1. Manuals
  2. Brands
  3. Newport Manuals
  4. Controller
  5. MM4006
  6. Manual

Newport MM4006 Manual

8-axis motion controller/driver
Hide thumbs Also See for MM4006:
Table of Contents

Advertisement

Quick Links

Section 2
Local Mode

Advertisement

Table of Contents
loading

Related Manuals for Newport MM4006

Summary of Contents for Newport MM4006

  • Page 1 Section 2 Local Mode...
  • Page 2 MM4006 8-Axis Motion Controller/Driver...

  • Page 3: Table Of Contents

    MM4006 8-Axis Motion Controller/Driver Table of Contents Section 2 — Mode local 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 Language Selection ..............2.8...
  • Page 4 Table of Contents — Section 2 Manual Speed................2.26 Minimum Speed (Stepper Motors Only) ........2.26 Maximum Speed ................2.27 Scaling Speed ................2.27 Scaling Acceleration (Torque Motors Only)......2.28 Encoder Resolution..............2.28 Motor Increment ...............2.29 Periodicity ..................2.30 Control Loop ................2.30 Motor Type ................2.31 HOME Type ................2.31 Motion Type................2.32 2.3 Operating In Local Mode ..............2.32 2.3.1 HOME Search ................2.33...

  • Page 5: Quick Start

    MM4006 8-Axis Motion Controller/Driver Section 2 Local Mode Quick Start After reading the Introduction Section you are now prepared to turn the motors on and command the stages to execute motions. The following paragraphs will guide you through a quick tour of the LOCAL mode motion commands.

  • Page 6: Home Motion Devices

    MM4006 Local Mode 2.1.2 Home Motion Devices As a general practice, before executing any motion, always home the motion devices. As described in detail in the Motion Control Tutorial sec- tion, homing a motion device means executing a special routine that locates a dedicated origin switch and an encoder index pulse and establish- es an absolute position zero.

  • Page 7: First Move

    MM4006 Local Mode ❶ ❷ ❸ Fig. 2.2 — The columns of the numeric keypad indicate the direction and speed of a JOG. If a key in column ❶ is pressed, the selected axes will move slowly in the negative direction.
  • Page 8 MM4006 Local Mode rect the entry use the key. When finished, press the key to DELETE VALID accept the value. If there is more than one axis connected to the system, the symbol now jumps to the next axis position displayed. Repeat the desired destination entry...

  • Page 9: Controller Configuration

    The first aspect is the controller configuration. Though some parameters can also be changed with remote commands, the primary environment for configuring the MM4006 controller is the SETUP section of the LOCAL mode. The SETUP mode can only be initiated from the top level MOTOR menu: DISPL.

  • Page 10: Language Selection

    This sets the language the controller uses to communicate with the operator, especially through the front panel. The MM4006 can use two languages at this time: English and French. To change the language, from the display shown in Fig. 2.5 press the MODIFY key.

  • Page 11: Command Language Set

    MM4006 Local Mode 2 From the top level motor-off menu (power-on default screen), press the function keys in this sequence: → → 3 Press function key until the desired language appears. 4 Press function key three times to return to the top level menu.

  • Page 12: Profile Type

    MM4006 Local Mode 2.2.1.5 Profile Type This menu defined the type of velocity profile: TRAPEZOID S-CURVE The S-curve type avoids brutal changes of the speed in the course of axis displacement, consequently, it improves the stage quality of movement. Press the key until the profile type appears.

  • Page 13: Axis Home Sequence

    MM4006 Local Mode AXES → → → → → . 3 5 Motor OFF SETUP GEN. MODIFY . 3 4 5 D e g 2 . 3 4 c o n n e c t l e c a c t i o n...

  • Page 14: Stop Bits

    Word Length The word length refers to the word size to be used with the RS-232-C and RS-485 interfaces. The MM4006 controller is designed to accept either 7- or 8-bit words. The factory preset word size is 8 bits. To change the RS-232-C word length from the General Setup menu, press until the Word Length parameter appears on the display.

  • Page 15: Parity

    MM4006 Local Mode 2.2.1.11 Parity Parity must be set correctly for the RS-232-C or RS-485 communication to work properly. As the standard suggests, when a word length of less than 8 is used, the parity bit can be set to Odd or Even. Both communicating devices must use the same setting.

  • Page 16: Baud Rate

    MM4006 Local Mode 2.2.1.13 Baud Rate This parameter applies to RS-232-C and RS-485 interfaces. It sets the communi- cation speed to be used on this port. The valid range is from 1200 to 115200. The factory default is 9600 baud rate.

  • Page 17: Ieee-488 Srq Used

    This setting selects the communication port to be used with a host comput- er. The MM4006 controller can use one of RS-232-C, RS-485 or IEEE-488 inter- faces, but only one at a time. The selection can be made only through this setup.

  • Page 18: Terminator

    In order for a com- mand to be acted upon, it must be followed by the terminator. The MM4006 controller offers a choice of four command line terminators which are combinations of line-feeds and carriage-returns: LF, CR, CR/LF and LF/CR.

  • Page 19: Axis Setup

    MM4006 Local Mode extreme distance and does not have enough time to complete it. A large value prevents the controller from detecting a real problem, when the home search cycle takes an excessive amount of time. An ideal home time-out value is about 20% over the time it takes the slowest stage installed to perform a home search.

  • Page 20: Motion Device Selection

    P R O G . 2.2.2.2 Motion Device Selection One of the advanced features of the MM4006 controller is that it has stored in its firmware all necessary parameters for all compatible motion devices supplied by Newport. To avoid scrolling through over 100 components, the selection is made in two steps, first the family and then the component model.

  • Page 21: Modifying Axis Parameters

    MM4006 Local Mode 2.2.2.3 Modifying Axis Parameters Once a new motion component has been defined for an axis, you can review its default parameters. The following discussion assumes that you want to see them all and will not exit after each one is displayed.

  • Page 22: Display Resolution

    MM4006 Local Mode 2.2.2.5 Display Resolution This menu modified axis position (digit number after decimal point). The con- troller used this parameter to adjust exactly the mechanical displacement. To change the Display Resolution, press the key. Use the numeric MODIFY...
  • Page 23 This parameter is the saturation gain factor of the PID filter integrator. The valid range is between 0 and 1. All standard motion devices offered with the MM4006 have a set of conservative PID parameters stored in the con- troller’s firmware. To change them you will need some knowledge of motion control loops and the help of a software utility.
  • Page 24 This parameter is the proportional gain factor of the digital PID filter. The valid range is between 0 and 1. All standard motion devices offered with the MM4006 have a set of conservative PID parameters stored in the con- troller’s firmware. To change them you will need some knowledge of motion control loops and the help of a software utility.

  • Page 25: Home Preset

    MM4006 Local Mode 2.2.2.12 HOME Preset This feature is used to set the zero location according to the application’s needs. This parameter defines the value that will be loaded into the posi- tion register when the motion device’s home is found. The factory default is zero, meaning that at the home location the position is zero.

  • Page 26: Minimum Position

    MM4006 Local Mode 2.2.2.14 Minimum Position This parameter defines the negative (usually left) software travel limit. No motion will be allowed to exceed this position in the negative direction. CAUTION Do not set a value for this parameter more negative than the default value, otherwise the hardware limit switch will be tripped.

  • Page 27: Home Low Speed

    MM4006 Local Mode 2.2.2.16 HOME Low Speed This parameter sets the value of the home search low velocity portion. It is recommended that this value not be altered. If you are setting up a new motion device that has no default parameters,...

  • Page 28: Manual Speed

    MM4006 Local Mode 2.2.2.18 Manual Speed This parameter defines the high velocity of the manual jog mode (using front panel or joystick). The default value is 50% of the Maximum Speed, but you can change it to suit your needs. The slow speed manual jog is one tenth of the high speed.

  • Page 29: Maximum Speed

    MM4006 Local Mode 2.2.2.20 Maximum Speed This is the maximum velocity allowed for a given motion device. No pro- gramed velocities are allowed to exceed this value. It also represents the default velocity if no other value has been set previously (by a remote com- mand).

  • Page 30: Scaling Acceleration (Torque Motors Only)

    MM4006 Local Mode 2.2.2.22 Scaling Acceleration (Torque Motors Only) This command sets the scaling acceleration value for a stage equipped with a torque motor. That is the maximum acceleration acceptable by the mechanical system required by the controller when the maximum tension (±10 V on the output of the DAC) is applied on the driver board.

  • Page 31: Motor Increment

    MM4006 Local Mode Press the key to advance to the next parameter. AXES AXES → → → → → → . 3 5 Axis Setup MODIFY MODIFY VALID . 3 4 5 D e g 2 . 3 4 c o n...

  • Page 32: Periodicity

    CD — Set periodical display mode. 2.2.2.26 Control Loop The MM4006 controller has the capability to operate both DC and stepper motors in closed loop or open loop configurations. This is an important feature, especially for the stepper motors. As described in the tutorial sec- tion, when operating a stepper motor in a mini- or micro-stepping mode, the actual position can vary a few steps when under load.

  • Page 33: Motor Type

    2.2.2.28 HOME Type All standard motion devices offered with the MM4006 have an origin (home) switch and they can all perform a home search cycle. In cases where the controller is used with a device that does not have a home switch, the controller must know not to look for it.

  • Page 34: Motion Type

    Operating In Local Mode In addition to the SETUP mode, the other two types of operations that can be performed from the front panel of the MM4006 controller are motion- related commands and creating or editing motion programs. The most common use of the Local Mode is to initiate motion and motion- related commands from the front panel.

  • Page 35: Home Search

    This type of motion is known as a JOG. The MM4006 controller implements this function on the numeric keypad. The Manual Jog mode can be enabled either from the top level menu or using the Move menu. In both cases, the calling...
  • Page 36 MM4006 Local Mode Line number 5 indicates that the keypad can be used to initiate a manual jog. As described in paragraph 2.1.3 First Jog, each keypad row controls one axis. The keys on the left initiate a jog in the negative direction and the keys on the right in the positive direction.

  • Page 37: Zero Display

    MM4006 Local Mode NOTE If both – and + appear, the motion device is either disconnected or a hardware failure exists. On power-up sequence, the controller checks every axis for this case. If found, it assumes that no motion device is pre- sent.

  • Page 38: Single Axis Relative Move

    MM4006 Local Mode 0 . 0 0 . 0 0 0 D g . 0 . 0 0 c o n n e c t L A T a l c L E T L I D Fig. 2.10 — Relative motion menu.

  • Page 39: Multiple Axes Relative Move

    MM4006 Local Mode 2.3.4.2 Multiple Axes Relative Move AXES AXES AXES → → → → → → . 3 5 MOTOR ON MOVE RELAT. VALID . 3 4 5 D e g 2 . 3 4 c o n n e c t...

  • Page 40: Single Axis Absolute Move

    MM4006 Local Mode 2.3.5.1 Single Axis Absolute Move AXES AXES → → → → → . 3 5 VALID MOTOR ON MOVE ABSOL. . 3 4 5 D e g 2 . 3 4 c o n n e c t...
  • Page 41 MM4006 Local Mode Once a valid program is selected, the controller prompts you for the num- ber of times to repeat program execution. Enter the desired number on the keypad and press VALID The next menu confirms your choice to execute the selected program the...

  • Page 42: Axis Infinite Movement

    MM4006 Local Mode 2.3.7 Axis Infinite Movement The infinite movement is realized with the menu to move one or INFINI some axis eternally (none stop). Press the key on menu. Press the key to MOTOR ON MOVE NEXT activate the second Move menu. Press the...

  • Page 43: Programing In Local Mode

    For this reason, to create a program in local mode we need a way to enter alpha-numeric commands from the front panel. Since the number of keys available on the front panel is limited, the MM4006 controller uses a special convention to enter motion program commands. Taking advantage of the context-sensitive menus, commands are assigned to function keys and numerical values are entered on the numerical keypad.

  • Page 44: Creating A Program

    MM4006 Local Mode from the display to make room for a new one. To scroll through the pro- gram and view different command lines, the controller must be in the Program Editing mode. The Program Creation mode does not allow you to view program lines other than the one being written or edited.

  • Page 45: Command Line Creation

    MM4006 Local Mode 2.4.2.1 Command Line Creation Start by first looking at the options offered for the simple command line. There are nine different types of commands available. They are separated in four different screens: ABSOL. RELAT. SYNCH. NEXT HOME...
  • Page 46 MM4006 Local Mode Command generated PR — Move to relative position. NOTE The controller recognizes zero-travel relative motions as no-motions and does not issue a command for them. synchronize motion sequence commands. SYNCH. This function will add to the program a command that causes the con- troller to wait for a motion to be complete before executing the next com- mand.

  • Page 47: While Loop Creation

    MM4006 Local Mode on the line only if the specified I/O input bit has the requested state. If the condition is not met at the time of evaluation, the rest of the command line is ignored and the program execution continues with the next line.
  • Page 48 MM4006 Local Mode If you want to create a loop that repeats a specified number of times, at the while selection menu press the key. The next choice you have to VAR. make is the number of times you want to repeat the loop. Enter the number on the keypad and press .

  • Page 49: Modifying A Program

    MM4006 Local Mode 2.4.3 Modifying a Program The Program Creation mode does not have the capability to edit com- mands or command lines already entered in a program. To modify anything in a program you must enter the Program Editing mode by pressing the key from the Program mode.

  • Page 50: Operating In Blind Front Panel

    These dip switches must be set accordingly to the communication parameters you want to use to enable your computer to communicate with the controller. The following tables will help you to properly setup these switches. Motion Controller Model MM4006 STAND-BY EOR + EOR - MOTOR The controller only reads these switches at its initialization.

  • Page 51: Rs-232-C Communication Setup

    MM4006 Local Mode 2.5.2 RS-232-C Communication Setup Front panel DIP switches setting Description RS-232-C Communication Not Used Disable XON/XOFF Mode Enable XON/XOFF Mode Terminator: LF Terminator: CR/LF Terminator: LF/CR Terminator: CR 9600 baud 1200 baud 2400 baud 4800 baud 19200 baud...

  • Page 52: Ieee-488 Communication Setup

    MM4006 Local Mode 2.5.3 IEEE-488 Communication Setup Front panel DIP switches setting Description IEEE-488 Communication Address 1 Address 2 Address 3 Address 4 Address 5 Address 6 Address 7 Address 8 Address 9 Address 10 Address 11 Address 12 Address 13...

  • Page 53: Rs-485 Point-To-Point Communication Setup

    MM4006 Local Mode 2.5.4 RS-485 Point-to-Point Communication Setup This is the mode for single computer to a single MM4006 controller in long distance or noisy environment high speed communication. Front panel DIP switches setting Description RS-485 Communication Address must be Zero...

  • Page 54: Rs-485 Network Communication Setup

    MM4006 Local Mode 2.5.5 RS-485 Network Communication Setup This RS-485 setup meets the requirements for a multi-drop communication network up to 32 MM4006 controllers. Front panel DIP switches setting Description RS-485 Communication Address 1 Address 2 Address 3 Address 4...

Table of Contents