Newport ESP300 Series - Page 7

5.2.2 Error ................................................... 5-3
5.2.3 Accuracy ............................................ 5-3
5.2.4 Local Accuracy .................................. 5-4
5.2.5 Resolution .......................................... 5-6
5.2.6 Minimum Incremental Motion........... 5-6
5.2.7 Repeatability ...................................... 5-7
5.2.8 Backlash (Hysteresis)......................... 5-8
5.2.9 Pitch, Roll and Yaw ........................... 5-9
5.2.10 Wobble ............................................. 5-10
5.2.11 Load Capacity .................................. 5-10
5.2.12 Maximum Velocity .......................... 5-11
5.2.13 Minimum Velocity........................... 5-11
5.2.14 Velocity Regulation ......................... 5-12
5.2.15 Maximum Acceleration.................... 5-12
5.2.16 Combined Parameters ...................... 5-13
5.3 Control Loops ............................................... 5-13
5.3.1 PID Servo Loops.............................. 5-14
5.3.2 Feed-Forward Loops ........................ 5-16
5.4 Motion Profiles ............................................. 5-18
5.4.1 Move ................................................ 5-18
5.4.2 Jog .................................................... 5-19
5.4.3 Home Search .................................... 5-20
5.5 Encoders........................................................ 5-22
5.6 Motors ........................................................... 5-26
5.6.1 Stepper Motors................................. 5-26
5.6.1.1 Stepper Motor Types.......... 5-31
5.6.2 DC Motors........................................ 5-32
5.7 Drivers........................................................... 5-33
5.7.1 Stepper Motor Drivers ..................... 5-33
5.7.2 Unipolar-Bipolar Drivers ................. 5-35
5.7.3 DC Motor Drivers ............................ 5-36
5.7.3.1 PWM Drivers ..................... 5-38
Section 6 – Servo Tuning .........................................6-1
6.1 Tuning Principles ............................................ 6-1
6.2 Tuning Procedures .......................................... 6-1
6.2.1 Hardware and Software Requirements6-2
6.2.2 Correcting Axis Oscillation ............... 6-2
6.2.3 Correcting Following Error................ 6-2
6.2.4 Points To Remember.......................... 6-4
Section 7 – Optional Equipment ..............................7-1
7.1 Hand-held Keypad .......................................... 7-1
7.1.1 Description of Keys ........................... 7-2
7.1.2 Activating the Keyboard .................... 7-2
Preface vii