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Newport MM4005 User Manual
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EDH0162En1040
–
06/99
8.32
MM4005
Appendix F
—
Decimal / ASCII / Binar
y Conversion T
able
168
10101000
169
10101001
170
10101010
171
10101011
172
10101100
173
10101101
174
10101110
175
10101111
176
10110000
177
10110001
178
10110010
179
10110011
180
10110100
181
10110101
182
10110110
183
10110111
184
10111000
185
10111001
186
10111010
187
10111011
188
10111100
189
10111101
190
10111110
191
10111111
192
11000000
193
11000001
194
11000010
195
11000011
196
11000100
197
11000101
198
11000110
199
11000111
200
11001000
201
11001001
202
11001010
203
11001011
204
11001100
205
11001101
206
11001110
207
11001111
208
11010000
209
11010001
210
11010010
211
11010011
212
11010100
213
11010101
214
11010110
215
11010111
216
11011000
217
11011001
218
11011010
219
11011011
220
11011100
221
11011101
222
11011110
223
11011111
224
11100000
225
11100001
226
11100010
227
11100011
228
11100100
229
11100101
230
11100110
231
11100111
232
11101000
233
11101001
234
11101010
235
11101011
236
11101100
237
11101101
238
11101110
239
11101111
240
11110000
241
11110001
242
11110010
243
11110011
244
11110100
245
11110101
246
11110110
247
11110111
248
11111000
249
11111001
250
11111010
251
11111011
252
11111100
253
11111101
254
11111110
255
11111111
Number
ASCII
Binary
(decimal)
Code
Code
Number
ASCII
Binary
(decimal)
Code
Code
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
400
402
Table of Contents
Table of Contents
4
Warranty
3
Table of Contents
4
Table of Contents
5
Section 1 - Introduction
10
Table of Contents
13
Safety Considerations
14
Conventions and Definitions
16
Symbols and Definitions
16
Terminology
17
General Description
18
Features
20
Specifications
20
Modes of Operation
22
Rear Panel Description
24
Front Panel Description
26
Display Configuration
27
Display Structure
29
System Setup
31
Connecting Motion Devices
32
First Power
32
Verifying Default Devices
33
Section 2 - Local Mode
36
Operating in Local Mode/Programming in Local Mode
39
Table of Contents
39
Quick Start
40
Motor
40
Home Motion Devices
41
First Jog
41
First Move
42
Controller Configuration
44
General Setup
44
Axis Setup
53
Operating in Local Mode
66
Display Resolution
66
HOME Search
67
Manual Jog
67
Zero Display
69
Relative Moves
69
Single Axis Relative Move
70
Absolute Moves
71
Multiple Axes Relative Move
71
Program Execution
72
Single Axis Absolute Move
72
Multiple Axes Absolute Move
72
Axis Infinite Movement
73
Stop Axis Infinite Movement
74
Programming in Local Mode
74
General Concepts
75
Creating a Program
75
Command Line Creation
76
WHILE Loop Creation
79
Modifying a Program
80
-Axis Motion Controller/Driver
84
Remote Interfaces
86
Selecting the Interface
86
RS-232-C Interface
87
Hardware Configuration
87
Communication Protocol
87
IEEE-488 Interface
87
Softwares
87
MOTION Suite
88
MOTION Term
88
MOTION Servo
89
MOTION Draw
89
MOTION Prog
89
Communication Principles
89
RS-232-C or IEEE-488
89
Command Lines
89
Controller Responses
89
Communication Buffer
89
Command Syntax
90
Command Format
90
Blank Spaces
90
Command Line
90
Separator
90
Terminator
90
Command Summary
91
Command List by Category
91
General Mode Selection
91
Motion and Position Control
91
Trajectory Definition Parameters
91
Special Motion Parameters
92
Trace Mode
92
Digital Filter Parameters
92
Motion Device Parameters
92
I/O Functions
93
Programming
93
Flow Control and Sequencing
93
Variable Manipulation
94
Display Functions
94
Status Functions
94
Commands to Define a Trajectory
94
Commands to Execute a Trajectory
95
Commands to Help Geometric Definition of a Trajectory
95
Master-Slave Mode Definition
95
Trace Mode on Trajectory
95
Command List - Alphabetical
96
Table of Contents
290
Motion Systems
292
Specification Definitions
293
Following Error
293
Error
294
Accuracy
294
Local Accuracy
295
Resolution
295
Minimum Incremental Motion
296
Repeatability
297
Backlash (Hysteresis)
297
Pitch, Roll and Yaw
298
Wobble
299
Load Capacity
299
Maximum Velocity
300
Minimum Velocity
300
Velocity Regulation
301
Maximum Acceleration
301
16Combined Parameters
301
Control Loops
302
PID Servo Loops
302
P Loop
303
PI Loop
303
PID Loop
304
Feed-Forward Loops
304
Motion Profiles
306
Move
306
Jog
307
Home Search
307
Encoders
310
Motors
312
Stepper Motors
313
Advantages
317
Disadvantages
317
DC Motors
317
Advantages
318
Disadvantages
318
Drivers
318
Stepper Motor Drivers
318
DC Motor Drivers
320
Table of Contents
326
Definition of Terms
328
Trajectory
328
Trajectory Element
328
Trajectory Vector
328
Vector Velocity
328
Vector Acceleration
328
Geometric Conventions
329
Trajectory Description and Conventions
329
Defining Trajectory Elements
330
Defining Lines
331
Defining Arcs
331
Programming a Trajectory
333
Trajectory Element Parameters
334
Trajectory-Specific Commands
335
Trajectory Setup Commands
335
Trajectory Elements Definition Commands
335
Reporting Commands
335
Trajectory Synchronization Commands
335
Execution of a Trajectory
335
-Axis Motion Controller/Driver
338
Synchronizing Events to Motion
340
Pulses Synchronized to One Axis
340
Pulses Synchronized to a Trajectory
342
Synchronizing Events to Trajectory Elements
343
Synchronizing Events to Trajectory Position
344
Synchronized Axes (Electronic Gearing)
345
Automatic Program Execution on Power-On: EO Command or from the Front Panel
346
Continuous Motion: MV Command
346
Automatic Displacement Units Change: SN Command or from the Front Panel
347
Reading Parameters with
348
Stage Type Selection: SF Command or from the Front Panel
348
Error Reporting: TD Command
350
Firmware Updates
350
Integral Gain Saturation Limit: KS Command
350
Program Editing: EP Command
350
Joystick
351
Changing the Display Precision: NP Command or from the Front Panel
352
Periodic Display Mode: CD Command or from the Front Panel
352
Parameter
353
Asynchronous Acquisition: AQ Command
354
Executing Sub-Routines in a Program: EX Command
355
Analog Input/Output: AM, RA, YO, YR Commands
356
Load Communications Mode: CM Command
356
Default Mode: S-CURVE Profile
357
Integrator Factor Saturation Level in Position PID Loop Corrector: KS Command
358
Table of Contents
362
Servo Tuning Principles
364
Hardware Requirements
364
Software Requirements
364
Tuning Procedures
365
Axis Oscillation
365
Increasing Performance
366
Following Error too Large
366
Errors at Stop (Not in Position)
366
Following Error During Motion
367
Points to Remember
367
-Axis Motion Controller/Driver
370
Error Messages
373
IEEE-488 Link Characteristics
376
IEEE-488 Function Subsets
376
SRQ Using
376
Connector Pinouts
378
Labeling Conventions
378
Power Inhibition Connector (9-Pin D-Sub)
378
Remote Control Connector (15-Pin D-Sub)
379
Auxiliary Connector (25-Pin D-Sub)
380
GPIO Connector (37-Pin D-Sub)
382
RS-232C Interface Connector (9-Pin D-Sub)
383
RS-232C Interface Cable
384
IEEE488 Interface Connector (24-Pin)
385
Pass-Through Board Connector (25-Pin D-Sub)
387
Motion Program Examples
389
Troubleshooting Guide
397
Decimal/Ascii/Binary Conversion Table
399
Factory Service
402
Introduction
402
Obtaining Service
402
Service Form
404
4
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Newport MM4005 Specifications
General
Brand
Newport
Model
MM4005
Category
Controller
Language
English
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