RS08 User Manual
Contents
1. For special connector requirements contact your Nanomotion sales or engineering representative I 2C COMMUNI CATION The Shutter supports 12C communication at 100 kbit sec to 400 kbit sec signal in 12C Fast mode over a 2 foot cable with a line capacitance of 35pF For longer cables calculate line capacitance based on the desired cable specification The 12C 100 and 400 kbit sec communication signals were tested with the MCU operating at a 1 KHz message rate request B KM Calculations of line capacitance and user end pull up requirements shall be in compliance with the I2C Bus Specification and User Manual UM10204 rev 03 600458002 00 Revision G 16 Specifications ustomer circuit Vin l Rx OQ Figure 5 I2C Circuit Power input of Shutter should be decoupled by low ESR ceramic capacitor of 10uF minimum The decoupling capacitor should be placed near to the Shutter cable connection points GND and Supply wires should be connected to low impedance power plains 12C signal lines do not require termination because the Shutter has built in pull up resistors CURRENT CONSUMPTI ON The peak current consumption is 100 mA When measuring current consumption spikes may be visible on the scope These are typical and result from the Shutter s internal switching power supply The internal power supply raises the Vi to 4 2VDC To measure the actual power consumption average the signal over time2. CAUTI ON Caution provides information about actions that will adversely affect system performance 600458002 00 Revision G 7 Conventions used in this manual Best Known Methods BKM Provides additional detailed information about operations and methods BKM Danger Indicates operations or activities that may cause damage to equipment or injury to personnel S600458002 00 Revision G PRODUCT I NFORMATI ON The RS08 Rotary Shutter is the first shutter of its kind utilizing a silent miniature piezo actuator in an 68mm x 20mm package including the drive electronics The Shutter is designed to work from a 3 3v battery and supports standard angles of movement from 35 to 120 Shutter blades can vary in size and material and blade diameter Using Nanomotion s proprietary feedback system the Shutter is fully operational as a closed loop device Product Features Best Silence Size Weight and Power SSWaP Mass 2g Embedded drive amp control electronics in the Shutter body Holding and braking with no power consumption Silent operation undetectable Low Surge Current e MIL STD 810F Compliant for shock vibration and temperature Safe amp Reliable S600458002 00 Revision G 9 Product Structure PRODUCT STRUCTURE The RS 08 is based on a standard actuator and modular parts for adapting the Actuator to specific user needs The following table shows the p
3. Blade 60013C006 XX Standard Nanomotion model Ensure that the correct torque is used when mounting the Blade The recommended torque is 0 06Nm Applying greater torque may cause damage to the Shutter Actua tor e Screw part number SM16FP03 standard for all models 600458002 00 Revision G TECHNICAL NFORMATI ON The RS08 Rotary Shutter moves a blade between two positions in one of the standard angles of movement The action and movement of the blade is controlled by an internal self contained Controller Driver SPECI FI CATI ONS Weight 2g Dimensions 8mm x 20mm Long Blade standard Mass 0 3g Center of Gravity 16 2mm MOI 30g mm Performance S600458002 00 Revision G Drive Mode Closed Loop Stroke Angle standard angles of movement up to 120 The angle of movement is determined by the assembled Grid Blade position accuracy x2 Stroke Time typical 60msec for 90 adjustable motion profile Operating Temperature 40 C to 71 C Drive Control Board Embedded Power Consumption During motion peak 400mW in Closed Loop mode e Idle on 8mW Drive Voltage 2 7 to 3 6VDC Communication 12C Specifications MECHANI CAL SPECI FI CATI ONS T m 52 0 0067 B 0 Gi E SECTION A A SCALE 2 3 f Tozssorie A Te e o25 0r1 8 c Figure 2 RS08 Rotary Shutter Mechanical Dimensions Top View The recommended torque is
4. S600458002 00 Revision G End script 29 NanoCommander NANOCOMMANDER The NanoCommander is a proprietary program that provides the ability to communicate with the Shutter The user can initiate scripts apply manual commands read parameters from the Driver s RAM and save RAM to Flash or Flash to RAM Commands can be executed by Direct command initiating buttons Running command scripts provided with the application e Running manual commands 12C commands KP NanoCommander v 24 Communication Information Manual Commands Script Commands Figure 12 NanoCommander Panels Connection Info Area Determine and select the following information parameters e Port Select the USB port COM in which the Shutter evaluation kit is connected to your PC Address choose A4 to indicate the controller s 12C address e Axis choose Axis 0 I 600458002 00 Revision G 30 NanoCommander Manual Commands The Manual Commands area allows running direct commands by either pressing on a command button i e CALIBRATE moving a slider or by entering an 12C command code and parameters Running Scripts The system is provided with predefined scripts allowing the user to quickly and easily operate the Shutter To execute a script In the Script Command area perform the following Press on the Browse button and select the desired script Press on the Execute button The button toggles to
5. frequency XXX XXX is the divider in the formula f 20M XXX 600458002 00 Revision G 28 IIC Communication Open and close the Shutter with a 500msec delay In this example the script causes the Shutter to open and close 100 times with a delay of 500msec in between each blade movement The REPEAT and DELAY commands are functional within the NanoCommander program and cannot be sent to the Shutter as individual commands Script Commands Explanation repeat 100 Repeat the script 100 times setshutter 1 move Shutter s blade to open Set Shutter page 33 delay 500 setshutter O0 wait 500msec Close Shutter s blade delay 500 wait 500msec endrepeat End script Open Close Shutter at 50 PWM and 50 Duty Cycle In this example the script causes the Shutter to open and close 1000 times using a 5096 PWM with a delay of 200msec between each blade movement Script Commands Explanation repeat 1000 Repeat the script 1000 times openloop 15000 Move the Shutter s blade in a positive direction at 50 PWM OPEN Loop page 32 delay 200 wait 200msec openloop 0 No movement of Shutter 096 PWM delay 200 wait 200msec openloop 15000 Moves the Shutter s blade in a negative direction at 5096 PWM delay 200 wait 200msec openloop 0 No movement of Shutter 096 PWM delay 200 wait 200msec endrepeat
6. e g 10ms I 600458002 00 Revision G 17 OPERATING THE RSOS ROTARY SHUTTER The RS08 Rotary Shutter is delivered with a internal Controller Driver that is pre configured and calibrated The Shutter s cable is open ended allowing the user to provide system specific connections The Shutter is connected to a user supplied MCU and power as shown below The MCU can be either a standard computer running the NanoCommander program or a user supplied unit that is capable of 12C communication The user is able to control the Shutter using scripts and read modify parameters over I2C wires SDA SCL Reset For additional information refer to Controlling Shutter Operations on page 24 FW Commands Parameters and Replies on page 32 User Vin Equipment Controller Driver GND Figure 6 System Block diagram 12C COMMUNICATION The controller driver implements 12C Slave protocol The communication is done by exchanging messages between the Master and the Slave using standard 12C communication at a frequency of 100 kHz or 400 kHz For detailed information refer to 12C Bus Specification and User Manual UM10204 rev 03 600458002 00 Revision G 18 OPERATI NG SEQUENCES This section describes the following system operations e Power On Command Sequence Shutter Operation Command Sequence The RS08 Rotary Shutter is pre programmed and calibrated before delivery POWER ON The Shutter is deli
7. 0 06Nm into a metal base material Ensure that the correct torque is used when mounting the Shutter Applying greater torque may cause damage to the mounting flange 600458002 00 Revision G 13 Specifications 1 40mm Q uu s a lt ud ac z Figure 3 RS08 Rotary Shutter Mechanical Dimensions Side View 600458002 00 Revision G Specifications LABELING RS08 Rotary Shutters have a barcode label attached to the bottom plate Type of barcode standard 2D data matrix Label Dimensions 5x5mm Barcode content product serial number e SN WWYYXXXX The barcode can be read using a common wireless or USB barcode reader Figure 4 Barcode Label on Rotary Shutter Base ELECTRICAL SPECI FI CATIONS The following table provides pinout information Table 2 Actuator Cable Wiring Pin Name Description 1 2 7 3 6VDC Vin NOTE Ensure that the input power wire size is appropriate for the length of the power cable 2 GND system ground S600458002 00 Revision G 15 Specifications Table 2 Actuator Cable Wiring Pin Name Description 3 Reset Connected internally to Vi through pull up resistor Active low 0 4VDC Active high gt 1 05VDC 4 SDA 12C Data 5 SCL 12C Clock The standard Rotary Shutter is delivered with flying leads no connector For instructions on trimming the flat cable refer to Trimming the Flat Cable on page 42
8. 27 EER Ne EE ER D 33 Get prio RE an 33 get variables by ID 36 NOME eoe UG WR P RE ET N 35 keep position sissies Eie GR itn 22 34 Open ele AR EE EE 32 open close shutter 22 33 status byte uses duis ma tt rend 40 POWET GOVE EE 23 34 disable enable 23 PWM limit EE oa t eee 35 qr 2 MR 20 retrieve parameters 33 save parameters sees see ER Re 33 sequence ees se ER EE EE Ge ee 21 set low velocity assesseer ee ee 35 set shutter velocity 34 set velocity ramp oxcsasecssecasrerserveuderaenes 35 SURE ie GE ee ODE 22 sleep MET THES 34 temperature processing 35 communication EE ee tios adim Madii ede died 18 coritroller divers rosa pror tb His SR La RS 18 TOON it OE Suid Mud iind taU 18 current consumption iis EE RE 17 600458002 00 Revision G F Features RS0Br EE Pe LE 9 G get variables Dy ID se see EER 36 available variables 37 blade position see Eie LUI EHE 37 command format ee 37 frequency divider 38 instantaneous PWM ee 38 measured temperature 37 motion path MN PR 38 motion time eise ee ee ee ee 38 PWM MIE ee ees ee ee ee ee ee ee 38 reply TOETER I ENE 38 CIMMQOUL Ee EES SE SG ERG ee Ee 38 Grid part NUMbErS siek
9. 979 936 7 439 652 7061158 1800356 1800356 1800356 2007 533057 pending 2011 093431 pending 7 876 509 10 2007 7009928 pending 200780019448 6 7713361 9 pending 12 294 926 pending GB2008000004178 pending GB2009000003796 pending 12 398 216 pending GB2446428 12 517 261 pending 08702695 1 pending 10 2009 7017629 pending 12 524 164 pending 12 581 194 pending S600458002 00 Revision G iii Website www nanomotion com Customer Service Contact your local distributor or email Nanomotion Ltd Technical Support Department at nano nanomotion com with detailed problem description additions corrections or suggestions Headquarters Israel USA Mordot HaCarmel Industrial Park HaYetsira Street PO Box 623 Yokneam 20692 Tel 972 73 249 8000 Fax 4972 73 249 8099 Email nano nanomotion com 1 Comac Loop Suite 14B2 Ronkonkoma NY 11779 Tel 1 800 821 6266 Fax 41 631 585 1947 Email nanoUS nanomotion com 600458002 00 Revision G Revision History The following table shows the last three revisions to this document Doc ECO Rev Date Description A Oct 2013 Initial Release B Nov 2013 Revised as follows Clarified the content of parameters in the Master gt Slave format Added definition of Open and Closed for Blade position Revised table on page 10 to show Grid part numbers C Dec 2013 Revised as follows Added instructions for torque to mountin
10. Cancel when a script is running Verify that the desired action is performed You may stop the script execution at any time by pressing on the Cancel button 600458002 00 Revision G 31 FW COMMANDS PARAMETERS AND REPLI ES This section provides information about the set of commands used to control the RS08 Rotary Shutter operations Throughout this section the term Master refers to an external MCU or Host computer connected to the Shutter The Slave is the RS08 Rotary Shutter COMMANDS Table 4 and Table 10 specify valid command codes Some commands change Shutter operating parameters for the duration of the command These changes are lost on restart To make the parameter change permanent and save to flash memory use the command SAVE PARAMETERS 13 This applies to parameters affected by commands 12 25 33 46 48 and 50 Table 4 Command Parameter Command Code DEC Description Command initiates open loop motion with the specified PWM value The parameter provides a division of PWM from maximum to minimum PWM The is 30000 For example 415000 provides 50 PWM in one direction The motion time is limited by Timeout value Refer to Set Timeout page 34 Open Loop 7 PWM value Calibrate the motion system Calibrate 8 00 00 The command execution time is within 0 8 second Switches the Shutter to Sleep mode Sleep 9 00 00 To exit Sleep mode perform full power up sequence as sho
11. Flexx Sil Jacket aE EE Ups End of Cable Figure 13 2 Marka line on the cable using a pen or marker I 600458002 00 Revision G 42 Trimming the Flat Cable MN Figure 14 3 Cut the jacket along the line of both sides oft he cable B Cut into but not all the way through the Flexx Sil jacket Figure 15 4 Slice the jacket between the wires along the dotted lines as shown 600458002 00 Revision G 43 Trimming the Flat Cable This step is optional for cables with ron shielded x deum Slice from the wires bes end amp stop at the desired length Figure 16 5 Strip the end of each wire using tweezers Grab the Flexx Sil jacketing here and remove by pulling it out Figure 17 6 Arrange the ends of the wires to fit into the connector shell S600458002 00 Revision G 44 Trimming the Flat Cable F ra ac M Note that the ends of the wires can be arranged into various shapes so they can fit inta round oval or square back sk aS LI 7 Terminate the wire as required by the connector type 600458002 00 Revision G 45 I NDEX I NDEX A ede ER RE coca sextedavticdcs 11 B Blade EE EE N Si EE EN Ee 11 C cable eo ja o Tei o des 16 PINOUT dcm I5 ei iedere 42 command calibrate ese ese ee ee ee ee ee 21 32 dl m 29 format sei E GE GE esi ees
12. ID Reply Format is ss EE ER cee eee 38 Slave Master Reply si SERS Ex Gees ER E Ru RR SEE Rew GE SERE ER ER 39 Appendix iis es ebd RE be m db d UP HEES aus Std BIRD REESE rr ede dus dated 42 Trimming the Flat Cable iss duck work PER EER RE EG x wx RE RE EA XC EE 42 Index cor AE RR ER Ode TE ER ede ec d epos d OK 46 600458002 00 Revision G vi NTRODUCTI ON This user manual provides information about the Nanomotion RS08 Rotary Shutter family of products The manual contains the following chapters Product Information page 9 Technical Information page 12 e Operating the RS08 Rotary Shutter page 18 provides information about the basic operating sequences and development of scripts for controlling RS08 operation Users should ensure that they have available the NanoCommander software u page 30 This program provides a platform for developing scripts and integration of the Shutter into user systems The program is available in the RS08 Evaluation Kit or as a download from www nanomotion com FW Commands Parameters and Replies page 32 provides detailed information about the commands parameters and variables available to control the operation of the RS08 Shutter CONVENTI ONS USED IN THI S MANUAL Throughout this manual commands are shown in BOLD and parameter values are shown in italics NOTE Notes provide additional information that is not included in the normal text flow
13. change to flash memory Sets home direction after 0 Open calibration Home 50 default Note Use SAVE PARAMETERS 1 Close command 13 to save change to flash memory Specifies target velocity during OPEN CLOSE command 23 when approaching the hard MN stop EE Recommended range is between Set Low Velocity 52 one third and two thirds of the pe normal velocity second The controller uses this value to create deceleration from SET SHUTTER VELOCI TY command 33 eoo Defines the time of the Set Velocity di deceleration ramp from normal 53 time in Ramp in Shutter velocity to low Shutter milliseco velocity nds Request current status of listed variables from ETEN the Shutter et variables Dy 248 For information about the command and the ID Shutter s response refer to Get Variables by ID Command page 36 I 600458002 00 Revision G 35 Get Variables by ID Command GET VARIABLES BY D COMMAND The RSO8 Shutter monitors the operation of the Shutter and saves specific information as a Variable with an ID number The GET VARIABLES BY ID command is an special command that requests Shutter operating information based on the ID number The command does not cause a change in the operation of the Shutter The requested information is gathered and added to the next Shutter reply The GET VARI ABLES BY ID command defines the content of the reply extension Bytes After a GET VARIABLES BY I D command subsequent re
14. message from the slave see Slave Master Reply Both types of messages are initiated by the master The slave write address is A4H and the slave read address is A5H EXAMPLE OF l C COMMUNICATION See attached two scope diagrams of 12C signals The first diagram Figure 2 is an example of sending Get Info command the second one is reading of 16 byte response On the first diagram four bytes easily identified e Address 0xA4 e Get info Command 0x13 Parameter low 0 Parameter high 0 All bytes are sent by the master Pay attention to acknowledge bits sent on each 9th clock The acknowledge bits zero level are sent by the controller driver 600458002 00 Revision G 25 IIC Communication Tek Run 10 0MS s sample T Cursor Function T Paired Figure 10 Figure 2 IIC Get info 19 command example On the second diagram the whole sequence is in the bottom and zoomed picture above shows three first bytes Address 0xA5 sent by the master Last executed command 0x13 sent by the drive Status Idle 0x01 sent by the drive In this case the acknowledge bit after the address is sent by the drive and all other acknowledge bits are sent by the master The master sends negative acknowledge high level after the last byte to indicate the end of transaction The master also can send negative acknowledge after any byte to break the transaction if necessary Pay attention to delay in clock
15. set in the MOTOR STATUS BYTE Note Use SAVE PARAMETERS 13 to save change to flash memory Set Shutter Velocity 33 Velocity in degrees per second Specifies Shutter velocity when executing OPEN CLOSE SHUTTER command 23 Recommended range is from 800 to 2000 degrees sec Note Use Save Parameters 13 to save change to Flash memory Power Save 45 0 disable 1 enable default When enabled the Shutter is in Power Save mode If power saving is enabled the Shutter switches to low power mode when the Shutter motion finishes For details of operation in each state refer to Keep Position page 22 Note When Power Saving is enabled 12C communication at 100 kHz is supported Keep Position 46 0 disable automati c return 1 enable automati c return default Enables or disables automatic return to hard stop using the Position sensor Refer to Keep Position page 22 for details Note Use SAVE PARAMETERS 13 to save change to Flash memory S600458002 00 Revision G 34 Commands Table 4 Command Parameter ae Command Code DEC Description T 0 disabl Enables or disables automatic emperature 47 ipae temperature compensation Processing 1 enable Default is Enable Defines max PWM Level during motion 100 PWM 30000 PWM Limit 48 0 30000 Default value is 18000 Note Use SAVE PARAMETERS 13 to save
16. N rmm WANOMOTION TT ES A Johnson Electric Company User Manual RSOS Rotary Shutter S600458002 00 Revision G September 24 2015 Nanomotion Ltd POB 623 Yokneam 20692 Israel Tel 972 73 2498000 Fax 972 73 2498099 Web Site www nanomotion com E mail nano nanomotion com 600458002 00 Revision G Copyright 2012 by Nanomotion Ltd All rights reserved worldwide No part of this publication may be reproduced modified transmitted transcribed stored in retrieval system or translated into any human or computer language in any form or by any means electronic mechanical magnetic chemical manual or otherwise without the express written permission of Nanomotion Ltd Mordot HaCarmel Industrial Park Yokneam 20692 Israel This document contains proprietary information and shall be respected as a proprietary document with permission for review and usage given only to the rightful owner of the equipment to which this document is associated Limited Warranty Nanomotion Ltd provides a limited warranty on all its products For warranty details contact your Nanomotion sales representative Patents Nanomotion products are covered under one or more of the following registered or applied for patents 5 453 653 5 616 980 5 714 833 111597 5 640 063 6 247 338 6 244 076 6 747 391 6 661 153 69838991 3 6 384 515 7 119 477 7 075 211 69932359 5 1186063 7 211 929 69941195 5 1577961 4813708 6 879 085 6
17. Shutter to complete other 600458002 00 Revision G 27 IIC Communication operations before receiving new information A reply message is sent from the Shutter if required by the command The format of the reply is determined by the command The maximum latency acknowledge bit transmission from the RS08 is 4msec COMMAND AND SCRIPT EXAMPLES The following examples provide a basis for constructing both simple and complex scripts These examples are based on the NanoCommander specifications Command and script formatting for a user s MCU not using the NanoCommander may be different COMMAND FORMAT EXAMPLE When using the NanoCommander commands and scripts are written as a text file TXT The command names may be written in full with the parameter or the command code written with parameter BKM When working with the NanoCommander individual commands can be sent directly from the NanoCommander s window Using either of the examples below the FREQUENCY command page 33 sets the Shutter frequency to 128 KHz 20MH2 128 156KHz Command Parameters as Text Frequency 128 as Code command 12 128 If the command contains more than one word the command is written as a single word with no space between the words For example SET SHUTTER is written as setshutter There must be a space between the command and its parameter examples openloop X X 0 to 430000 setshutter X X 0 1 open or close the shutter
18. T EED OASE EE ODE SOET VO 15 Electrical Specifications is ss EE EE EE ER EE ke EE ER I Ik 15 iC COMMUNICA ON vissie ERR AUR EES SELA ok Sos et EA ot Ba Quid 16 Current Consumption RA deco OE OE ER N Ge ON 17 Operating the RSO8 Rotary Shutter SE SS else 18 Operating Sequences ES EDE EE BEDE RR atin k HEER ORO ec ER NOR eels icc tet 19 des zal kae euraceaca x ck ROG OG o XO RE o d E e dan 19 a ER OES OO dd ORC OOR EO 20 aREE EA OE OE EER 3d ROR OE Rs REDE TEE EE N 21 Command de ie ie 2220 encase EK be Bde Pe EE OE EG 21 Shutter Operation Command Sequence EE EE ee 22 Keep POEIER uo ED EER AE UR ESE DEER DE RR RUE Ro Ee oe EE a G 22 Controlling Shutter Operations SS SE SS SS ES mh 24 lC ee id es de seta ees cn tales SI Se ESE EE EEN IE EE EE ee Aa 25 Example of IIC Communication aaa ee ee ee 25 12C Message Formal iacaxcvSdadwv kh ERA ER EER EE ER ER ER DR od 27 Command and Script Examples si is EER 2228 EER EER ER RR RR GE RR 28 Command Format Example a yk RR RR ARE ales EE ene 28 NANO COMIN po so GE ERK Shs a RE Re ey be eee Se RR ER DEE EE A 30 FW Commands Parameters and Replies ES SE Sk ee ee 32 Se RE RE TE EE ER EE eee eS 32 Get Variables by ID Command es EE ER Ee EE eek ee ee 36 EXTENDED COMMAND FORMAT 0 000 SS ee n 36 Get Variables by ID Command Format 0000 cee eee ees 37 Get Variables by ID Available Variables lille 37 Get Variables by
19. ad returns values of the requested variables Any number of reads can follow a single GET VARIABLES BY I D command Each read returns instantaneous values of the requested variables allowing continuous monitoring of the variables The content of the extension Bytes can be redefined with the next GET VARIABLES BY ID command or the GET INFO command Any other command following the GET VARIABLES BY ID command can change standard Bytes of the reply but cannot redefine the extension This allows the Master to continue monitoring the previously requested variables The Slave can break the read cycle after any Byte by not acknowledging the last received Byte Therefore no cancellation of the extension data is required The Master simply ignores the extension when it is not required EXTENDED COMMAND FORMAT be of any length up to 255 bytes tools and libraries can apply additional limitations it s generally recommended to use commands not longer than 16 bytes Extended commands have the following format Table 5 Extended Command Format Byte Description 0 IIC device address 0xA4 1 Command code 248 OxF8 2 Command length including bytes 1 2 3 and all subsequent byte N 256 3 Extended command code 0x42 Get Variables by ID 4 to N Data format varies from command to command Unlike basic command that always includes 3 bytes extended command can i 600458002 00 Revisio
20. after the first byte The clock is always provided by the master However the delay is commanded by the drive because it requires time to prepare response sending To cause delay the controller driver holds the clock low for a while The master should react as defined in IIC specification I 600458002 00 Revision G 26 IIC Communication Tek Run 2 50MS s Sample NEGE Offset Time 2 4790ms amp T i 1 i NN Dual Zoom OFF TE Rn 2 16 V Iri 1 88 Vj DZ Offset dT OR ER LID S 2 00 vV Ch2 2 00 V M1 00ms Chl i i D 200ygs Chi eTecte toes Graticule Upper Figure 11 Figure 3 IIC Read command example 12C MESSAGE FoRMAT The command format includes an address the command and parameters if required for the command The following table defines each part of the format Table 3 Master Slave Command Format Size in RES Field Name Bytes Description Address 1 12C device address 0xA4 Command 1 Code number in Hex The parameters are binary and in little endian format If no parameters are needed for the command the two Bytes must contain zeroes 00 00 Parameter 2 According to 12C standards the full command is bracketed by Start and Stop bits After sending a single Byte of the command the Master waits to receive an Acknowledge bit from the Shutter The next Byte is not sent until the Acknowledge bit is received This allows the
21. art numbers for RS08 Rotary Shutters with standard angle of movement and blade Product Part Number RS08 Rotary Shutter 35 Stroke Angle with standard blade RS080350AA 01 RS08 Rotary Shutter 45 Stroke Angle with standard blade RS080450AA 01 RS08 Rotary Shutter 50 Stroke Angle with standard blade RS080500AA 01 RS08 Rotary Shutter 55 Stroke Angle with standard blade RS080550AA 01 RS08 Rotary Shutter 70 Stroke Angle with standard blade RS080700AA 01 RS08 Rotary Shutter 90 Stroke Angle with standard blade RS080900AA 01 RS08 Rotary Shutter 120 Stroke Angle with standard blade RS081200AA 01 600458002 00 Revision G Screw mE Mounting holes 2 we x2 Standard P P of Grid Blade m n p f C A Mount C amp 5 a eh bef Sr MK 5 0 K Standard Actuator Figure 1 RS08 Rotary Shutter Exploded View Product Structure RSO8 ROTARY SHUTTER MODULAR PARTS The Shutter can be configured by assembling different modular parts Blade Grid on the standard Actuator part number RS080000CA XX e Grid controls the angle of movement of the Blade Refer to the following table for part numbers Table 1 Grid Part Numbers Angle of movement Part Number 35 RS080350GA XX 45 RS080450GA XX 50 RS080500GA XX 55 RS080550GA XX 70 RS080700GA XX 90 RS080900GA XX 120 RS081200GA XX
22. cripts page 24 to define unique Shutter actions These scripts can be run from the user MCU or Host computer using the NanoCommander program page 30 Shutter Velocity Deceleration Acceleration deg sec msec Command 33 Command 53 l i Constant i Velocity deg sec i Command 52 l Hardstop Figure 9 Shutter motion profile KEEP POSITI ON When the Shutter reaches the stop the position is maintained by monitoring the position sensor s signal If the blade has been moved by an external force the sensor changes its state and the Controller Driver changes the Shutter in Position status to O If KEEP POSITION command 46 is enabled the Shutter applies motion towards the stop in order to return the Shutter to its correct position 600458002 00 Revision G 22 Operating Sequences The POWER SAVE command 45 command affects the timing of the KEEP PosiTI ON command POWER SAVE disabled the Shutter monitors the Position sensor continuously POWER SAVE enabled the Shutter switches to low power mode after motion termination The Shutter wakes up periodically every 100 msec and checks the status of the Position sensor If action is required the Shutter moves the Shutter to its correct position and then returns to low power mode again I 600458002 00 Revision G 23 Controlling Shutter Operations CONTROLLI NG SHUTTER OPERATI ONS The R 08 Rotary Shutter is factory programmed with a Nanomotio
23. e us cup ie SG ED 11 l 12C 400 KHZ ese ese ese se ee ee ee nnn 16 clock line eie eee 16 data lille iore etta et rro tees 16 L label barcode ee ee ee ee ee eee 15 M MGW EE RE een ee eee 18 message j EE RE 39 structure address ee ee ee ee ee ee 27 command oo ee ee ee ee ee ee 27 parameter sosterse SG EE ER EEN 27 message formatting master to SIAVE oo ee ee ee ee ee ee ee 27 slave to master ee 39 mode BY DOWEL asse esse 23 motion profile eain bek Ee GR ee P nest 22 46 I NDEX N NanoCommander eee 30 commands eie ee ee Re Re Ke ee 3l lnc 30 running scripts in oo eee se ee ee 31 SEDES ie Se N ee oie 31 nanocommander window panes see mite staret s 30 P parameters save to flash memory 32 position Sensor esse tek tu AKA GENE Cox 23 product specification electrical rr 15 mechanical eene 12 R reply motor status Byte 40 report BUSY AN 40 GITOF AR coder ebd eire s 40 Dem 40 structure addi 855 EE EE De 40 command ee 40 extension ie se teens eric 40 motor status esse ee ee ee ee ee 40 reply format EE RE EE EE HEG 38 reset oci Me ED ie ee EER Ee as 20 active high sesse GEE Se ES 20 active low 20 blade position occa Ebo 20 S 6 sR ee E Pen ie 22 28 31 examples EE Peas 20 for NanoCommander ee 28 for user MCU ee ee ee Re Re ke ee 28 shutt
24. er open close iussis dicito besar cr De idus 33 system DOWER OR iati te 19 600458002 00 Revision G Hl EE 20 system calibrate iS N Rea atas 2 system interconnect ueessss 18 47
25. g screws Corrected incorrect values or units Revised text to clarify intent 0801 D Nov 2014 Revised as follows Corrected page numbering to follow sequentially from front matter Changed IIC to 12C throughout the manual n figure 6 on page 19 changed wait 1ms to 4ms Added note defining the maximum latency transmission bit response from the RS08 as 4ms nthe description of the sleep mode on page 28 changed description of exiting from Sleep mode Added note on page 15 indicating standard unit delivered with flying leads no connector E Jan 2015 Administrative change to front matter Added instructions for trimming the flat cable F Apr 2015 Corrected part number errors on pages 10 and 11 0916 G Aug 2015 Changes based on customer comments 600458002 00 Revision G page 15 note re power cable length and information about the barcode label page 22 added info regarding I2C page 32 added info re extended command format page 36 added fault range Table of Contents INIFOGUCHION s cau zx ym cee reese e ead dew ee EP xy Ru EP EES GE 7 Conventions used in this manual leen 7 Product Information vsus xoa xen EE SR REX Oe we EDE RE DE 9 eae m P 10 RSO8 Rotary Shutter Modular Parts ss ase ak eser Rr RS 11 Technical Information 0 0 0 0 000 cc 12 Specificati NS sue ite ET EET ETT ETE EE RR RR DE eek 12 Mechanical Specifications is EE EE EE ee EE ek Re ee 13 ele EROTIES TE O
26. n Firmware FW version The FW controls the Shutter in response to commands from either of two sources For detailed information about the commands responses and variables recognized by the Shutter refer to FW Commands Parameters and Replies on page 32 NanoCommander When control is from a Host computer using the NanoCommander program commands can be sent individually or executed as a script from the NanoCommander s window Refer to page 30 for NanoCommander operating instructions User MCU The Shutter operation can be controlled by sending individual commands or running a script saved on the user s MCU over the 12C lines Command formatting and syntax must comply with the Shutter s FW requirements The following sections provide information on message formatting 600458002 00 Revision G 24 IIC Communication I I C COMMUNICATION The controller driver implements IIC slave protocol The communication is done by exchanging messages between the master and the slave using standard IIC communication at a frequency of 100 kHz or 400 kHz 400 kHz rate is not compatible with Power Save mode By default Power Save mode is enabled only 100 kHz rate is functional To enable 400 kHz rate first disable Power Save with command 45 parameter 0 There are two types of messages e Master gt Slave the master sends a message to the slave see Master gt Slave Message e Slave gt Master The master reads a
27. n G 36 Get Variables by ID Command Notes e All extended commands have the same command code 248 0XF8 Extended command code byte 3 identifies specific command e After execution of extended command byte 1 in the controller reply reads value 249 0XF9 After any standard command it reads command code GET VARI ABLES BY ID COMMAND FORMAT The GET VARI ABLES BY ID command is referred to as an extended command It is the only extended command used by the Shutter The extended command has a different format than a standard command Table 6 Get Variable by ID Command Format Byte offset Value Comments 0 Address 12C device address OxA4 1 248 OxF8 Command code for GET VARIABLES BY ID 2 4 8 decimal value indicating the command length allowing request for up to 5 variables 3 66 0x42 xe E defining the Extended command 4 ID ID of the first variable the valid variable IDs are listed under Valid IDs page 37 5 ID ID of the second variable optional 6 ID ID of the third variable optional 7 ID ID of the forth variable optional 8 ID ID of the fifth variable optional GET VARI ABLES BY ID AVAILABLE VARI ABLES The following Variable I D s are valid Table 7 Valid I Ds ID lee Tn Comments Bytes 2 2 Measured temperature in C Instantaneous Blade position voltage 2 1 ADC readings are provided in ADC units To calculate voltage use formula V
28. nce begins with the Master sending a command to the Shutter The Shutter reads that command and checks the status of current commands If commands are being executed the new command is queued When the all queued commands are completed and the system is Idle the reads the command If the command is to move the Blade the Shutter checks the ambient temperature and adjusts its operating frequency for peak performance before executing the command For all other commands the Shutter executes the command Refer to Temperature Processing on page 35 for information about enabling disabling this function A general command execution sequence is shown in Command Execution Flow on page 21 Send Command Execute a corrective action Idle no active command Y Check temperature and Adjust shutter frequenc Command move shutter No Execute command Write next command Figure 8 Command Execution Flow S600458002 00 Revision G 21 Operating Sequences SHUTTER OPERATI ON COMMAND SEQUENCE Shutter motion is initiated by OPEN CLOSE SHUTTER command 23 The movement of the Shutter has four stages as shown in Figure 9 e Initial movement from stop to High Velocity msec High Velocity degrees sec Transition to low velocity msec Low velocity degrees second The velocity of movement is defined by the programmed FW and is not changeable by the user The user can create specific s
29. of reply includes 6 Bytes The Master can specify up to 10 extension Bytes using commands like Get Info When an extension specifying command is issued the Slave continues sending the extension Bytes in each read cycle The Master can break the read cycle after any Byte by not acknowledging the last received Byte Therefore no cancellation of the extension is required the Master simply ignores the extension when it is not required 600458002 00 Revision G 39 Get Variables by ID Command The read command has the following structure Table 10 12C Read Command Format F Size in Sent by Field Name Bytes Description 2C device read address Master Address 1 default 0xA5 Command 1 Code of the last executed command Command 1 Status of the last command Status execution Motor Status 1 Bit coded motor status Slave Reserved 3 Version data if requested by Extension 0 10 command 19 variable values if requested by extended command The following table lists the possible codes in Command Status Byte Table 11 Controller Driver Command Status Report Command Status Code Description The last command executed successfully Driver Idle 1 is ready to receive the next command eat any The last command failed Driver is ready to Error numb receive the next command er 24 Execution of command is in progress Other Busy 3 commands should not be sent while
30. oltage ADC Value 256 2 5 600458002 00 Revision G 37 Get Variables by ID Command Table 7 Valid I Ds Size in ui Bytes Comments Instantaneous PWM value of the Shutter mechanism The variable is updated during motion 10 2 Frequency divider Refer to FREQUENCY command 12 in Table 4 12 2 Motion time The value reads the motion time in units of 0 1 milliseconds To obtain motion time in milliseconds divide the value by 10 The measurement starts with each motion start and measures time until three conditions are met motion finishes the PWM switches off and the position sensor turns active 13 2 Motion Path The difference between the values of ADC1 at Motion End and the Motion Start 31 PWM limit 32 2 Timeout GET VARI ABLES BY ID REPLY FORMAT The Shutter replies to Master initiated read cycle with a sequence of Bytes as listed in the following table garbage An erroneous ID specified in the command does not cause a failure or error report However the returned value for the incorrect ID may be Table 8 Slave Reply Format Field Name Byte offset Description Address 0 Slave IC device address Command 1 Code of the last command received by the Slave oom id 2 Status of the controller Status Motor Status 3 Position of the Shutter Reserved 4 5 6 Extension 7 16 Additional data specified in the la
31. st GET VARI ABLES BY ID command 600458002 00 Revision G 38 Get Variables by ID Command After GET VARIABLES BY ID command 10 extension Bytes read the data as shown in the following table Table 9 Byte Offset of I D Variables Byte offset Description 7 8 Instantaneous value of the first requested variable 9 10 Instantaneous value of the second requested variable 11 12 Instantaneous value of the third requested variable 13 14 Instantaneous value of the forth requested variable 15 16 Instantaneous value of the fifth requested variable If less than 5 variables were specified in the last GET VARIABLES BY ID command the value of the extra Bytes is undefined and will not read by the Master The controller always transmits two Bytes per each requested address Interpretation of the Bytes depends on the variable type f variable length is two Bytes the reply contains the Bytes in the big endian format most significant Byte first e f variable length is one Byte the first reply Byte reads the variable s value and the second Byte is undefined e f variable length is more than two Bytes the reply contains two initial Bytes of the variable For integer variables these Bytes read the most significant Bytes of the value SLAVE MASTER REPLY The Master initiates a read cycle by sending the read address to the I 2C bus The Slave responds by sending reply Bytes Permanent part
32. the driver is busy The following table lists the bits in Motor Status Byte Table 12 Motor Status Byte pir Bit name Description number 0 Shutter in 0 Not in position position 1 in position Open Close 0 Idle 1 Motion state 1 In motion 0 Velocity Ok 2 Low velocity 1 Velocity was below threshold for more than 30 msec 600458002 00 Revision G 40 Get Variables by ID Command Table 12 Motor Status Byte 0 No timeout 3 Timeout 1 The last Shutter operation took more than timeout value defined by command 25 0 The system was not calibrated or calibration 4 Calibration failed state After power up the drive starts in this state 1 Calibration executed successfully 5 Shutter 0 Open position 1 close Valid only if Bit 0 is one 0 OK 6 fault range 1 travel less than expected minimum distance 600458002 00 Revision G 41 APPENDI X TRI MMI NG THE FLAT CABLE The standard RS08 Rotary Shutter is delivered with a 5 wire flat cable flying leads no connector The flat cable has a silicon insulation that must be carefully trimmed to attach to a connector or other circuit The following provides basic instructions for trimming the cable ends For additional details including a short video refer to http www cicoil com flex cables flat cable overview cable preparation asp 1 Cutthe cable to the desired length
33. vered with a pre configured Power On sequence that prepares the Shutter to receive commands The user can add a calibration step as shown in Figure 7 page 20 The additional step must be saved to the Flash to ensure its operation on all future Power On sequences 600458002 00 Revision G 19 Operating Sequences Reset put Reset line to ground for 200msec Reset Hig remove ground Polling on ASIC status System Ready EE EA ERAS Ready to use optional Polling on ASIC status System Ready Figure 7 Power on sequence Factory Programmed Customer customization RESET The Reset line provides a Power Down to the Shutter The Shutter is reset on the negative transition of the Reset line This causes the Shutter to clear its RAM and reload the last saved parameter set from Flash memory The line is held high 21 05VDC during normal operation To reset the Shutter drive the line low 0 4VDC and hold it there for 200 msec After the reset pulse is removed the line returns to a high condition A delay of 1 msec is needed before a command is sent to the Shutter to allow completion of the reset cycle During reset the Shutter Blade remains in the same position until a new move command is received 600458002 00 Revision G 20 Operating Sequences CALI BRATE The CALI BRATE command sets the Shutter s optimal operating frequency and position sensor output COMMAND SEQUENCE The command seque
34. wn in Power On page 19 600458002 00 Revision G 32 Commands Table 4 Command Parameter ee Command Code DEC Description Sets the Shutter frequency based on the formula the 20MHz Divider Divider ranger is 120 to 132 Frequency 12 Divider Default Frequency is the last saved frequency Note The change is to RAM only To save the change to Flash memory use SAVE PARAMETERS 13 Save the current RAM settings to Flash memory Save 13 00 00 SAVE PARAMETER must be used Parameters to save the following parameters to flash memory 12 25 33 46 48 and 50 Retrieve 14 00 00 Restores Flash memory settings to Parameters RAM Requests information from the Shutter The information is supplied in the 10 Byte reply Get Info 19 00 00 st MIE Bytes 0 3 Firmware version Bytes 4 7 Serial number Bytes 8 9 Application ID Open or close the Shutter 0 close Default position is closed set Shutter 23 J Bosh Refer to Figure 2 page 13 for explanation of Open Closed position 600458002 00 Revision G 33 Commands Table 4 Command Command Code Parameter DEC Description Set Timeout 25 Timeout in msec Set maximum time of OPEN CLOSE SHUTTER operation and OPEN LOOP motion in milliseconds Range 1 to 5000msec e Default value 500msec If motion is not completed within the specified time motion is stopped and the Timeout bit is
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