Newport MM4006 Manuel utilisateur

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8-Axis High-Performance

Motion Controller/Driver

Version 7.01 Firmware

00 Newport •Motion Controller •Medd eddled

USER'S MANUAL

MM4006 8-Axis Motion Controller/Driver

Warranty

Newport Corporation warrants this product to be free from defects in

material and workmanship for a period of 1 year from the date of shipment.

If found to be defective during the warranty period, the product will either

be repaired or replaced at Newport's option.

To exercise this warranty, write or call your local Newport representative,

or contact Newport headquarters in Irvine, California. You will be given

prompt assistance and return instructions. Send the instrument, trans-

portation prepaid, to the indicated service facility. Repairs will be made

and the instrument returned, transportation prepaid. Repaired products

are warranted for the balance of the original warranty period, or at least 90

days.

Limitation of Warranty

This warranty does not apply to defects resulting from modification or mis-

use of any product or part. This warranty also does not apply to fuses, bat-

teries or damage from battery leakage.

This warranty is in lieu of all other warranties, expressed or implied,

including any implied warranty of merchantability or fitness for a particular

use. Newport Corporation shall not be liable for any indirect, special, or

consequential damages.

No part of this manual may be reproduced or copied without the prior written

approval of Newport Corporation.

This manual has been provided for information only and product specifica-

tions are subject to change without notice. Any changes will be reflected in

future printings.

C%,

EDH0181En1020 — 03/03 li (Newport.

MM4006 8-Axis Motion Controller/Driver

Warranty

Table of Contents

iii

Section 1 - Introduction

Table of Contents

1.1 Safety Considerations

1.2 Conventions And Definitions

1.2.1 Symbols and Definitions

1.2.2 Terminology

1.3 General Description

1.1

1.3

1.5

1.6

1.7

1.3.1 Features 1.9

1.3.2 Specifications 1.9

1.3.3 Modes of Operation 1.11

1.3.4 Rear Panel Description 1.14

1.3.5 Blank Front Panel 1.16

1.3.6 Equipped Front Panel 1.17

1.3.7 Display Configuration 1.18

1.3.8 Display Structure 1.20

1.4 System Setup 1.25

1.4.1 Connecting Motion Devices 1.25

1.4.2 First Power On 1.26

1.4.3 Verifying Default Devices 1.27

Section 2 - Local Mode

Table of Contents 2.1

2.1 Quick Start 2.3

2.1.1 Motor On 2.3

2.1.2 Home Motion Devices 2.4

2.1.3 First Jog 2.4

2.1.4 First Move 2.5

2.2 Controller Configuration 2.7

2.2.1 General Setup 2.7

2.2.2 Axis Setup 2.17

2.3 Operating In Local Mode 2.32

2.3.1 HOME Search 2.33

2.3.2 Manual Jog 2.33

2.3.3 Zero Display 2.35

2.3.4 Relative Moves 2.35

2.3.5 Absolute Moves 2.37

2.3.6 Program Execution 2.38

2.3.7 Axis Infinite Movement 2.40

2.4 Programing in Local Mode 2.41

2.4.1 General Concepts 2.41

2.4.2 Creating a Program 2.42

2.4.3 Modifying a Program 2.47

2.5 Operating in Blind Front Panel 2.48

2.5.1 Dip Switches to Configure the Communication 2.48

2.5.2 RS-232-C Communication Setup 2.49

2.5.3 IEEE-488 Communication Setup 2.50

2.5.4 RS-485 Point-to-Point Communication Setup 2.51

2.5.5 RS-485 Network Communication Setup 2.52

Table of Contents

(%)

%levvport. iii EDF10181EnI020- 03/03

MM4006 Table of Contents

Table of Contents

3.1 Remote Interfaces

3.1.1 RS-232-C Interface

3.1.2 IEEE-488 Interface

3.1.3 RS-232-C Interface

3.2 Softwares

3.2.1 MOTION Suite 32

3.2.2 MM4006 Terminal

3.2.3 MM4006 Servo

3.2.4 MM4006 XY Draw

3.1

3.3

3.4

3.5

3.3 MOTION Suite 32 Quick Start 3.7

3.3.1 Installation of the MOTION Suite 32 3.7

3.3.2 PC/Controller Communication 39

3.3.3 Axis Motion Control 3.12

3.3.4 Acquisition 3.13

3.4 Communication Principles 3.16

3.4.1 Command Syntax 3.17

3.5 Command Summary 3.18

3.5.1 Command List by Category 3.19

3.5.2 Command List by Name 3.21

Section 4 - Motion Control Tutorial

Table of Contents 4.1

4.1 Motion Systems 4.3

4.2 Specification Definitions 4.4

4.2.1 Following Error 4.4

4.2.2 Error 4.5

4.2.3 Accuracy 4.5

4.2.4 Local Accuracy 4.6

4.2.5 Resolution 4.6

4.2.6 Minimum Incremental Motion 4.7

4.2.7 Repeatability 4.8

4.2.8 Backlash (Hysteresis) 4.8

4.2.9 Pitch, Roll and Yaw 4.9

4.2.10 Wobble 4.10

4.2.11 Load Capacity 4.10

4.2.12 Maximum Velocity 4.11

4.2.13 Minimum Velocity 4.11

4.2.14 Velocity Regulation 4.12

4.2.15 Maximum Acceleration 4.12

4.2.16 Combined Parameters 4.12

4.3 Control Loops 4.13

4.3.1 PID Servo Loops 4.14

4.3.2 Feed-Forward Loops 4.16

4.4 Motion Profiles 4.18

4.4.1 Move 4.18

4.4.2 Default Mode: S-CURVE Profile 4.19

4.4.3 Jog 4.20

4.4.4 Home Search 4.20

Section 3 - Remote Mode

EDI10181En1020 - 03/03 iv

()

(Newport.

MM4006 Table of Contents

5.7.1 Trajectory Setup Commands

5.7.2 Trajectory Elements Definition Commands

5.7.3 Reporting Commands

5.7.4 Trajectory Synchronization Commands

5.7.5 Execution of a Trajectory

5.10

Section 6 - Feature Descriptions Tutorial

Table of Contents 6.1

6.1 Synchronizing Events to Motion 6.3

6.1.1 Pulses Synchronized to One Axis 6.3

6.1.2 Pulses Synchronized to a Trajectory 6.5

6.1.3 Synchronizing Events to Trajectory Elements 6.6

6.1.4 Synchronizing Events to Trajectory Position 6.7

6.2 Synchronized Axes (Electronic Gearing) 6.8

6.3 Joystick 6.9

6.4 Executing Sub-routines in a Program: EX Command 6.11

Section 7 - Servo Tuning

Table of Contents 7.1

7.1 Servo Tuning Principles 7.3

7.1.1 Hardware Requirements 7.3

7.1.2 Software Requirements 7.3

7.2 Tuning Procedures 7.4

7.2.1 Axis Oscillation 7.4

7.2.2 Increasing Performance 7.5

7.2.3 Points to Remember 7.6

Section 8 - Appendices

Table of Contents 8.1

AError Messages 8.3

Error List 8.3

BIEEE-488 Link Characteristics 8.6

IEEE-488 Functions Supported by MM4006 Controller 8.6

IEEE-488 Function Subsets 8.7

SRQ Using 8.7

Section 5 - Trajectory Functions Tutorial

Table of Contents 5 1

5.1 Definition of Terms5.3

5.1.1 Trajectory 5 3

5.1.2 Trajectory Element5.3

5.1.3 Trajectory Vector 5 3

5.1.4 Vector Velocity5.3

5.1.5 Vector Acceleration5.3

5.2 Trajectory Description and Conventions5.4

5.3 Geometric Conventions5.4

5.4 Defining Trajectory Elements5.5

5.4.1 Defining Lines 5.6

5.4.2 Defining Arcs5.6

5.5 Programing a Trajectory5.8

5.6 Trajectory Element Parameters5.9

5.7 Trajectory-Specific Commands 5 10

%Jevvport. EDI10181En1020 - 03/03

MM4006 Table of Contents

CConnector Pinouts8.9

Labeling Conventions8.9

Power Inhibition Connector (9-Pin D-Sub)8.9

Remote Control Connector (15-pin D-Sub)8.10

Auxiliary Connector (25-Pin D-Sub)8.11

GPIO Connector (37-Pin D-Sub)8.12

RS-232C Interface Connector (9-Pin D-Sub)8.14

RS-232C Interface Cable8.14

IEEE488 Interface Connector (24-Pin)8.16

RS-485 Interface Connector (5-Pin)8.16

Motor Interface Connector (25-Pin D-Sub)8.19

Pass-Through Board Connector (25-Pin D-Sub)8.20

DMotion Program Examples8.21

ETroubleshooting Guide8.29

FDecimal/ASCII/Binary Conversion Table8.32

GStages Preset in the Controller8.35

Default Stages8.35

Translation Stages8.35

Rotation Stages8.37

Actuators8.38

Drives8.38

HFactory Service8.39

Service Form8.40

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We declare that the accompanying product, identified with the "CE" mark, meets

all relevant requirements of Directives:

•73/23/EEC, for Low Voltage Compatibility.

•89/336/EEC for Electromagnetic Compatibility.

Generic standard:

Emission: NF EN61326-1, for measurement, lab and control equipment.

Immunity: NF EN61326-1, for measurement, lab and control equipment.

Safety: EIC 1010-1, safety standards for measurement, lab and control

equipment.

Newport Corporation shall not be liable for damages when using the product:

•Modification of the product.

•Using modified connector, or modified or not supplied cables.

•Connecting this product to non-CE equipment.

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ED110181En1020 — 03/03 vi Newport.

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8-Axis High-Performance rNeVVpOrt

Motion Controller/Driver

CE Declaration of Conformity

We declare that the accompanying product, identified with the

"CE" mark, meets all relevant requirements of Directive:

•73/23/CEE, for Low Voltage Compatibility.

•89/336/EEC for Electromagnetic Compatibility.

Compliance was demonstrated to the following specifications:

EMISSION:

Radiated and Conducted Emission in accordance with

relative prescription to the EMC, NF EN61326-1: Standards

for measurement, lab and control equipment.

Class A device.

IMMUNITY:

Radiated and Conducted Emission in accordance with

relative prescription to the EMC, NF EN61326-1: Standards

for measurement, lab and control equipment.

SAFETY:

CEI 1010-1, safety standards for measurement, lab and

control equipment.

L=144_7)

Jean-Marc DELAHAYE

Quality Director

Zone Industrielle

45340 Beaune-la-Rolande, France

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F.D11 0 1 81E n 1 02 0 — 03/03 b%Jewport.

Section 1

Introduction

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