitted and are d
6. 4 0 399999 Button Control Settings Left Top Button Pos Right Lower Button Pos persist Jogging X l 1 5 Settings to Hardware Fig 6 5 DC Driver T Cube Advanced Settings Indicator LED Modes The Active and Power LEDs fitted to the front panel of the unit can be configured to indicate certain driver states as follows Limit Switch Activation When this option is selected the Active LED will flash when the motor reaches a forward or reverse limit switch Ident When this option is selected the Active LED will flash when the Ident button is clicked on the APT Software GUI panel 46 HA0142T Rev 12 February 2011 DC Servo Motor Driver Motor Moving When this option is selected the Active LED is lit when the motor is moving It is recognised that in a light sensitive environment stray light from the LED could be undesirable Therefore it is possible to disable selectively one or all of the LED indicator modes described above by clearing the associated check boxes in the LED Indicator Modes field Potentiometer Control Settings The potentiometer slider is sprung such that when released it returns to it s central position In this central position the motor is stationary As the slider is moved away from the center the motor begins to move the speed of this movement increases as the slider deflection is increased Bidirectional control of motor moves is possible by moving
7. DC servo motor connected to the selected channel The resolution of the motor combined with other characteristics such as lead screw pitch of the associated actuator determines the overall resolution Steps Per Rev The number of encoder counts per revolution of the DC servo motor minimum 1 maximum 1000 The Gearbox Ratio parameter is applicable only to motors fitted with a gearbox Gearbox Ratio The ratio of the gearbox For example if the gearbox has a reduction ratio of X 1 i e every 1 turn at the output of the gearbox requires X turns of the motor shaft then the Gearbox Ratio value is set to X minimum 1 maximum 1000 The Steps Per Rev and Gearbox Ratio parameters together with the Pitch and Units parameters are used to calculate the calibration factor for use when converting real world units to encoder counts The Z600 series of DC servo motors have an encoder with 48 counts per rev and a 256 1 reduction gearbox In this case the Steps Per Rev and Gearbox Ratio should be set to 48 and 256 respectively The equivalent calibration constant is calculated as 48 x 256 x 2 25440 encoder counts mm 48 counts per revolution 256 1 reduction gearbox 0 5mm lead screw pitch The correct default values for Steps Per Rev and Gearbox Ratio are applied automatically when the APTConfig exe utility is used to associate a specific stage or actuator type with a motor channel See the APTConfig
8. helpfile and the tutorial Section 3 5 for more details Chapter 6 be _ Persist Settings to Hardware Many of the parameters that can be set for the DC Driver T Cube can be stored persisted within the unit itself such that when the unit is next powered up these settings are applied automatically This is particularly important when the driver is being used manually in the absence of a PC and USB link The Stage and Homing parameters described previously are good examples of settings that can be altered and then persisted in the driver for use in absence of a PC To save the settings to hardware check the Persist Settings to Hardware checkbox before clicking the OK button The Persist Settings functionality is provided to simplify use of the unit in the absence of a PC When the unit is connected to a PC and is operated via APTUser the default APTServer settings will be loaded at boot up even if the Persist Settings option has been checked 6 3 3 Advanced Tab Motor Driver Settings Moves Jogs Stage Axis Advanced Indicator LED Modes Potentiometer Control Settings Velocity 1 Pot Deflection 20 V Flash When Ident Button Pressed Velocity 1 0 100001 V Illuminate When Motor Moving Velocity 2 Pot Deflection 50 Servo Loop PID Control Settings Velocity 2 0 2 Proportional Velocity 3 Pot Deflection 80 Integral Velocity 3 0 3 Derivative Velocity 4 Pot Deflection 100 Integral Limit Velocity
9. is possible from the front panel to save the current position as the Go To Position value To save the current position as the Go To Position value press and hold the required button for 2 seconds When the button has been programmed the Active LED on the unit will flash five times Typically you would use the pot to move the motor to the required position and then teach the button by pressing and holding it The move can be stopped at any time by pressing either of the move buttons This mode of operation is enabled by setting the Button Mode parameter to Go To Position on the Advanced settings tab see Section 6 3 for further information 4 4 3 Jogging The front panel buttons can also be configured to jog the motor This mode of operation is enabled by setting the Button Mode parameter to Jogging on the Advanced settings tab see Section 6 3 Once set to this mode the jogging parameters for the buttons are taken from the Jog parameters on the Move Jogs settings tab see Section 6 3 4 4 4 Switching between Button Modes The two panel buttons on the unit can be set to Jogging or Go To Position modes via the front panel Press and hold one of the buttons and simultaneously deflect the pot upwards to place the unit into Go To Position mode Similarly press and hold one of the buttons and deflect the pot downwards to place the unit into Jogging
10. not to touch the exposed adhesive surface 8 Position the feet as desired then press and hold for a few seconds until the adhesive has bonded 9 The unit may now be used freestanding sitting on its rubber feet it 14 HA0142T Rev 12 February 2011 3 3 Electrical Installation 3 3 1 Connecting a Motor OO00000 000000 of do MOTOR Fig 3 2 Rear Panel Connections The unit is supplied with a 15 pin D type connector as shown above which is compatible with all new Thorlabs DC servo motor actuators refer to Appendix A for details of pin outs A conversion adapter is available upon request to enable legacy actuators fitted with a 10 way IDC connector to be driven by the T Cube 3 3 2 Using The TCH002 Controller Hub The TCH002 USB Controller Hub provides power distribution for up to six T Cubes and requires only a single power connection from a separate supply unit TPSO06 supplied by Thorlabs Further details are contained in handbook ha0146T T Cube Controller Hub supplied with the unit DO NOT ne A ne UP Lae THE TCH002 lt CONTROLLER HUB Always ensure that all power is disconnected from the DC Servo Driver T Cube AND the hub before the T Cube is plugged into the hub Failure to observe this precaution will seriously damage the T Cube unit and could result in personal injury 15 Chapter 3 3 3 3 Connecting To A Standalone Power Supply OOOOO0OCC
11. supply Doing so i e hot plugging carries the risk of PERMANENT damage to the unit Similarly to power down the unit disconnect the power suply from the mains before disconnecting the T Cube unit 16 HA0142T Rev 12 February 2011 DC Servo Motor Driver Connect the DC servo motor actuator to the Controller unit see Section 3 3 1 Connect the Controller unit to the power supply see Section 3 3 3 Connect the PSU to the main supply and switch ON Windows should detect the new hardware Wait while Windows installs the drivers for the new hardware see the Getting Started guide for more information If any problems are encountered during the connection and power up process power cycle the unit which should clear the error 3 5 Select the Stage Type using APTConfig To ensure that a particular stage is driven properly by the system a number of parameters must first be set These parameters relate to the physical characteristics of the stage being driven e g min and max positions leadscrew pitch homing direction etc To assist in setting these parameters correctly it is possible using the APT Config utility to associate a specific stage type and axis with the motor controller Once this association has been made the APT server applies automatically suitable default parameter values on boot up of the software If the ME utility is not used to associate a particular stage the software will asso
12. the slider in both directions The speed of the motor increases by discrete amounts rather than continuously as a function of slider deflection These speed settings can be altered via the Potentiometer Control Settings parameters There are 4 pairs of parameters each pair specifies a pot deflection value in the range 0 to 127 together with an associated velocity set in real world units mm or degrees to apply at or beyond that deflection As each successive deflection is reached by moving the pot slider the next velocity value is applied These settings are applicable in either direction of pot deflection i e 4 possible velocity settings in the forward or reverse motion directions The parameters displayed above indicate that when the pot has been deflected to 20 approx 1 6 full scale deflection the motor will start to move at 0 1mm sec At a deflection of 50 approx 2 5 full scale deflection the motor velocity will increase to 0 2m sec and so on It is acceptable to set velocities equal to each other to reduce the number of speeds however this is not allowed for the deflection settings e g the Velocity 4 Pot Deflection value must be greater than Velocity 3 Pot Deflection value ORLAES i Chapter 6 Servo Loop PID Control Settings The DC Driver T Cube implements a full servo control loop for motor velocity and position control The loop response to demanded position moves is determined via Proportional Integration a
13. 2 System Architecture Diagram Refer to the main APT Software online help file APTBase hlp for a complete programmers guide and reference material on using the APT ActiveX Controls collection This is available either by pressing the F1 key when running the APT server or via the Start menu Start Programs Thorlabs APT APT Help Additional software developer support is provided by the APT Support CD supplied with every APT controller This CD contains a complete range of tutorial samples and coding hints and tips together with handbooks for all the APT controllers 2 3 5 Software Upgrades Thorlabs operate a policy of continuous product development and may issue software upgrades as necessary Detailed instructions on installing upgrades are included on the APT Software CD ROM ORLAES 1 Chapter 3 Getting Started 3 1 Install The Software When operating via a PC direct user interaction with the DC servo driver is accomplished through intuitive graphical user interface panels GUIs which expose all key operating parameters and modes The user can select multiple panel views displaying different information about a particular hardware unit The multitasking architecture ensures that the graphical control panels always remain live showing all current hardware activity Cautions Some PCs may have been configured to restrict the users ability to load software and on these systems the software may not install run If you a
14. CO OOOOOCC0CO OOOCCO0OCCO Standard 3 5 mm Jack Pin Length 9 5 mm OY USB Cc Fig 3 3 Front Panel Power Supply Connector 1 Using the front panel connector as shown above connect the unit to a regulated DC power supply of 15 V 1A Thorlabs offers a compact multi way power supply unit TPS008 allowing up to eight Driver T Cubes to be powered from a single mains outlet A single way wall plug supply TPS001 for powering a single Driver T Cube is also available Shock Warning The unit must be connected only to a DC supply of 15V 1A regulated Connection to a supply of a different rating may cause damage to the unit and could result in injury to the operator 3 4 Connect The Hardware 1 Perform the mechanical installation as detailed in Section 3 2 2 Install the APT Software Caution During items 3 to 6 the instructions should be followed strictly in the order stated Problems may occur if the process is not performed in the correct sequence 3 Connect the Controller unit to your PC Note The USB cable should be no more than 3 metres in length Communication lengths in excess of 3 metres can be achieved by using a powered USB hub During item 4 ensure the power supply unit is isolated from the mains before connecting to the T Cube unit Always power up the T Cube unit by connecting its power supply to the mains DO NOT connect the T Cube unit to a live external power
15. Saves settings for a specific controller Sets the absolute move position Sets the backlash distance Sets the front panel button settings Cube drivers Sets the GUI display mode Sets the homing sequence parameters Sets the limit switch configuration settings Sets the front panel indication LED operating modes Cube drivers HA0142T Rev 12 February 2011 SetJogMode SetJogStepSize SetJogVelParams SetMotorParams SetPositionOffset SetPotParams SetRelMoveDist SetStageAxisInfo SetVelParams ShowSettingsDlg StartCtrl StopCtrl Stoplmmediate StopProfiled Properties APTHelp DisplayMode HWSerialNum ORL 2S DC Servo Motor Driver Sets the jogging button operating modes Sets the jogging step size Sets the jogging velocity profile parameters Sets the motor gearing parameters Sets the motor position offset Sets the velocity control potentiometer parameters Sets the relative move distance Sets the stage axis parameters Sets the velocity profile parameters Display the GUI Settings panel Starts the ActiveX Control starts communication with controller Stops the ActiveX Control stops communication with controller Stops a motor move immediately Stops a motor move in a profiled decelleration manner Specifies the help file that will be accessed when the user presses the F1 key If APTHelp is set to True the main server helpfile MG17Base will be launched Allows the display mo
16. all amount negative move i positive move o T l l 10mm 20mm position Fig E 5 Backlash correction The particular stage selection will usually have this type of backlash correction enabled as its default mode of operation but it can be overridden if the overshoot part of the move is unacceptable for a particular application See Chapter 6 Software Reference Move Jogs Tab for details on setting the backlash correction E 62 HA0142T Rev 12 February 2011 Appendix F Regulatory F 1 Declarations Of Conformity F 1 1 For Customers in Europe This equipment has been tested and found to comply with the EC Directives 89 336 EEC EMC Directive and 73 23 EEC Low Voltage Directive as amended by 93 68 EEC Compliance was demonstrated by conformance to the following specifications which have been listed in the Official Journal of the European Communities Safety EN61010 2001 Installation Category II Polution Degree Il EMC EN61326 1997 F 1 2 For Customers In The USA This equipment has been tested and found to comply with the limits for a Class A digital device persuant to part 15 of the FCC rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interf
17. and place the APT Server into simulator mode In this way it is possible to create any number and type of simulated virtual hardware units in order to emulate a set of real hardware This is a particularly useful feature designed as an aid to application program development and testing Any number of virtual control units are combined to build a model of the real system which can then be used to test the application software offline If using real hardware ensure that Simulator Mode is disabled If using a simulated setup enable Simulator Mode and set up a Simulated Configuration see Section 5 7 or the APTConfig helpfile for detailed instructions ORLABS r Chapter 4 Standalone Operation 4 1 20 Introduction The DC Driver T Cube has been designed specifically to operate with the extensive range of Thorlabs DC motorised opto mechanical products The unit offers a fully featured motion control capability including velocity profile settings limit switch handling homing sequences and for more advanced operation adjustment of settings such as lead screw pitch and gearbox ratio allowing support for many different actuator configurations These parameters can be set via the APT Server software see Chapter 5 Furthermore many of these parameters are automatically set to allow out of the box operation with no further tuning required The following brief overview explains how the front panel controls can be u
18. ations and different optical table mounting scenarios The T Cube Controller Hub comprises a slim base plate type carrier 375mm x 86mm x 21 5mm 14 75 x 3 4 x 0 85 with electrical connections located on the upper surface to accept up to six T Cubes Internally the Controller Hub contains a fully compliant USB 2 0 hub circuit to provide communications for all six T Cubes a single USB connection to the Controller Hub is all that is required for PC control The Controller Hub also provides power distribution for up to six T Cubes requiring only a single power connection from a separate supply unit TPS006 supplied by Thorlabs 6 HA0142T Rev 12 February 2011 DC Servo Motor Driver 2 3 APT PC Software Overview 2 3 1 Introduction As a member of the APT range of controllers the T Cube DC Driver shares many of the associated software benefits This includes USB connectivity allowing multiple units to be used together on a single PC fully featured Graphical User Interface GUI panels and extensive software function libraries for custom application development The APT software suite supplied with all APT controllers including the DC Driver T Cube provides a flexible and powerful PC based control system both for users of the equipment and software programmers aiming to automate its operation For users the APTUser see Section 2 3 2 and APTConfig see Section 2 3 3 utilities allow full control of all settings and
19. ayed position for both channels counts down to 000 000 i e the home position Note Homing can also be performed by holding down both front panel buttons for around 2 seconds Note After homing shaft relaxation may cause a small position offset to be displayed This relates only to one or two encoder counts and is not significant in terms of real world positioning 2 When homing is complete the Homed LED is lit as shown above See Appendix E Section E 2 2 for background information on the home position ORLABS 25 Chapter 5 5 4 Moving to an Absolute Position Absolute moves are measured in real world units e g millimetres relative to the Home position 1 Click the position display Graphical Cond I ae j SN 83000001 V1 0 12 1 0 8 Travel Stop Enable Rev Hardware h Fwd Hardware Fig 5 4 Absolute Position Popup Window 2 Enter 3 0 into the pop up window 3 Click OK Notice that the position display counts up to 003 000 to indicate a move to the absolute position 3 00mm 26 HA0142T Rev 12 February 2011 DC Servo Motor Driver 5 5 Changing Motor Parameters Moves are performed using a trapezoidal velocity profile see Appendix E Section E 1 3 The velocity settings relate to the maximum velocities at which a move is performed and the acceleration at which the motor speeds up from zero to maximum velocity 1 On the GUI panel click the Settings button b
20. be Controller USB Hub TCHO002 Power Supply for Controller USB Hub TPS006 Single Way Power Supply TPS001 8 way Power Supply TPS008 Converter Cable for Legacy Z6 products 15 pin DIN to 10 pin IDC Z600 TCAB1 ORLAES 53 Appendix D Motor Control Method Summary The Motor ActiveX Control provides the functionality required for a client application to control one or more of the APT series of motor controller units To specify the particular controller being addressed every unit is factory programmed with a unique 8 digit serial number This serial number is key to the operation of the APT Server software and is used by the Server to enumerate and communicate independently with multiple hardware units connected on the same USB bus The serial number must be specified using the HWSerialNum property before an Activex control instance can communicate with the hardware unit This can be done at design time or at run time Note that the appearance of the ActiveX Control GUI graphical user interface will change to the required format when the serial number has been entered The Methods and Properties of the Motor ActiveX Control can be used to perform activities such as homing stages absolute and relative moves and changing velocity profile settings A brief summary of each method and property is given below for more detailed information and individual parameter descriptiond please see the on line help file supplied with the APT ser
21. ciate a Z806 type actuator by default Even if a stage type and axis has been associated with the controller it is still possible to alter these parameters if required e g for a custom stage type not selectable using the APT Config utility see Section 6 3 2 1 Shut down all applications using the APT software components e g APT User or your own custom application 2 Run the APT Config utility Start Programs Thorlabs APT APT Config ORLAES i Chapter 3 3 From the APT Configuration Utility window click the Stage tab APT Configuration Utility Simulator Configuration Server Settings Serial No Chan Stage Calibration File 20000001 1 NanoMax 300 Axis 20000001 2 17DRV014 Enc LNR 50mm 60000001 1 _ZST6IB 83000001 1 Z612 B Motor e gt Steg a Channel 1 v Add Change Stage Association Select Calibration File Remove Stage Association Remove Calibration File Fig 3 4 APT Configuration Utility Stage Tab In the Motor field select the serial number of the DC servo motor controller to be configured this number can be found on the side of the unit In the Stage field select your actuator type from the list displayed e g Z612 actuator Click the Add Change Stage Association button The actuator type and serial number are added to the list in the main window as shown above The server reads in the stage and controller information on start up Shut down the APTCon
22. client application The instrument panel reflects the current operating state of the controller unit to which it is associated e g such as motor position Updates to the panel take place automatically when a user client application is making software calls into the same Control For example if a client application instructs the associated DC servo motor Control to move a motor the progress of that move is reflected automatically by changing position readouts on the graphical interface without the need for further programming intervention EEE EEE EEO 10 HA0142T Rev 12 February 2011 DC Servo Motor Driver SS EEE EEE as The APT ActiveX Controls collection provides a rich set of graphical user panels and programmable interfaces allowing users and client application developers to interact seamlessly with the APT hardware Each of the APT controllers has an associated ActiveX Control and these are described fully in system online help or the handbooks associated with the controllers Note that the APTUser and APTConfig utilities take advantage of and are built on top of the powerful functionality provided by the APT ActiveX Server as shown in Fig 2 2 APT utilities APTUser APTConfig custom user application e g VB LabView MATLAB HPVEE C gt APT ActiveX GUI server PC Controller USB i DC Driver T Cube i DC Driver T Cube DC Driver T Cube Fig 2
23. de of the virtual display panel to be set read specifies the serial number of the hardware unit to be associated with an ActiveX control instance 57 Appendix E DC Motor Operation Background E 1 How ADC Motor Works E 1 1 General Principle A DC motor works by converting electric power into mechanical energy movement This is achieved by forcing current through a coil and producing a magnetic field which in turn spins the motor 0 degrees 90 degrees A Al 180 degrees B 270 degrees Fig E 1 DC Motor Operation To describe the operation of a DC motor consider the single coil example shown above In this diagram current is forced through the coil via sliding contacts brushes that are connected to the voltage source The brushes are located on the end of the coil wires and make a temporary electrical connection with the DC supply When current is flowing a magnetic field is set up as shown At 0 rotation the brushes are in contact with the voltage source and current is flowing The current that flows through the wire from A to B interacts with the magnetic field and produces an upward force The current that flows from C to D has a similar effect but because the flow is in the opposite direction with respect to the magnetic field the force is in the downward direction 58 DC Servo Motor Driver Both forces are of equal magnitude At 180 the same phenomenon occurs but seg
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25. e functionality For example there are Controls available that can be used to manipulate image files connect to the internet or simply provide user interface components such as buttons and list boxes With the APT system ActiveX Controls are deployed to allow direct control over and also reflect the status of the range of electronic controller units including the DC Driver T Cube Software applications that use ActiveX Controls are often referred to as client applications Based on ActiveX interfacing technology an ActiveX Control is a language independent software component Consequently ActiveX Controls can be incorporated into a wide range of software development environments for use by client application developers Development environments supported include Visual Basic Labview Visual C C Builder HPVEE Matlab VB NET C NET and via VBA Microsoft Office applications such as Excel and Word Consider the ActiveX Control supplied for the APT OptoDC servo driver unit SN 83000001 V1 0 12 1 0 8 Jog Travel oo Home Homed Moving 7 Stop Enable E l o o l s l Rev Hardware o are 6 Fwd Hardware _THORLAZS a Ident Active Error Settings _ Settings _ This Control provides a complete user graphical instrument panel to allow the motor unit to be manually operated as well as a complete set of software functions often called methods to allow all parameters to be set and motor operations to be automated by a
26. e only 40 HA0142T Rev 12 February 2011 DC Servo Motor Driver Jogs Jogs are initiated by using the Jog keys on the GUI panel see Section 5 6 or the Jog Buttons on the front panel of the unit Velocity Profile specified in real world units millimetres or degrees In current versions of the Min Vel parameter is locked at zero and cannot be adjusted MaxVel the maximum velocity at which to perform a jog Accn Dec the rate at which the velocity climbs from minimum to maximum and slows from maximum to minimum Operating Modes Jogging The way in which the motor moves when a jog command is received i e front panel button pressed or GUI panel button clicked There are two jogging modes available Single Step and Continuous In Single Step mode the motor moves by the step size specified in the Step Distance parameter If the jog key is held down single step jogging is repeated until the button is released see Fig 6 3 In Continuous mode the motor actuator will accelerate and move at the jog velocity while the button is held down Single Step mode Channel 1 f Continuous mode Channel 2 velocity _ jog step size jog velocity velocity button released distance button released jog velocity jog acceleration distance Fig 6 3 Jog Modes Single Step the motor moves by the step size specified in the Step Distance pa
27. eaeeeteesnsaness 3 5 Select the Stage Type using APTConfig 3 6 Verifying Software Operation 36 1 Initial Setup aaria le Ante eeceee a lidar heed Mined elven eae Chapter 4 Standalone Operation cceeceeeeeeeeeeeeseeeeeeeeeeeeeeeeeeeeeeeeeeeenes 20 4 1 AIT OGUCUON seeren aerar e aa A aed tan Aea E A sea eek 20 4 2 Control Panel Buttons and Indicators s sssesenseensnnnenennnnnnernnnnnnennnne 21 4 3 Potentiometer Operation ssssssiriissisirrrsceseisarisesriiserasienuseenioiruiseesdiaana 21 4 4 ButtOn OPGratiOn srsscnrisensareinrnsreriienne ii EEEa Er ri 22 4 4 1 Homing ceee 4 4 2 Go to Position AAS S Lo o Lo TATO IE E EE E fe tpe ceceabsuh delist conch S E A 4 4 4 Switching between Button Modes cccceeceeeceeeeeeeeeeeeeneeeseeeeeeseneeeeteneeeeseaees 22 Continued G a i a 2 HA0142T Rev 12 February 2011 DC Servo Motor Driver Chapter 5 PC Operation Tutorial c cccssesseeceeeeeee eee eeeeeeseeeeneeeeeeeeeees 23 21 ANOGUCHON sirieni creier ctietede orea a E ndash 23 5 2 Using the APT User Utility eeseeeeeeseesneerieeerreerrsesrrnesrrerrrreernnennnnnes 23 93 Homi Motor vxzisisee to cues cicad sues soee wade eaaa a aai 25 5 4 Moving to an Absolute Position wo ieeecieenteceerteetnneeeenneeeteneeetneeeeneaeees 26 5 5 Changing Motor Parameters wu cecccecccesneeereeeeeeeeeseneeceeeeeeenneeesennees 27 5 6 JOGGING aiian eaaa a eoe N e 28 5 7 Graphica
28. efined as the minimum and maximum useful positions of the stage relative to the Home position see Fig E 4 The distance from the Minimum position to the Maximum position is the useful travel of the stage It is often the case that the Minimum position is zero The Home and Minimum positions then coincide with movement always occurring on the positive side of the Home position Rotary stages have effectively no limits of travel The Minimum and Maximum positions are conventionally set to 0 and 360 degrees respectively When the position of a rotary stage is requested the answer will be reported as a number between 0 and 360 degrees measured in the positive direction from the Home position SW negative limit SW positive limit Offset Travel Min position zero Max position home ve limit switch Fig E 4 Minimum and Maximum Positions ORLAES 7 Appendix E Eee E 3 Error Correction E 3 1 Backlash correction The term backlash refers to the tendency of the stage to reach a different position depending on the direction of approach Backlash can be overcome by always making the last portion of a move in the same direction conventionally the positive direction Consider the situation in Fig E 5 a positive move from 10 to 20 mm is carried out as one simple move whereas a negative move from 20 to 10 mm first causes the stage to overshoot the target position and then move positively through a sm
29. elParams_Accn GetVelParams_MaxVel Identify LLGetStatusBits LLSetGetPIDParams LoadParamSet MoveAbsolute MoveAbsoluteEnc MoveAbsoluteEx MoveAbsoluteRot MoveHome MoveJog MoveRelative MoveRelativeEnc MoveRelativeEx MoveVelocity SaveParamSet SetAbsMovePos SetBLashDist SetButtonParams SetDispMode SetHomeParams SetHWLimSwitches Setlndicator_EDMode Gets the stage minimum position returned by value Gets the controller status bits encoded in 32 bit integer returned by value Gets the maximum velocity profile parameter limits Gets the velocity profile parameters Gets the move acceleration returned by value Gets the move maximum velocity returned by value Identifies the controller by flashing unit LEDs Gets the controller status bits encoded in 32 bit integer Sets or Gets the servo control loop PID parameters DC servo controllers Loads stored settings for specific controller Initiates an absolute move Initiates an absolute move with specified positions for encoder equipped stages Initiates an absoloute move with specified positions Initiates an absolute move with specified positions for rotary stages Initiates a homing sequence Initiates a jog move Initiates a relative move Initiates a relative move with specified distances for encoder equipped stages Initiates a relative move with specified distances Initiates a move at constant velocity with no end point
30. electing it in the Loaded Configuration Details window and clicking the Remove button or by right clicking it and selecting the Remove option from the pop up window 9 Click Save 10 Click Set As Current to use the configuration eee 36 HA0142T Rev 12 February 2011 DC Servo Motor Driver 5 10 Stage Axis Tab This tab contains a number of parameters which are related to the physical characteristics of the particular stage or actuator being driven They need to be set accordingly such that a particular stage is driven properly by the system Motor Driver Settings Channel 1 Moves Jogs Stage Axis Advanced Stage and Axis Type 2612 B Min Pos Pitch 0 5 Max Pos Units mm Homing Hardware Limit Switches Direction Reverse Rev Switch Switch Makes M Limit Switch Reverse HW X Fwd Switch switch Makes X Zero Offset 0 1 Motor Steps Per Rev 48 Gearbox Ratio 256 Velocity 0 25 I Persist Settings to Hardware Fig 5 15 Stage Axis Tab These parameters were set automatically when the Z612 series actuator was selected using the APTConfig utility in Section 3 5 The APT server automatically applied suitable defaults for the parameters on this tab during boot up of any client software such as APTUser These parameters should not be altered for pre defined Thorlabs stages and actuators selected using APT Config as it may adversely affect the performance of the stage For thi
31. erence to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense Changes or modifications not expressly approved by the company could void the user s authority to operate the equipment ORLAES 6 Appendix F F 2 Waste Electrical and Electronic Equipment WEEE Directive F 2 1 Compliance As required by the Waste Electrical and Electronic Equipment WEEE Directive of the European Community and the corresponding national laws we offer all end users in the EC the possibility to return end of life units without incurring disposal charges This offer is valid for electrical and electronic equipment sold after August 13th 2005 marked correspondingly with the crossed out wheelie bin logo see Fig 1 sold to a company or institute within the EC currently owned by a company or institute within the EC e still complete not disassembled and not contaminated Fig 6 1 Crossed out wheelie bin symbol As the WEEE directive applies to self contained operational electrical and electronic products this end of life take back service does not refer to other products such as pure OEM products that means assemblies to be built into a unit by the user e g OEM laser driver cards components mechanics and optics left over parts of units disassembled by the user PCB s
32. f the operator should take note of the Warnings Cautions and Notes throughout this handbook and where visible on the product itself The following safety symbols may be used throughout the handbook and on the equipment itself Shock Warning iven when there is a risk of injury from electrical shock Given when there is a risk of injury to users Caution Given when there is a risk of damage to the product Clarification of an instruction or additional information 1 2 General Warnings If this equipment is used in a manner not specified by the manufacturer the protection provided by the equipment may be impaired In particular excessive moisture may impair operation Spillage of fluid such as sample solutions should be avoided If spillage does occur clean up immediately using absorbant tissue Do not allow spilled fluid to enter the internal mechanism N ORILLAS Chapter 2 Introduction and Overview 2 1 Introduction The T Cube DC Servo Controller TDC001 is a new very compact single channel controller driver for easy manual and automatic control of DC Servo motors This driver has been designed to operate with a variety of lower powered DC brushed motors up to 15V 2 5W operation equipped with encoder feedback The TDC001 has been optimised for out of the box operation with the Thorlabs range of Z6 DC motor equipped opto mechanical products however highly flexible software settings and closed loop tuni
33. fig utility and proceed to Section 3 6 to verify the software operation See the APT Config utility on line help for further information 18 HA0142T Rev 12 February 2011 DC Servo Motor Driver 3 6 Verifying Software Operation 3 6 1 Initial Setup The APT Software should be installed Section 3 1 and the stage association performed Section 3 5 before software operation can be verified 1 Run the APTUser utility and check that the Graphical User Interface GUI panel appears and is active SN 83000001 V1 0 12 1 0 8 apt ee 5 Jog Travel Home Homed Moving 7 Stop Enable l o o l s l Rev Hardware See o Fwd Hardware THORLAES S l Ident Active Error i Settings Fig 3 5 Gui panel showing jog and ident buttons 2 Check that the actuator type and serial number associated in Section 3 5 are displayed in the GUI panel 3 Click the Ident button The Power LED and digital display on the front panel of the associated controller flashes This is useful in multi channel systems for identifying which channel is associated with which GUI 4 Click the jog buttons on the GUI panel and check that the motor or axis connected to the DC Driver T Cube moves The position display for the associated GUI should increment and decrement accordingly Follow the tutorial steps described in Chapter 4 for further verification of operation The APT Config utility can be used to set up simulated hardware configurations
34. hese parameters have programmable equivalents accessible through the ActiveX methods and properties on this Control refer to the Programming Guide in the APTBase helpfile for further details and to Section 2 3 4 for an overview of the APT ActiveX controls 6 3 1 Moves Jogs Tab Moves Jogs stage iaxis Advanced Moves Velocity Profile Min vel jo Max Vel oz Accn Dec for Jogs Velocity Profile Operating Modes Step Distance Min Vel fo 000 Jogging Single step v 0 1 Max Vel 0 25 Stopping Profiled x Accn Dec 0 1 Backlash Correction 0 01 Persist Settings to Hardware OK Cancel Fig 6 2 DC Driver T Cube Move Jog Settings Moves Velocity Profile Moves can be initiated via the GUI panel either by using the jog buttons see Section 5 6 or by entering a position value after clicking on the position display box see Section 5 4 The following settings determine the velocity profile of such moves and are specified in real world units millimetres or degrees In current versions of software the Min Vel parameter is locked at zero and cannot be adjusted MaxVel the maximum velocity at which to perform a move Accn Dec the rate at which the velocity climbs from minimum to maximum and slows from maximum to minimum Under certain velocity parameter and move distance conditions the maximum velocity may never be reached i e the move comprises an acceleration and deceleration phas
35. housings etc If you wish to return a unit for waste recovery please contact Thorlabs or your nearest dealer for further information 64 HA0142T Rev 12 February 2011 DC Servo Motor Driver F 2 2 Waste treatment on your own responsibility If you do not return an end of life unit to the company you must hand it to a company specialized in waste recovery Do not dispose of the unit in a litter bin or at a public waste disposal site F 2 3 Ecological background It is well known that WEEE pollutes the environment by releasing toxic products during decomposition The aim of the European RoHS directive is to reduce the content of toxic substances in electronic products in the future The intent of the WEEE directive is to enforce the recycling of WEEE A controlled recycling of end of life products will thereby avoid negative impacts on the environment ORLAES 65 Appendix F 66 HA0142T Rev 12 February 2011 DC Servo Motor Driver Appendix G Thorlabs Worldwide Contacts USA Canada and South America Thorlabs Inc 435 Route 206 Newton NJ 07860 USA Tel 973 579 7227 Fax 973 300 3600 www thorlabs com www thorlabs us West Coast email feedback thorlabs com Support techsupport thorlabs com Europe Thorlabs GmbH Hans Bockler Str 6 85221 Dachau Germany Tel 49 0 8131 5956 0 Fax 49 0 8131 5956 99 www thorlabs de email Europe thorlabs com UK and Ireland Thorlabs Ltd 1 Saint Thomas Plac
36. intenance The equipment contains no user servicable parts There is a risk of electrical shock if the equipment is operated with the covers removed Only personnel authorized by Thorlabs Ltd and trained in the maintenance of this equipment should remove its covers or attempt any repairs or adjustments Maintenance is limited to safety testing and cleaning as described in the following sections B 1 Safety Testing PAT testing in accordance with local regulations should be performed on a regular basis typically annually for an instrument in daily use B 2 Cleaning Disconnect the power supply before cleaning the unit Never allow water to get inside the case Do not saturate the unit Do not use any type of abrasive pad scouring powder or solvent e g alcohol or benzene The fascia may be cleaned with a soft cloth lightly dampened with water or a mild detergent ORLABS 7 Appendix C Specifications and Associated Products C 1 Specifications Motor Output Motor Drive Voltage 12 to 15V Depending on Supply Motor Drive Current 200mA peak Motor Drive Type 8 bit Sign Magnitude PWM Control Algorithm Digital PID Filter 16bit Position Feedback Quadrature Encoder QEP Input 5V Single Ended Encoder Feedback Bandwidth 750 kHz Position Counter 32 bit Operating Modes Position Velocity Velocity Profile Trapezoidal Motor Drive Connecto
37. l see Section 6 3 DC Servo Motor Driver Travel displays the range of travel in millimeters or degrees of the motor Moving lit when the motor is in motion Enable applies power to the motor With the motor enabled the LED in the button is lit Digital display shows the position in millimetres or degrees of the motor The motor must be Homed before the display will show a meaningful value i e the displayed position is relative to a physical datum the limit switch Home sends the motor to its Home position see Appendix E Section E 2 2 The LED in the button is lit while the motor is homing Homed lit when the motor has previously been Homed since power up Stop halts the movement of the motor Limit switches the LEDs are lit when the associated limit switch has been activated see Appendix E Section E 2 3 for further details on limit switches Settings display shows the following user specified settings Driver the type of control unit associated with the specified channel Stage the stage type and axis associated with the specified channel Note By default the software associates a ZST6 type actuator unless the user has used the APTConfig utility to associate a particular stage Calib File the calibration file associated with the specified channel See the APTConfig utility helpfile for more details on assigning and using calibration files Min Max V the minimum velocity a
38. l Control Of Motor Positions Point and Move a se 29 5 8 Setting Move SEQUENCES isinisisi asirai aari ae 31 5 9 Creating a Simulated Configuration esseeeseeeeeeseeeiseerreerrreerrneennes 34 Di OSlAQC AXIS Tab sicir iniipi einen er tbe EEEE EErEE 37 Chapter 6 Software Reference ccccccecceseeesseeeeeeceeeeeeeeeseeeeeseaaneneeeeeeeees 38 6 1 INt OCUCHON sessecitecch ets heii e em A N tate ied 38 6 2 GUL PANGL assess seh caste sa cots scents a ew eer aad edness 38 6 3 Settings Panel z a aie ieee Naseem 40 6 3 1 Moves JOgS Tab sccissctc sssacsect onarpe iaaa riie a Eeh AAN areal 40 6 3 2 Stage Axis Tab 6 3 3 Advanced Tab Appendices Appendix A Rear Panel Connector Pinout Detail ccccceseeeeeeeeeeeee 50 Appendix B Preventive Maintenance ccccccecceseeseeeeseeneeseeeeeeeeeeeeeees 51 Appendix C Specifications and Associated Products cccccccseeeeeeeeeee 52 Appendix D Motor Control Method Summary eceeeeeeeeeeeeeeeeeees 54 Appendix E DC Motor Operation Background seecceeeeeeeeeeeeeees 58 Appendix F Regulatory cccccceseeeseeessseceeeeeeeeeeeseeeeeeneeseesesseeeseeseeseeeeeeesesenees 63 Appendix G Thorlabs Worldwide Contacts csccesseeeeeeeeeeeeeeeeeneeeeeees 65 ORLABS 3 Chapter 1 Safety 1 1 Safety Information For the continuing safety of the operators of this equipment and the protection of the equipment itsel
39. lity The APTUser application allows the user to interact with a number of APT hardware control units connected to the host PC This program displays multiple graphical instrument panels to allow multiple APT units to be controlled simultaneously LE be alors 4 9000008 Tio MOO EX Seta ewe Output jvots Postion mj vors g Postion Wj open Loop i closed Loop Jo I open Loop MJ Closed Loop Der u Aare eror satings All basic operating parameters can be altered and similarly all operations Such as motor moves can be initiated Settings and parameter changes can be saved and loaded to allow multiple operating configurations to be created and easily applied For many users the APTUser application provides all of the functionality necessary to operate the APT hardware without the need to develop any further custom software For those who do need to further customize and automate usage of the T Cube DC Driver e g to implement a positioning algorithm this application illustrates how the rich functionality provided by the APT ActiveX server is exposed by a client application Use of the APT User utility is covered in the PC tutorial Chapter 5 and in the APTUser online help file accessed via the F1 key when using the APTUser utility 8 HA0142T Rev 12 February 2011 DC Servo Motor Driver 2 3 3 APT Config Utility There are many system parameters and configuration settings associated with the ope
40. ment A B is forced down and C D is forced up In the 90 and 270 positions the brushes are not in contact with the voltage source and no force is produced In these two positions the rotational kinetic energy of the motor keeps it spinning until the brushes regain contact In reality dc motors have several such coils wound onto an armature which produces a more even torque The magnetic field is provided by an electromagnet E 1 2 Positive and Negative Moves Positive and negative are used to describe the direction of a move A positive move means a move from a smaller absolute position to a larger one a negative move means the opposite In the case of a linear actuator a positive move takes the platform of the stage further away from the motor In a rotational stage a positive move turns the platform clockwise when viewed from above E 1 3 Velocity Profiles To prevent the motor from stalling it must be ramped up gradually to its maximum velocity Certain limits to velocity and acceleration result from the torque and speed limits of the motor and the inertia and friction of the parts it drives The motion employed is described by a trapezoidal velocity profile reflecting the shape of the velocity vs time graph see Fig E 2 thereby driving the stage to its destination as quickly as possible without causing it to stall or lose steps The stage is ramped at acceleration a to a maximum velocity v As the destinatio
41. move to an absolute position which corresponds to the position of the cursor within the screen To specify a move 1 Position the mouse within the window For reference the absolute motor position value associated with the mouse position is displayed in the Cursor Position field 2 Click the left hand mouse button to initiate the move Jog Mode When Jogging mode is selected the motors are jogged each time the left mouse button is clicked The Jog direction corresponds to the position of the cursor relative to the circle current motor position e g if the cursor is to the left of the circle the motor will jog left The Jog Step size is that selected in the Settings panel see Section 6 3 Stop To stop the move at any time click the Stop button Returning to Panel View To return to panel view right click in the graphical panel and select Panel View 30 HA0142T Rev 12 February 2011 DC Servo Motor Driver 5 8 Setting Move Sequences This section explains how to set move sequences allowing several positions to be visited without user intervention For details on moving to absolute positions initiated by a mouse click see Section 5 7 1 From the Motor GUI Panel select Move Sequencer tab to display the Move Sequencer window Motor SN 83000001 Graphical Control j Move Sequencer Channel 1 Move No Dist Pos Min Vel Max Vel Dwell Time Return Absolute Relative Cycle
42. n is approached the stage is decelerated at a so that the final position is approached slowly in a controlled manner velocity maximum velocity v acceleration slope a time Fig E 2 Graph of a trapezoidal velocity profile ORLAES 59 Appendix E E 2 Positioning a Stage E 2 1 General Whenever a command is received to move a stage the movement is specified in motion units e g millimetres This motion unit value is converted to encoder counts before it is sent to the stage by the APT software Each motor in the system has an associated electronic counter in the controller which keeps a record of the net number of encoder counts moved If a request is received to report the position the value of this counter is converted back into motion units E 2 2 Home position When the system is powered up the position counters in the controller are all set to zero and consequently the system has no way of knowing the position of the stage in relation to any physical datum A datum can be established by sending all the motors to their Home positions The Home position is set during manufacture and is determined by driving the motor until the negative limit switch is reached and then driving positively a fixed distance zero offset When at the Home position the counters are reset to zero thereby establishing a fixed datum that can be found even after the system has been switched off See Section 5
43. nd Derivative settings These settings can be altered using the Servo Loop PID Control Settings parameters Proportional This parameter makes a change to the output which is proportional to the positional error value A high proportional gain results in a large change in the output for a given error It accepts values in the range 0 to 32767 Integral This parameter accelerates the process towards the demanded position ensuring that the positional error is eventually reduced to zero If set too high the output can overshoot the demand value Under a constant torque loading the static position error is zero It accepts values in the range 0 to 32767 Derivative This term provides the damping force proportional to the rate of change of the position error thereby decreasing the overshoot which may be caused by the integral term However the differential term also slows down system response It accepts values in the range 0 to 32767 Integral Limit This term sets a maximum limit for the integration term to prevent an excessive build up over time of the restoring force It accepts values in the range 0 to 32767 The default values programmed into the APT software will give acceptable motor performance in most cases These PID parameters are set according to the stage or actuator type associated with the driver using the APTConfig utility see APTConfig helpfile or the handbook supplied with the unit However unde
44. ng also supports operation with a wide range of third party DC Servo motors and associated stages actuators Although compact in footprint this unit offers a fully featured motion control capability including velocity profile settings limit switch handling on the fly changes in motor speed and direction control over the closed loop PID parameters and for more advanced operation adjustment of settings such as lead screw pitch and gearbox ratio allowing support for many different actuator configurations For convenience the footprint of this unit has been kept to a minimum measuring only 60mm x 60mm x 47mm 2 4 x 2 4 x 1 8 and with the facility to directly mount to the optical table close to the motorised device convenient when manually adjusting motor positions using the top panel controls jog buttons and velocity control slider Table top operation also allows minimal drive cable lengths for easier cable management Fig 2 1 T Cube DC Servo Motor Driver Chapter 2 USB connectivity provides easy Plug and Play PC controlled operation multiple units can be connected to a single PC via standard USB hub technology or by using the new T Cube Controller Hub see over for multi axis motion control applications Coupling this with the very user friendly apt software supplied allows the user to very quickly get up and running with complex move sequences in a short space of time for example all relevant o
45. ngs Gets the front panel indication LED operating mode Gets the jogging button operating modes Get the jogging button operating mode returned by value Gets the jogging button stopping mode returned by value Gets the jogging step size Gets the jogging step size returned by value Gets the jogging velocity profile parameters Gets the jogging acceleration parameter returned by value Gets the jogging maximum velocity parameter returned by value Gets the motor gearing parameters Gets the servo control loop derivative parameter DC servo controllers returned by value Gets the servo control loop integration parameter DC servo controllers returned by value Gets the servo control loop proportional parameter DC servo controllers returned by value Gets the current motor position Gets the current motor position returned by value Gets the current motor position Gets the current uncalibrated motor position returned by value Gets the motor position offset Gets the velocity control potentiometer parameters Cube drivers Gets the relative move distance Gets the relative move distance returned by reference Gets the stage type information associated with the motor under control Gets the stage axis parameters Gets the stage maximum position returned by value 55 Appendix D GetStageAxisInfo_MinPos GetStatusBits_Bits GetVelParamLimits GetVelParams GetV
46. not be exposed to corrosive agents or excessive moisture heat or dust If the unit has been stored at a low temperature or in an environment of high humidity it must be allowed to reach ambient conditions before being powered up 3 2 2 Mounting Options The T Cube DC Driver is shipped with a baseplate fitted ready to be bolted to a breadboard optical table or similar surface If desired the baseplate can be removed and the unit can be stood on rubber feet see Section 3 2 3 For multiple cube systems a USB controller hub TCH002 is available see Section 2 2 for further details Full instructions on the fitting and use of the controller hub are contained in handbook ha0146 T Cube Controller Hub shipped with the product Caution When siting the unit it should be positioned so as not to impede the operation of the control panel buttons Ensure that proper airflow is maintained to the rear of the unit Chapter 3 eee 3 2 3 Removing the Baseplate The baseplate must be removed before the rubber feet supplied can be fitted or the unit is connected to the USB controller hub Detail A Detail B Baseplate attachment screws Baseplate removed and rubber feet fitted Fig 3 1 Removing The Baseplate Using a hexagon key remove the bolts securing the unit to the baseplate Retain the bolts for future use if the baseplate is refitted 6 Invert the unit 7 Remove the backing paper from the rubber feet supplied taking care
47. o emulate a set of real hardware This is a particularly useful feature designed as an aid learning how to use the APT software and as an aid to developing custom software applications offline Any number of virtual control units can be combined to emulate a colection of physical hardware units For example an application program can be written then tested and debugged remotely before running with the hardware To create a simulated configuration proceed as follows 1 Run the APT Config utility Start Programs Thorlabs APT APT Config 2 Click the Simulator Configuration tab APT Configuration Utility Simulator Configuration Simulator Configurations Enable Simulator Mode Configuration Mt Current Configuration Names eae Load Save Set as Current Add Remove Controllers Loaded Configuration Details to from Configuration Control Unit X Enter 6 digit Serial Number Add Remove Fig 5 14 APT Configuration Utility Simulator Configuration Tab 3 Enter LAB 1 in the Configuration Names field 34 HA0142T Rev 12 February 2011 DC Servo Motor Driver 4 Inthe Simulator field check the Enable Simulator Mode box The name of the most recently used configuration file is displayed in the Current Configuration window APT Configuration Utility Simulator Configuration Server Settings Simulator Configurations Enable Simulator Mode Configuration LAB 1 x
48. o its central position In this central position the motor is stationary As the slider is moved away from the centre the motor begins to move Bidirectional control of the motor is possible by moving the slider in both directions The speed of the motor increases by discrete amounts as a function of slider deflection These speed settings are entered in real world units mm or degrees in the Potentiometer Control Settings parameter in the Advanced settings tab see Section 6 3 ORLAES 21 Chapter 4 4 4 Button Operation The buttons on the front of the unit can be used to control the motor in a number of ways as described below 4 4 1 Homing A Home move is performed to establish a datum from which subsequent absolute position moves can be measured see Section 5 3 and Section E 2 2 for further information on the home position To initiate a Home move press and hold both buttons for 2 seconds The move can be stopped at any time by pressing either of the move buttons 4 4 2 Go to Position In Go To Position mode each front panel button can be programmed with a different position value such that the controller will move the motor to that position when the specific button is pressed These taught positions can be set through the software GUI see Section 4 4 2 In addition to entering values in the Advanced Tab as described in Section 4 4 2 when operating in Go To Position mode it
49. o save the settings to hardware check the Persist Settings to Hardware checkbox before clicking the OK button The Persist Settings functionality is provided to simplify use of the unit in the absence of a PC When the unit is connected to a PC and is operated via APTUser the default APTServer settings will be loaded at boot up even if the Persist Settings option has been checked 42 HA0142T Rev 12 February 2011 DC Servo Motor Driver 6 3 2 Stage Axis Tab Motor Driver Settings Channel 1 Moves Jogs Stage Axis Advanced Stage and Axis Type 2612 B Min Pos 0 Pitch oS Max Pos 6 Units fmm Homing Hardware Limit Switches Direction Reverse X Rev Switch Switch Makes v Limit Switch Reverse HW Fwd Switch cwitch Makes Zero Offset 0 1 Motor Steps Per Rev 48 Velocity 0 25 Gearbox Ratio 256 Persist Settings to Hardware cms Fig 6 4 DC Driver T Cube Stage Axis Settings This tab contains a number of parameters which are related to the physical characteristics of the particular stage being driven They need to be set accordingly such that a particular stage is driven properly by the system For Thorlabs stages the APT Config utility can be used to associate a specific stage and axis type with the motor channel refer to the tutorial in Section 3 5 for further details on how to associate a stage and axis Once this association has been made the APT se
50. operating modes enabling complete out of box operation without the need to develop any further custom software Both utilities are built on top of a sophisticated multi threaded ActiveX engine called the APT server which provides all of the necessary APT system software services such as generation of GUI panels communications handling for multiple USB units and logging of all system activity to assist in hardware trouble shooting It is this APT server engine that is used by software developers to allow the creation of advanced automated positioning applications very rapidly and with great ease The APT server is described in more detail in Section 2 3 4 Aside ActiveX a Windows based language independent technology allows a user to quickly develop custom applications that automate the control of APT system hardware units Development environments supported by ActiveX technology include Visual Basic LabView Borland C Builder Visual C Delphi and many others ActiveX technology is also supported by NET development environments such as Visual Basic NET and Visual C NET ActiveX controls are a specific form of ActiveX technology that provide both a user interface and a programming interface An ActiveX control is supplied for each type of APT hardware unit to provide specific controller functionality to the software developer See Section 2 3 4 for further details Chapter 2 2 3 2 APTUser Uti
51. ottom right hand corner of the display to show the Settings panel Motor Driver Settings Channel 1 Moves Jogs Stage axis Advanced Moves Velocity Profile Min Vel o Max Vel 0 25 Accn Dec Jogs Velocity Profile Operating Modes Step Distance Min vel 0 000 Jogging Single Step 0 1 X Max Vel 0 25 Stopping Profiled z ccn Dec 0 1 Backlash Correction 0 01 Persist Settings to Hardware Fig 5 5 Settings Panel Move Jogs Tab 2 Select the Move Jogs tab as shown in Fig 5 5 3 In the Moves field enter parameter values as follows Max Vel 0 25 Accn Dec 0 1 In current versions of software the Min Vel parameter is locked at zero and cannot be adjusted 4 Click OK to save the settings and close the window 5 Any further moves initiated will now be performed at a maximum velocity of 0 25mm per second with an acceleration of 0 1mm sec sec ORLAES Chapter 5 5 6 Jogging During PC operation the motor actuators are jogged using the GUI panel arrow keys There are two jogging modes available Single Step and Continuous In Single Step mode the motor moves by the step size specified in the Step Distance parameter If the jog key is held down single step jogging is repeated until the button is released see Fig 6 3 In Continuous mode the motor actuator will accelerate and move at the jog velocity while
52. perating parameters are set automatically by the software for Thorlabs stage actuator products Advanced custom motion control applications and sequences are also possible using the extensive Activex programming environment also supplied This programming library is compatible with many development tools such as LabView Visual Basic Visual C C Builder LabWindows CVI Matlab and Delphi For power a compact multi way power supply unit TPSO08 is available from Thorlabs allowing up to 8 T Cube Drivers to be powered from a single mains outlet This power supply unit is also designed to take up minimal space and can be mounted to the optical table in close proximity to the driver units connected via short power leads A single way wall plug supply TPS001 is also available for powering a single T Cube Driver In the remainder of this handbook operation of the unit is described for both front panel and PC operation Tutorial sections Chapter 4 and Chapter 5 provide a good initial understanding on using the unit and reference section Chapter 6 covers all operating modes and parameters in detail 2 2 T Cube Controller Hub As a further level of convenience when using the new T Cube Controllers Thorlabs also offers the new T Cube Controller Hub TCHO02 This product has been designed specifically with multiple T Cube operation in mind in order to simplify issues such as cable management power supply routing multiple USB device communic
53. r 15 Way D Type Motor Drive Outputs ve amp ve Quadrature Encoder QEP Input Single Ended Limit Switch Inputs Forward Reverse Common Return Encoder Supply 5V Front Panel Controls Sprung Potentiometer Slider 4 Speed Bidirectional Velocity Control Dual Buttons Forward Reverse Jogging or Position Presets Input Power Requirements Voltage 15V Regulated DC Current 500mA peak General Data Housing Dimensions W x D x H 60 x 60 x 47mm 2 4 x 2 4 x 1 8 Weight 160g 5 5 oz 52 DC Servo Motor Driver Peak Power 2 5W Rated Current OMA to 150mA Motor Type Brushed DC Coil Resistance 5 to 500 Coil Inductance 250 to 1500mH Position Control Closed loop Encoder Resolution Encoder Specific Peak Power 2 5W Rated Current OmA to 150mA Motor Type Brushed DC C 2 Associated Products 6mm DC Servo Motor Actuator 1 4 80 Z606 6mm DC Servo Motor Actuator 1 4 80 Vaccuum Rated Z606V 12mm DC Servo Motor Actuator 1 4 80 Z612 12mm DC Servo Motor Actuator 3 8 Barrel Attachment Z612B 12mm DC Servo Motor Actuator 1 4 80 Vaccuum Rated Z612V 12mm DC Servo Motor Actuator Vaccuum Rated Z612BV 3 8 Barrel Attachment 25mm DC Servo Motor Actuator 3 8 Barrel Attachment Z625B 25mm DC Servo Motor Actuator Vaccuum Rated Z625BV 3 8 Barrel Attachment T Cu
54. r extreme loading conditions it may be necessary to alter these factory default values Button Control Settings The buttons on the front of the unit can be used either to jog the motor or to perform moves to absolute positions Button Mode This setting determines the type of move performed when the front panel buttons are pressed Jogging Once set to this mode the move parameters for the buttons are taken from the Jog parameters on the Move Jogs settings tab Go to Position In this mode each button can be programmed with a different position value such that the controller will move the motor to that position when the specific button is pressed 48 HA0142T Rev 12 February 2011 DC Servo Motor Driver The following parameters are applicable only if Go to Position is selected in the Button Mode field Left Top Button Position The position to which the motor will move when the top button is pressed Right Bottom Button Position The position to which the motor will move when the bottom button is pressed A Home move can be performed by pressing and holding both buttons for 2 seconds This function is irrespective of the Button Mode setting Persist Settings to Hardware Many of the parameters that can be set for the DC Driver T Cube can be stored persisted within the unit itself such that when the unit is next powered up these settings are applied automatically This is particularly importan
55. rameter Continuous the motor continues to move until the jog signal is removed i e jog button is released ORLAES i Chapter 6 Stopping the way in which the jog motion stops when the demand is removed Immediate the motor stops quickly in a non profiled manner Profiled the motor stops in a profiled manner using the jog Velocity Profile parameters set above Step Distance The distance to move when a jog command is initiated The step size is specified in real world units mm or degrees dependent upon the stage Backlash Correction The system compensates for lead screw backlash during reverse direction moves by moving passed the demanded position by a specified amount and then reversing This ensures that positions are always approached in a forward direction The Backlash Correction Distance is specified in real world units millimeters or degrees To remove backlash correction this value should be set to zero Persist Settings to Hardware Many of the parameters that can be set for the DC Driver T Cube can be stored persisted within the unit itself such that when the unit is next powered up these settings are applied automatically This is particularly important when the driver is being used manually in the absence of a PC and USB link The Velocity Profile and Jogging parameters described previously are good examples of settings that can be altered and then persisted in the driver for use in absence of a PC T
56. ration of the APT Server Most can be directly accessed using the various graphical panels however there are several system wide settings that can be made off line before running the APT software These settings have global effect such as switching between simulator and real operating mode associating mechanical stages to specific motor actuators and incorporation of calibration data APT Configuration Utility Simulator Configuration Server Settings Simulator Configurations Configuration LAB 1 Names E Load Save Set as Current Add Remove Controllers Loaded Configuration Details oeiee lt lt 83000001 1Ch DC Driver T Cube TDC 001 Control Unit 1Ch DC Driver T Cube TDC 001 v Enter 6 digit Serial Number 000001 Add Remove The APTConfig utility is provided as a convenient means for making these system wide settings and adjustments Full details on using APTConfig are provided in the online help supplied with the utility Use of the APT Config utility is covered in the PC tutorial Chapter 5 and in the APTConfig online help file accessed via the F1 key when using the APTConfig utility Chapter 2 2 3 4 APT Server ActiveX Controls ActiveX Controls are re usable compiled software components that supply both a graphical user interface and a programmable interface Many such Controls are available for Windows applications development providing a large range of re usabl
57. rd party stage types not available using the APT Config utility these stage details must be entered manually Individual parameters are described in Section 6 3 ORLAES a Chapter6 Software Reference 6 1 Introduction This chapter gives an explanation of the parameters and settings accessed from the APT software running on a PC For information on the methods and properties which can be called via a programming interface see Appendix D 6 2 GUI Panel The following screen shot shows the graphical user interface GUI displayed when accessing the DC Driver T Cube using the APTUser utility aa 1 Graphical Control SN 83000001 V1 0 12 1 0 8 apt s moter controller Jog Travel Home Homed Moving y Stop Enable E l o o es l Limit Rev Hardware o Switching o Fwd Hardware THORLAZS J idet Active Error Settings Fig 6 1 DC Driver T Cube Software GUI The serial number of the DC Driver T Cube associated with the GUI panel the APT server version number and the version number in brackets of the embedded software running on the unit are displayed in the top right hand corner This information should always be provided when requesting customer support Jog used to increment or decrement the motor position When the button is clicked the motor is driven in the selected direction at the jog velocity one step per click The step size and jog velocity parameters are set in the Settings pane
58. re in any doubt about your rights to install run software please consult your system administrator before attempting to install If you experience any problems when installing software contact Thorlabs on 44 0 1353 654440 and ask for Technical Support DO NOT CONNECT THE CONTROLLER TO YOUR PC YET 1 Insert the CD into your PC 2 The CD should run automatically If your CD does not start double click the file autorun exe found on the Software CD 3 A Welcome dialogue screen is displayed Before installing the software you are strongly advised to read the Installation Guide Click the associated link Welcome to Advanced Photonics Technology po Read Installation Guilds Instill APT Soituware joo isi sisis na OSE CD Contanis N gt Assess APT Sugyert N Download Current APT Software 4 Once you are familiar with the installation procedure click the Install APT Software hyperlink displayed on the Welcome dialogue screen 5 Follow the on screen instructions see the Installation Guide supplied for more information DC Servo Motor Driver 3 2 Mechanical Installation 3 2 1 Environmental Conditions Warning Operation outside the following environmental limits may adversely affect operator safety Location Indoor use only Maximum altitude 2000 m Temperature range 5 C to 40 C Maximum Humidity Less than 80 RH non condensing at 31 C To ensure reliable operation the unit should
59. rver will automatically apply suitable defaults for the parameters on this tab during boot up of the software These parameters should not be altered for pre defined Thorlabs stages selected using APT Config as it may adversely affect the performance of the stage For third party stage types not available using the APT Config utility the stage details must be entered manually Individual parameters are described in the following paragraphs Caution Extreme care must be taken when modifying the stage related settings that follow Some settings are self consistent with respect to each other and illegal combinations of settings can result in incorrect operation of the physical motor stage combination being driven Consult Thorlabs for advice on settings for stage actuator types that are not selectable via the APTConfig utility ORLABS re Chapter 6 Stage and Axis Type For Thorlabs stages the stage type is displayed automatically once the axis has been associated using the APTConfig utility For third party stages the display shows Unknown Min Pos the stage actuator minimum position typically zero Max Pos the stage actuator maximum position Pitch the pitch of the motor lead screw i e the distance travelled in mm or degrees per revolution of the leadscrew Units the real world positioning units mm or degrees Homing When homing a stage typically moves in the reverse direction i e to
60. s 1 Load Fig 5 8 Move Sequencer Window 2 Right click in the move data field to display the pop up menu Fig 5 9 Move Sequencer Pop Up Menu ORLAES 31 Chapter 5 3 Select New to display the Move Editor panel Move Editor Dist Pos 0 Dwell Time 0 MinVel 0 Absolute Acc 0 5 Max Vel C Relative Return Fig 5 10 Move Editor Window Move data is entered displayed as follows Dist Pos the distance to move from the current position if Relative is selected or the position to move to if Absolute is selected Dwell Time after the move is performed the system can be set to wait for a specified time before performing the next move in the sequence The Dwell time is the time to wait in milliseconds Return if checked the system will move to the position specified in the Dist Pos field wait for the specified Dwell time and then return to the original position 4 Min Vel Acc and Max Vel the velocity profile parameters for the move In current versions software the Min Vel parameter is locked at zero and cannot be adjusted The motor accelerates at the rate set in the Acc field up to the speed set in the Max Vel field As the destination approaches the motor decelerates again to ensure that there is no overshoot of the position 32 HA0142T Rev 12 February 2011 DC Servo Motor Driver 5 Enter the req
61. sed to perform a typical series of motor moves It is assumed that the unit has already been insatlled and configured for the particular actuator or stage to hich it is associated see Chapter 3 for more details In conjunction with this chapter it also may be useful to read the background on DC servo motor operation contained in Appendix E DC Servo Motor Driver 4 2 Control Panel Buttons and Indicators apt dc servo controller VELOCITY O MOVE JOG O ACTIVE O a ORAS Fig 4 1 Panel Controls and Indicators MOVE Controls These controls allow all motor moves to be initiated Move Jog Buttons Used to jog the motors and make discrete position increments in either direction see Section 5 6 for more details on jogging Velocity Potentiometer Used to drive the motor at a varying speed in either forward or reverse directions for full and easy motor control see Section 4 3 Also used to switch between Jogging and Go To Position modes see Section 4 4 4 Active LED The Active LED can be configured to flash when the motor reaches a forward or reverse limit switch or when the Ident button is pressed in the GUI panel It can also be configured to be lit when the motor is moving see Section 6 3 3 for further details POWER LED Lit when power is applied to the unit 4 3 Potentiometer Operation The potentiometer slider is sprung such that when released it returns t
62. t when the driver is being used manually in the absence of a PC and USB link The potentiometer button and LED parameters described above are good examples of settings that can be altered and then persisted in the driver for use in absence of a PC To save the settings to hardware check the Persist Settings to Hardware checkbox before clicking the OK button Caution The Persist Settings functionality is provided to simplify use of the unit in the absence of a PC When the unit is connected to a PC and is operated via APTUser the default APTServer settings will be loaded at boot up even if the Persist Settings option has been checked ORLAES o Appendix A Rear Panel Connector Pinout Detail A 1 Rear Panel Motor Control Connector The Motor connector provides connection to the DC servo motor actuator The pin functions are detailed in Fig A 1 Pin Description Pin Description 1 Ground 9 Not Connected 2 Forward Limit Switch 10 5V Encoder Supply 3 Reverse Limit Switch 11 Encoder Channel A 4 Not Connected 12 Not Connected 5 Motor 13 Encoder Channel B 6 Not Connected 14 Not Connected 7 Motor 15 Not Connected 8 Not Connected Not Connected A 15 Pin DIN to 10 Pin IDC converter Z600 TCAB1 is available for use with Thorlabs Fig A 1 MOTOR I O Connector Pin Identification legacy DC Servo Motors 50 DC Servo Motor Driver Appendix B Preventive Ma
63. t which a move is initiated and the maximum velocity at which the move is performed Values are displayed in real world units mm s or degrees s and can be set via the Settings panel see Section 6 3 Accn the rate at which the velocity climbs to and slows from maximum velocity displayed in real world units mm s s or degrees s s The acceleration can be set via the Settings panel see Section 6 3 and is used in conjunction with the Min Max velocity settings to determine the velocity profile of a motor move See Appendix E Section E 1 3 for more information on velocity profiles Jog Step Size the size of step in mm or degrees taken when the jog signal is initiated The step size can be set either via the Settings panel or by calling the SetJogStepSize method Settings button Displays the Settings panel which allows the operating parameters to be entered for the motor drive see Section 6 3 Ident when this button is pressed the Channel LED on the front panel of the associated hardware unit will flash for a short period Active lit when the unit is operating normally and no error condition exists Error lit when a fault condition occurs ORLAES 3 Chapter 6 6 3 Settings Panel When the Settings button on the GUI panel is clicked the Settings window is displayed This panel allows motor operation parameters such as move jog velocities and stage axis information to be modified Note that all of t
64. the button is held down 1 On the GUI panel click the Settings button to display the Settings panel Motor Driver Settings Channel 1 MovesjJogs stage axis Advanced Moves Yelocity Profile Min Vel 0 Max vel 0 25 Accn Dec 0 1 Jogs Velocity Profile Operating Modes Step Distance Min Vel ooo Jogging Single Step z 0 1 Max vel 0 25 Stopping Profiled z Accn Dec 0 1 Backlash Correction 0 01 I Persist Settings to Hardware Fig 5 6 Settings Panel Move Jogs Tab 2 Select the Move Jogs tab as shown in Fig 5 6 3 In the Jogs field enter parameter values as follows Velocity Profile Max Vel 0 25 Accn Dec 0 1 In current versions nee the Min Vel parameter is locked at zero and cannot be adjusted Operating Modes Jogging Single Step Stopping Profiled Step Distance 0 1 4 Click OK to save the settings and close the window 5 Click the Jog Arrows on the GUI panel to jog the motor Notice that the position display increments 0 1 every time the button is clicked 28 HA0142T Rev 12 February 2011 DC Servo Motor Driver 5 7 Graphical Control Of Motor Positions Point and Move The GUI panel display can be changed to a graphical display showing the position of the motor channel s Moves to absolute positions can then be initiated by positioning the mouse within the displa
65. uired move data into the Move Editor and click OK The move data is displayed in the main window as shown below Motor SN 83000001 Graphical Control Move Sequencer Channel 1 MoveNo DistPos_ Minvel Acc MaxVel DwellTime Retun Absolute Relative False True False Fig 5 11 Main Window with Move Data 6 Repeat step 4 as necessary to build a sequence of moves Move data can be copied deleted cut pasted and edited by right clicking the data line s and selecting the appropriate option in the pop up menu shown below Cut Copy InsertMove Edt Delete DeleteAll New Run Fig 5 12 Pop Up Options 7 To run a single line of data right click the appropriate data and select Run from the pop up menu shown above 8 To run the entire sequence click the Run button shown below A Home move can also be performed from this panel by clicking the Home button Home Run Cycles fi Save Load Fig 5 13 Home and Run Buttons 9 To save data to a file or load data from a previously saved file click the Save or Load button and browse to the required location ORLAES 33 Chapter 5 5 9 Creating a Simulated Configuration The APT Config utility can be used to set up simulated hardware configurations and place the APT Server into simulator mode In this way it is possible to create any number and type of simulated virtual hardware units in order t
66. ver Methods DeleteParamSet Deletes stored settings for specific controller DisableHWChannel Disables the drive output DoEvents Allows client application to process other activity EnableHWChannel Enables the drive output GetAbsMovePos Gets the absolute move position GetAbsMovePos_AbsPos Gets the absolute move position returned by value GetBLashDist Gets the backlash distance GetBLashDist_BLashDist Gets the backlash distance returned by value GetButtonParams Gets the front panel button settings GetCtrlStarted Gets the ActiveX Control started flag GetDispMode Gets the GUI display mode GetHomeParams Gets the homing sequence parameters GetHomeParams_HomeVel GetHomeParams_ZeroOffset Gets the homing velocity parameter returned by value Gets the homing zero offset parameter returned by value 54 GetHWCommsOK GetHWLimSwitches GetIndicator_EDMode GetJogMode GetJogMode_Mode GetJogMode_StopMode GetJogStepSize GetJogStepSize_StepSize GetJogVelParams GetJogVelParams_Accn GetJogVelParams_MaxVel GetMotorParams GetPIDParams_Deriv GetPIDParams_Int GetPIDParams_Prop GetPosition GetPosition_Position GetPositionEx GetPositionEx_UncalibPosition GetPositionOffset GetPotParams GetRelMoveDist GetRelMoveDist_RelDist GetStageAxis GetStageAxisInfo GetStageAxisInfo_MaxPos ORNS DC Servo Motor Driver Gets the hardware communications OK flag Gets the limit switch configuration setti
67. wards the reverse limit switch The following settings allow support for stages with both Forward and Reverse limits Typically the following two parameters are set the same i e both Forward or both Reverse Direction the direction sense to move when homing either Forward or Reverse Limit Switch The hardware limit switch associated with the home position either Forward HW or Reverse HW Zero Offset the distance offset in mm or degrees from the limit switch to the Home position Velocity the maximum velocity at which the motors move when Homing For further information on the home position see Section E 2 2 Hardware Limit Switches The minimum velocity and acceleration deceleration parameters for a home move are taken from the existing move velocity profile parameters The operation of the limit switches is inherent in the design of the associated stage or actuator The following parameters notify the system to the action of the switches when contact is made Select Rev Switch or Fwd Switch as required then select the relevant operation Switch Makes The switch closes on contact Switch Breaks The switch opens on contact Ignore Absent The switch is missing or should be ignored 44 HA0142T Rev 12 February 2011 DC Servo Motor Driver ___ EqE e Z 7 K z amp Oex w Xxwii__i_ ___________________ SER I Motor These parameters are used to set the resolution characteristics of the
68. y and clicking To change the panel view to graphical view right click in the screen and select Graphical View _Jogs Fig 5 7 DC Driver T Cube GUI Panel Graphical View Consider the display shown above for an DC Driver T Cube The right hand display shows the channel and motor unit parameters i e controller unit type and serial number associated stage and actuator type minimum and maximum positions current position units per grid division and cursor position All units are displayed in real world units either millimetres or degrees For single channel units such as the DC Driver T Cube the Channel 2 parameters are greyed out The left hand display shows a circle which represents the current position of the motor associated with the specified controller absolute position data is displayed in the Chan Pos field The vertical divisions relate to the travel of the stage actuator associated with the DC Driver T Cube the stage actuator is selected in the APT Config utility For example the screen shot above shows the parameters for a 6mm travel Z606 motor actuator The graph shows 6 divisions in the X axis which relates to 1mm of travel per division 6mm in total The graphical panel has two modes of operation Jog and Move which are selected by clicking the buttons at the bottom right of the screen ORLABS 2 Chapter 5 Move Mode When Move is selected the motors

User manual for DC servo motor driver TDC001

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