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Newport MM4006 User Manual

8-axis high-performance motion controller/driver

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Page 1 Artisan Technology Group is your source for quality new and certified-used/pre-owned equipment SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT • FAST SHIPPING AND DELIVERY Experienced engineers and technicians on staff Sell your excess, underutilized, and idle used equipment at our full-service, in-house repair center We also offer credit for buy-backs and trade-ins •...
Page 2 8-Axis H i g h -Performance M o t i o n C o n t r o l l e r / D r i v e r Version 7.01 Firmware N e w p o r t •Motion Controller • M e d d eddled USER'S MANUAL...
Page 3: Warranty
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.
Page 4: Table Of Contents
MM4006 -Axis Motion Controller/Driver Table of Contents Warranty Table of Contents Section 1 - Introduction Table of Contents 1.1 S a f e t y Considerations 1.2 Conventions And Definitions 1.2.1 Symbols and Definitions 1.2.2 Terminology 1.3 General Description 1.3.1 Features 1.3.2 Specifications...
Page 5 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 3.3 M O T I O N Suite 32 Quick Start 3.3.1 Installation of the MOTION Suite 32 3.3.2 PC/Controller Communication 3.3.3 A x i s Motion Control 3.12...
Page 6 7.2.3 Points to Remember Section 8 - Appendices Table of Contents A E r r o r Messages Error List B I E E E -488 Link Characteristics IEEE-488 Functions Supported by MM4006 Controller IEEE-488 Function Subsets SRQ Using %Jevvport. EDI10181En1020 - 03/03...
Page 7 Safety: E I C 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.
Page 8 4 4 , ▪ e - % a l t IVI 4 0 0 6 8- A x i s H i g h - P e r f o r m a n c e r N e V V p O r t (t * M o t i o n C o n t r o l l e r / D r i v e r CE Declaration of Conformity...
Page 9 F.D110181En1020— 03/03...
Page 10: Section 1 - Introduction
A . 0 . 8 y • ,...; * . 4 4 G G + 4 4 4 4 • M u d . Com*.4k* • 4.,66i1W406 0 9 0 0 i 0 0 : . 40 0 • 4 !Newport.
Page 11 MM4006 -Axis Motion Controller/Driver %evvport.
Page 12: Table Of Contents
MM4006 -Axis Motion Controller/Driver Table of Contents Section 1 I n t r o d u c t i o n 1.1 Safety Considerations 1.2 Conventions And Definitions 1.2.1 Symbols and Definitions 1.2.2 Terminology Axis Controller Encoder End-of-run Function key...
Page 13 Table of Contents - Section 1 REMOTE Mode 1 Immediate Mode1 Remote Commands In LOCAL Mode1 1.3.4 Rear Panel Description1 Axis Modules1 GPIO Connector1 Power Inhibition Connector1 Auxiliary Connector1 Remote Control Connector1 RS-232-C Connector 1 IEEE-488 Connector1 RS-485 Connectors 1 Power Switch/Entry Module1 Ground Post1 1.3.5 Blank Front Panel 1...
Page 14: Safety Considerations
• D o not make any modifications or parts substitutions to the equipment. • R e t u r n the equipment to Newport for any service and repair needs. • D o not touch, directly or with other objects, live circuits inside the unit.
Page 15 MM4006 WARNING All attachment plug receptacles in the vicinity of this unit are to be of the grounding type and properly polarized. Contact your electrician to check your receptacles. CAUTION This product is equipped with a 3-wire grounding type plug. Any inter- ruption of the grounding connection can create an electric shock hazard.
Page 16: Conventions And Definitions
MM4006 Conventions And Definitions 1.2.1 S y m b o l s and Definitions The following are definitions of safety and general symbols used on equip- ment or in this manual. Chassis Ground. Indicates a connection to the equipment chassis which includes all exposed metal structure.
Page 17: Terminology
In this manual refers to the mode of operation where communication is performed over a computer interface link. Stage The most common type of motion device for the MM4006. used inter- changeably in this manual for rotary and linear positioners. ( % ) Newport EI)111)1SIEn1021, —...
Page 18: General Description
Using other motion devices is possible but not recommended for optimal system performance. Fig. 1.1 shows a minimal system configuration. The MM4006 is used as a stand-alone unit to control and drive a motion device. The only compo- nents needed are a motion device. a connecting cable, the MM4006 and a power cord.
Page 19 MM4006 Introduction A more common setup is shown in Fig. 1.2. The MM4006 drives multiple stages and is controlled by a remote computer. Fig. 1.2 —A common controller setup. A more complex configuration, shown in Fig. 1.3, could have up to 4 motion devices, digital and analog I/O signaling f o r motion Synchronization, remote safety "motor off' switches and be part of a larger multi-axis sys-...
Page 20: Features
MM4006 1.3.1 F e a t u r e s Many advanced features make the MM4006 the preferred choice for preci- sion applications: • I n t e g r a t e d controller and driver design is more cost effective and a space saving solution.
Page 21 MM4006 Stepper motor control • I MHz maximum pulse rate. • Full-, half-, mini- and micro-step capability. • O p e n or closed-loop operation. • P I D with velocity feed-forward closed-loop mode. • Digital servo cycle: 0 . 3 ms, up to 4 axes.
Page 22: Modes Of Operation
1.3.3 M o d e s of Operation LOCAL Mode In LOCAL mode, the MM4006 is operated through the keys on the front panel. The display and function keys allow the selection of menus and operations that can be performed without using an external computer.
Page 23: Remote Mode
(RS-232-C, RS-485 or IEEE-488) to a computer or termi- nal. In this mode. all commands are received remotely and the controller executes them as directed. The MM4006 command language consists of 185 commands which are described in chapter 3.
Page 24 MM4006 tions and most REMOTE commands are ignored when not received at the top level menu. For this reason, always keep in mind the following recom- mendations: • I n LOCAL mode, avoid sending REMOTE commands when not at the top menu level.
Page 25: Rear Panel Description1 . 1
Introduction MM4006 1.3.4 R e a r Panel Description Before attempting to operate the MM4006, it must first be properly con- nected and configured. Carefully unpack the controller and place it on a flat surface. Save all packing materials. Begin by familiarizing yourself with the connectors and controls on the rear panel (Fig.
Page 26: Auxiliary Connector1 . 1
Two identical RS-485 connectors are available. Both are connected in paral- lel, so you can make the connections on each. These connectors are pro- vided to facilitate the construction of a network with several MM4006 con- trollers connected to one computer through a serial communication port.
Page 27: Blank Front Panel
MM4006 1.3.5 B l a n k Front Panel A general view of the blank front panel is shown in figure below. There are three distinct areas, from left to right: power controls, a display and func- tion keys, and a keypad.
Page 28: Equipped Front Panel
Access to Communication Dip Switches This window gives an access to twelve slide dip switches. These switches are use to configure the communication parameters of the MM4006 con- troller. 1.3.6 E q u i p p e d Front Panel A general view of the equipped front panel is shown in figure below.
Page 29: Display Configuration
MM4006 Motor ON/OFF For convenience and safety reasons, the power to the motors can be con- trolled separately. This is done from the front panel through two buttons labeled MOTOR E n and MOTOR IBM . A green LED on top of the MOTOR N M provides a quick visual indication of the motor Power ON condition.
Page 30 MM4006 In the above example, line number 6 displays the current function of the function keys and line number 5 informs us that the controller is idle, wait- ing for the operator to select an action. Lines number 1, 2, 3 and 4 identify the axis number and display the current position of each.
Page 31: Display Structure
MM4006 Status Display Pressing the STATUS function key activates the display to provide addition- al axis information. It does not change the menu level. - 3 . 3 5 6 1 2 . 3 4 5 2 3 4 5 6 4;' :...
Page 32 Introduction MM4006 MOTOR OFF Menu When motor power is turned off — the controller "power-on" default mode — the display function keys are as shown: DISPL. S TAT U S P R O G . S E T U P This is the "top level MOTOR M I "...
Page 33 0 : 1 1 - 0 7 . 1 1 1 1 1 3 1 8 1 0 1 1 t r 3 M O T O R 0 i T [ DISPL ST A TUS P R O C . S E T U P M O T O R O F F CREA TE]...
Page 34 MM4006 MOTOR ON Menu When motor power is turned on, the four function keys are defined as fol- lows: HOME M A N U A L M O V E P R O G . This is the "top level MOTOR 11211" menu. These four choices can be grouped into three important categories: home search, motion commands and program management.
Page 35 M O T O R ON H O M E MANUAL P R O G . Q U I T E X E C . C R E A T E MODIF . M O T O R ON Q U I T MANUAL RELA T .
Page 36: H O M E Motion Devices
MM4006 Introduction System Setup This section covers motion control system set up and preparing use it. First all necessary cables must be connected and the controller must be properly configured. This set up procedure configures a minimal system, similar to Fig. 1.11.
Page 37 The red LED goes off and the green one comes on, the front panel display turns dark blue and the controller makes a slight ticking sound. This is nor- mal. After a short delay, a welcome screen with the Newport logo flashes for a few seconds, showing you the firmware version in use. NOTE Any time you call for technical support, the firmware version is one piece of information you need to supply.
Page 38 Introduction MM4006 0.000 m m 0.000 D e g 0.0000 mm connected Fig. 1.12 — Display after initial power up. NOTE If, instead of a screen similar to Fig. 1.12 you see a different message, this means that the controller has detected an error.
Page 39 MM4006 If the components listed match with the actual motion devices installed, you are ready for the first motion test. On the other hand, if there is a discrepancy, it must be corrected immedi- ately. In this case, you should perform the following steps: 1 F r o m the main MOTOR m e n u , select the SETUP k e y.
Page 40 M M 4 0 0 6 12 When all necessary modifications a r e completed, f r o m the screen shown in Fig. 1.14, press the QUIT k e y . If modifications t o any axis have been made, t h e next screen w i l l ask if you want t o save the changes (Fig.
Page 41 MM4006 Introduction tNevvport. 1.3O FPI-111181 Eli11120 - 0:1 03...
Page 42 Section 2 Local Mode !Newport.
Page 43 MM4006 -Axis Motion Controller/Driver C ' , N e w p o r t .
Page 44: F I R S T Jog
MM4006 -Axis Motion Controller/Driver Table of Contents Section 2 M o d e local 2.1 Q u i c k Start 2 2.1.1 M o t o r On 2 2.1.2 H o m e Motion Devices2 2.1.3 F i r s t Jog2 2.1.4 F i r s t Move2...
Page 45 Table of Contents - Section 2 Manual Speed2 Minimum Speed (Stepper Motors Only) 2 Maximum Speed Scaling Speed2 Scaling Acceleration (Torque Motors Only)2 Encoder Resolution2 Motor Increment 2 Periodicity2 Control Loop2 Motor Type2 HOME Type2 Motion Type2 2.3 Operating In Local Mode2 2.3.1 HOME Search2 2.3.2 Manual Jog2 2.3.3 Z e r o Display2...
Page 46: Quick Start
8-Axis Motion Controller/Driver MM4006 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 47: H O M E Motion Devices2
MM4006 Local Mode 2.1.2 H o m e 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 48: F I R S T Move2
MM4006 Mode — — — — . 1 . MIN E l l MIII Fig. 2.2 — The columns of the numeric keypad indicate the direction and speed of a JOG. If a key in column 0 is pressed, the selected axes will move slowly in the negative direction.
Page 49 MM4006 Mode rect the entry use the DELETE key. When finished, press the VALID k e y to 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 50: 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 U M menu: DISPL.
Page 51: Language Selection2
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 52: Command Language Set2
MM4006 Mode 2 F r o m the top level motor-off menu (power-on default screen), press the function keys in this sequence: 3 Press function key 2 u n t i l the desired language appears. 4 Press function key 4 t h r e e times to return to the top level menu.
Page 53: Profile Type2
MM4006 Mode Profile Type This menu defined the type of velocity profile: / \ f TRAPEZOID -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.
Page 54: Axis Home Sequence2 . 1
MM4006 Mode SETUP G E N . M O D I F Y Motor OFF MASTER V A L I D Q U I T Q U I T SS — Set Master-Slave mode. ^ . 3 ” & S a e t t S N Axis HOME Sequence The Axis Home sequence performs a home search cycle on multiple axes.
Page 55: Stop Bits2 . 1
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 pegbt until the Word Length parameter appears on the display.
Page 56: Parity2 . 1
MM4006 Mode 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 o r Even. Both communicating devices must use the same setting.
Page 57: Baud Rate2 . 1
MM4006 Mode Baud Rate This parameter applies to RS-232-C and RS-485 interfaces. It sets the communi- cation speed to he used on this port. The valid range is from 1200 to 115200. The factory default is 9600 baud rate. If the IEEE interface is used, ignore the selection by pressing the U P k e y and advancing to the next parameter.
Page 58: Ieee-488 Srq Used2 . 1
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 59: Terminator2 . 1
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 60 MM4006 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 61 " VALID 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 62 MM4006 Mode Modifying Axis Parameters Once a new motion component has been defined f o r 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 63 MM4006 Mode 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 MODIFY key. Use the numeric keypad to enter a new value and then press VALID t o confirm the setting and return to the previous menu.
Page 64 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 65 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 66 MM4006 Mode 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 67 MM4006 Mode 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 68 MM4006 Mode 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, press the MODIFY k e y to set the HOME speed.
Page 69: Minimum Speed (Stepper Motors Only)
MM4006 Mode 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 70: Maximum Speed
MM4006 Mode 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 71: Scaling Acceleration (Torque Motors Only)2
MM4006 Mode 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 72: Motor Increment
MM4006 Mode Press the U p k e y to advance to the next parameter. MODIFY V A L I D Axis Setup 7 MODIFY - ) O r r ) QUIT Y E S QUIT SU — S e t encoder resolution.
Page 73: Periodicity2
CD — S e t periodical display mode. 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 74: Home Type2 . 3
' QUIT HOME Type All standard motion devices offered w i t h 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 75: Motion Type2 . 3
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 76: Home Search2 . 3
JOG. The MM4006 controller implements this function on the numeric keypad. The M a n u a l Jog m o d e c a n b e enabled e i t h e r f r o m t h e t o p l e v e l menu or using the Move menu.
Page 77 MM4006 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 78: Z E R O Display2
MM4006 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 79: Single Axis Relative Move2 . 3
MM4006 Mode Mt n 0 0 0 0 ' - - onneCted E n t e r R E L AT I V E d i s p l a c e m e n t DELETE V A L I D Fig.
Page 80: Multiple Axes Relative Move2 . 3
MM4006 Mode Multiple Axes Relative Move M O T O R ON MOVE R E L A T. ' ' • VALID 4: 6 , t 1 vial *I el etiALID V A L I D V A L I D...
Page 81: Single Axis Absolute Move2 . 3
MM4006 Local Mode Single Axis Absolute Move V ALID M O T O R ON M O V E A B S O L . EXEC. Q U I T Multiple Axes Absolute Move M O T O R ON ' MOVE A B S O L .
Page 82 MM4006 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 specified number of times or allows you to exit without execution by press- ing the QUIT k e y .
Page 83: A X I S Infinite Movement2
MM4006 Mode 2.3.7 A x i s Infinite Movement I N F I N I The infinite movement is realized with the menu to move one or some axis eternally (none stop). Press the MOVE k e y on IMOTOR ON menu.
Page 84: Programing In Local Mode2 . 4
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 85: Creating A Program2 . 4
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 86: Command Line Creation2 . 4
MM4006 Mode 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: A B S O L . RELAT . SYNCH. NEXT H O M E DELAY MOT ORS NEXT I F I N P .
Page 87 MM4006 Mode Command generated PR — M o v e to relative position. NOTE The controller recognizes zero-travel relative motions as no-motions and does not issue a command for them. SYNCH. s y n c h r o n i z e motion sequence commands.
Page 88: While Loop Creation
MM4006 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 89 MM4006 Mode If you want to create a loop that repeats a specified number of times, at the while selection menu press the VA R . k e y . The next choice you have to make is the number of times you want to repeat the loop. Enter the number on the keypad and press VALID .
Page 90: Modifying A Program2 . 4
MM4006 Mode 2.4.3 M o d i f y i n g 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 MODIFY key from the Program mode.
Page 91: Operating In Blind Front Panel2 . 4
Local Mode MM4006 program. The new line is inserted before the first line currently displayed. When the INSERT k e y is selected, the controller activates the Line Entry menu. Following the descriptions in the Command Line Creation para- graph, create a new command line and, when done, press the key to termi- nate it and return to the Program Editing menu.
Page 92: R S -232-C Communication Setup2
Local Mode MM4006 2.5.2 R S -232-C Communication Setup Front panel DIP switches setting D e s c r i p t i o n RS-232-C Communication ON O F F O N O N O N Used XON/XOFF Mode...
Page 93: Ieee-488 Communication Setup2
MM4006 Mode 2.5.3 I E E E -488 Communication Setup Front panel DIP switches setting D e s c r i p t i o n IEEE-488 Communication OFF O N O N O N O N ON O F F O N O N O N...
Page 94 MM4006 Local Mode 2.5.4 R S -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 D e s c r i p t i o n...
Page 95 MM4006 2.5.5 R S -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 D e s c r i p t i o n...
Page 96 Section 3 Remote Mode klevvport.
Page 97 Newport.
Page 98 3.2 Softwares3 3.2.1 MOTION Suite 323 3.2.2 MM4006 Terminal3 3.2.3 MM4006 Servo3 3.2.4 MM4006 XY Draw3 3.3 MOTION Suite 32 Quick Start 3 3.3.1 Installation of the MOTION Suite 32 3 3.3.2 PC/Controller Communication3 Connecting the controller to a PC3...
Page 99 MM4006 -Axis Motion Controller/Driver Trace mode Digital filter parameters Motion device parameters3 I/O functions Programing3 Flow control and sequencing3 Variable manipulation 3 Display functions3 Status functions3 Commands to define a trajectory3 Commands to execute a trajectory3 Commands to help geometric definition of a trajectory3 . 2 0...
Page 100: Remote Interfaces
Selecting the interface The MM4006 controller is equipped with RS-232-C, RS-485 o r IEEE-488 interface. Selecting the interface and setting the parameters is done through the General SETUP menu on the front panel.
Page 101: Hardware Configuration
Communication protocol The IEEE-488 i n t e r f a c e i s i m p l e m e n t e d o n t h e MM4006 somewhat differently than on a typical instrument. The standard IEEE-488 command set and command format are inadequate for a complex motion controller.
Page 102: Softwares3
3.2.1 M O T I O N Suite 32 MOTION Suite 32 is a set of W i n d o w s ' " applications for the MM4006 Motion Controller. MOTION Suite 32 requires the following minimum configuration: •...
Page 103: Mm4006 Terminal3
MM4006 Terminal is an application which permits to communicate with the Newport MM4006 C o n t r o l l e r. I t o ff e r s t h e p o s s i b i l i t y t o change communication configuration, and send commands t o the controller directly, or since a file or a file containing a MM4006 program.
Page 104: Motion Suite 32 Quick Start
MOTION Suite 32 is a package of three softwares: • MM4006 Terminal. • MM4006 Servo. • MM4006 XY Draw MOTION Suite 32 is supplied on an installation CD-ROM. 1) For installation of softwares, execute SETUP.EXE from the directory ENGLISH/DISK 1 of CD-ROM.
Page 105 Remote Mode MM4006 4) Adding program icons and folder names. Motion Suitc,32 4 0 2 11 , 111 2 Z E R F, A t i l l i a - L 1 w i * t d p o o p a m o t s N no R o o m F oldeo W e t t n . , , .
Page 106: Pc/Controller Communication3
Connecting the controller to a PC Connection is made with a RS-232-C cable (see Appendix C). Connect one end of the cable to the RS-232-C connector of the MM4006 controller and the other end to the serial port #1 of the PC.
Page 107: Pc Communication Configuration3
MM4006 Remote Mode PC communication configuration Running MM4006 Terminal under Windows environment. MT_TERM • MICRO-CONTROLE • MOTION Term 32 - Version 2.02 Ethel Erftion y u e Lonlipulaiion Eaarnettes F l o g i e g m o n 231611 Select the Configuration menu to set the PC communication parameters.
Page 108: Sending An Instruction3 . 1
MM4006 Remote Mode Sending an instruction Enter VE command in the dialog box of the Terminal and press ENTER key to send the instruction towards the controller. MILTERM - MICRO-CONTROLE - MOTION Term 32 -Version 2.02 Eichler Edition Vu e Conligur >...
Page 109: Axis Configuration3 . 1
• Select the Y E S k e y to save all axis #1 parameters in the EEPROM. • T o go back to the main menu press QUIT . Axis motion control Run MM4006 Terminal and configure the communication parameters as indicated previously. Enter the following instructions: MO,WT1000, 10R, 1WS,1TP,1PR 1 , IWS, ITP To execute the instructions press ENTER.
Page 110: Acquisition3
F r pas r a d e . . ! C O M 1 . 19200. ToneOut1_000, LF 3.3.4 A c q u i s i t i o n Acquisition for all axes Run MM4006 Terminal, and configure the communication parameters as indicated previously. Enter the instructions below and press ENTER each time: SQ0.001...
Page 111: Save All Data Capture In A Text File
Remote Mode MM4006 Save all data capture in a text file To read t h e buffer TQ and t o save t h e content in a text file, select Acquisition menu. Then select the sub-menu Global Acquisition TQ Record...
Page 112 MM4006 Remote Mode Progress of buffer reading is indicated. lecture du buffer P Mode de comrnande a di s tance et affichage gal e 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Abstract of the text file: 0.00090011566...
Page 113: Communication Principles3 . 1
RS-232-C or IEEE-488? The MM4006 always listens to one of the two remote interfaces but never to both in the same time. This is done to avoid potential conflicts that could occur if two computers are trying to control a motion device at the same time.
Page 114: Blank Spaces3 . 1
MM4006 Mode 3.4.1 C o m m a n d Syntax Command format AA nn yy — Controller address: 0 to 31. NOTE Use the "yy" controller address only in RS-485 communication mode. xx — Optional or required preceding. AA — Command code.
Page 115: Separator3 . 1
(LF) and carriage return (CR) combinations: LF, CR, LF/CR and CR/LF. Command Summary The MM4006 controller understands 185 commands. The following two tables list them all, sorted first by category and then in alphabetical order. The tables also show the modes in which each command can be used. The...
Page 116: Command List By Category3 . 1
Remote Mode MM4006 3.5.1 Command List by Category Description 1MM P G M M I P C o m m a n d Command Description Digital filter parameters General mode selection • • • ■ xx E D n n...
Page 117 MM4006 Mode Description P G M M I P Description l ' G M M I P C o m m a n d Command Commands to define a trajectory Flow control and sequencing Define the IllaNi11111111 allowed angle •...
Page 118 AB A b o r t motion MM4006 Usage ■ IMM ■ Syntax A B Parameters N o n e . Description T h i s command is an emergency stop. On reception of this command, the controller stops motion on all axes with a fast deceleration and then turns motor power OFF.
Page 119 AC — Set acceleration MM4006 ■ Usage • • Syntax x x A C n n or xxAC? Parameters Description [ i n t ] — A x i s number. nn [float] A c c e l e r a t i o n value.
Page 120 M M 4 0 0 6 D e f i n e the maximum allowed angle of discontinuity Usage ■ IMM ■ PGM I : 1 MIN Syntax A D n n or AD? Parameters Description [float] — Maximum allowed discontinuity angle value. Range n n to 10.0.
Page 121 M i s s i n g : 0 . Out of range: E r r o r C. Description T h e MM4006 controller possess four analog inputs that user can program each input tension level with the AM command.
Page 122 AP A b o r t program MM4006 ■ Usage M I IMM • Syntax A P Parameters N o n e . Description T h i s command interrupts a motion program in execution. It will not stop a motion in progress.
Page 123 AQ A x i s positions acquisition MM4006 ■ IMM • • Usage Syntax xxAQnn Parameters Description xx [ i n t ] Axis number. nn [ i n t ] Integer value. Range 1 to 8. 0 or 1.
Page 124 AS A f f e c t string MM4006 ■ IMM ■ ❑ Usage xxASaa or xxAS? Syntax Parameters xx [ i n t ] — S t r i n g variable number. Description String to be affected. aa [ s t r ] 1 to 8.
Page 125 M M 4 0 0 6 T e l l the element number under execution ■ Usage • • Syntax A T Parameters N o n e . Description T h i s command retrieves from the controller the element number of the tra- jectory that is currently being executed.
Page 126 AU S e t maximum acceleration MM4006 Usage ■ 1MM • Syntax x x A U n n Parameters Description [ i n t ] — A x i s number. nn [float] M a x i m u m acceleration value.
Page 127 AW S e t axis scaling acceleration MM4006 (Torque motor only) Usage • • M I P Syntax x x A W n n Parameters Description [ i n t ] A x i s number. nn [float] S c a l i n g acceleration value.
Page 128 M M 4 0 0 6 A s s i g n a physical axis as X geometric axis ■ IMM ■ Usage ❑ Syntax xxAX or AX? Parameters Description — Physical axis number. Range 1 to 8. Units None. Defaults xx M i s s i n g : E r r o r B.
Page 129 M M 4 0 0 6 A s s i g n a physical axis as Y geometric axis Usage ■ IMM ■ Syntax x x A Y or AY? Parameters Description xx [ i n t ] — Physical axis number. Range —...
Page 130 BA S e t backlash compensation MM4006 Usage I I 1MM • Syntax x x B A n n Parameters Description x x [int] Axis number. nn [float] Backlash compensation value. Range x x 1 to 8. 0 to distance equivalent to 10000 encoder counts.
Page 131 CA D e f i n e sweep angle and build an MM4006 arc of circle = f (CR, CA) Usage • 1MM • Syntax C A n n Parameters Description n n [double] — Sweep angle for an arc of circle.
Page 132 CB C l e a r I/O outputs bits MM4006 Usage • • • MI13 Syntax x x C B n n Parameters Description [ i n t ] — I / O bit number. nn [float] — I / O bit mask.
Page 133 M M 4 0 0 6 CD S e t cycle value and activate periodic display mode Usage ■ IMM ■ Syntax x x C D n n or xxCD? Parameters Description x x [ i n t l A x i s number.
Page 134 CM C h a n g e communication mode MM4006 Usage • • Syntax CM[Mxx][Txx][Axx][Qxx][Bxx][Pxx][Lxx][Sxx][0xx][Rxx][Xxx] or CM? Parameters Description — Communication mode. xx = 1 -488. xx = 2 -485 point-to-point communication. xx = 3 -485 network communication. xx = other -232-C.
Page 135 CP C o m p i l e program MM4006 Usage ■ IMM L i PGM L l MIP Syntax x x C P Parameters Description x x [ i n t ] — Program number. Range x x —...
Page 136 CR D e f i n e radius for an MM4006 arc of circle = f (CR, CA) Usage ■ IMM ■ I MIP Syntax C R n n Parameters Radius for an arc of circle. Description n n [double] —...
Page 137 CS Concatenate two strings MM4006 Usage ■ IMM ■ Syntax x x C S a a or xxCS? Parameters Description x x [ i n t ] S t r i n g variable number. aa [str] S t r i n g to be to be concatenated.
Page 138 CT R e a d or set the controller time MM4006 Usage ■ IMM ■ ■ Syntax C T n n Parameters Description n n [float] C o n t r o l l e r time. Range n n -negative floating value.
Page 139 CX D e f i n e X position to reach with an MM4006 arc of circle = f (CX, CY) Usage ■ 1MM ■ PGM L i MIP Syntax C X n n Parameters Description n n [double] —...
Page 140 M M 4 0 0 6 D e f i n e Y position to reach and build an arc of circle = f (CX, CY) Usage ■ 1MM ■ ❑ Syntax C Y n n Parameters Description [double] — Y coordinate to reach with an arc of circle.
Page 141 DF R e a d following error MM4006 Usage ■ IMM ■ ■ Syntax x x D F Parameters Description x x [int] A x i s number. Range x x to 8. Units x x Defaults x x M i s s i n g : 0 .
Page 142 DH D e f i n e home MM4006 Usage ■ IMM ■ ❑ Syntax x x D H or xxDH? Parameters Description x x [ i n t ] — A x i s number. Range x x —...
Page 143 DL D e f i n e label MM4006 ■ Usage ❑ 1MM PGM L i MIP Syntax x x D L Parameters Description x x [ i n t ] L a b e l number. Range x x —...
Page 144 DP R e a d desired position MM4006 Usage ■ IMM ■ PGM ■ Syntax x x D P Parameters Description [ i n t ] A x i s number. Range x x — 0 to 8. Units Defaults x x M i s s i n g : 0 .
Page 145 DS D i s p l a y strings on screen MM4006 ■ Usage Syntax x x D S a a Parameters Description x x [ i n t ] — F i e l d number. aa [string] —...
Page 146 Display a variable MM4006 ■ PGM ❑ MIP Usage Li IMM Syntax xxDYnn Parameters Description xx [ i n t ] Field number. nn [ i n t ] Variable number. Range 0 to 2. 1 to 120. Units None.
Page 147 ED D i s p l a y program error MM4006 Usage I I I IMM ■ P G M L M I P Syntax E D n n Parameters Description [ i n t ] E n a b l e / d i s a b l e code.
Page 148 M M 4 0 0 6 E r a s e the last element of trajectory Usage ■ IMM • PGM 1 1 1 MIP Syntax E L Parameters N o n e . Description T h i s command erases the last entered from actual elements of a trajectory. Returns N o n e .
Page 149 M M 4 0 0 6 Automatical execution on power on Usage I I IMM • ❑ Syntax x x E O n n or EO? Parameters Description [ i n t ] P r o g r a m number to execute on power on. nn [ i n t ] N u m b e r of times on execution.
Page 150 EP E d i t i o n of program MM4006 Usage ■ IMM ❑ PGM L I MIP Syntax x x E P n n Parameters Description x x [ i n t ] P r o g r a m number nn [ i n t ] P r o g r a m line number.
Page 151 EP E d i t i o n of program (cont.) MM4006 3EP E d i t i o n of program 3. 2PA 1 0 E n t e r a line. 2WS E n t e r a line.
Page 152 ET Execution of trajectory MM4006 Usage • • PGM L I MIP Syntax E T , ETx or ETy Parameters N o n e . Description E T : E x e c u t e trajectory on two axis (X and Y).
Page 153 EX E x e c u t e a program MM4006 Usage ■ 1MM Syntax x x E X n n Parameters Description x x [int] P r o g r a m number. nn [ i n t ] N u m b e r of times to execute the program.
Page 154 EX E x e c u t e a program (cont.) MM4006 DS$S1"a string" Display on screen. WT3000 Wait for 3 seconds. Quit the program 2. Program 3. Define string #3. 3AS"a value: " Define value #101. 101YS99.99 3CS$Y101 Concatenate string #3 and value #101.
Page 155 M M 4 0 0 6 D e f i n e the tangent angle for the first point Usage ■ IMM ■ 1 MIP Syntax F A n n or FA? Parameters Description [double] — Ta n g e n t angle value at first point of trajectory. Range n n to <...
Page 156 FB L a b e l function key MM4006 ■ ❑ Usage H IMM Syntax x x F B a a Parameters Description x x [ i n t ] F u n c t i o n key number.
Page 157 FC C l e a r function key line MM4006 ■ ❑ Usage I _ J IMM Syntax F C Parameters N o n e . Description T h i s command clears the function key line displayed by the FD or WF com- mands.
Page 158 FD D i s p l a y function keys MM4006 ■ Usage E IMM PGM C 1 MIP Syntax F D Parameters N o n e . Description T h i s command displays the function keys defined with the FB command. It is intended to be used in conjunction with the FB, FC and WF commands to allow the user to build front panel interactive programs.
Page 159 FE — Set maximum following error MM4006 ■ IMM ■ Usage Syntax xxFEnn or xxFE? Parameters Description xx l i n t ] Axis number. nn [float] Maximum allowed following error. 1 to 8. Range 2 x encoder resolution to maximum device travel.
Page 160 M M 4 0 0 6 S e t maximum master-slave following error Usage ■ IMM ■ M I P Syntax x x F F n n or xxFF? Parameters Description x x [int] A x i s number. nn [float] N e w value of maximum allowed master-slave following error.
Page 161 FT S e t output frequency MM4006 Usage ■ 1MM ■ ■ Syntax F i n n Parameters Description n n [float] — Desired frequency. Range n n — 0 and 0.01 to 5000. Units n n — H z .
Page 162 GQ — Set global trace mode MM4006 Usage ■ IMM ■ ■ MIP Syntax G Q n n or GQ? Parameters Description n n [ i n t ] N u m b e r of samples. Range n n —...
Page 163 GR — Set master-slave reduction ratio MM4006 Usage ■ I M M ■ P G M L M I P Syntax x x G R n n or xxGR? Parameters Description x x [int] A x i s number. nn [float]...
Page 164 HT S e t home type MM4006 Usage ■ I M M ■ P G M L . J M I P Syntax x x H T n n or xxHT? Parameters Description [ i n t ] — A x i s number.
Page 165 IE I f I/O input is equal MM4006 Usage ■ IMM ■ ❑ Syntax x x l E n n Parameters Description x x [ i n t ] input bit number. nn [ i n t ] — I / O input bit or byte state.
Page 166 JL — Jump to label MM4006 ■ Usage ❑ IMM Syntax x x J L Parameters Description x x [ i n t ] L a b e l number. Range x x to 100. Units x x Defaults x x M i s s i n g : E r r o r N.
Page 167 KC A b o r t command line MM4006 Usage ■ 1MM I . : 1 PGM ■ Syntax K C Parameters N o n e . Description T h i s command stops a program or a command line in execution. On recep-...
Page 168 KD S e t derivative gain MM4006 Usage ■ IMM ■ M I P Syntax x x K D n n Parameters Description x x [int] — Axis number. nn [float] — Derivative gain factor Kd. Range x x —...
Page 169 KI S e t integral gain MM4006 Usage ■ 1MM ■ i MIP Syntax x x K l n n or xxKl? Parameters Description x x [ i n t ] A x i s number. nn [float] i n t e g r a l gain factor Ki.
Page 170 KP — Set proportional gain MM4006 IMM ■ P G M Usage • J M I P Syntax x x K P n n or xxKP? Parameters Description x x [int] — Axis number. nn [float] — Proportional gain factor Kp.
Page 171 M M 4 0 0 6 S e t saturation level of integral factor in position loop PID corrector Usage ■ 1MM ■ M I P Syntax x x K S n n or xxKS? Parameters Description x x [ i n t ] A x i s number.
Page 172 LP L i s t program MM4006 Usage ■ IMM ❑ Syntax x x L P Parameters Description x x [ i n t ] P r o g r a m number. Range x x to 127. Units x x Defaults x x M i s s i n g : E r r o r F.
Page 173 LT E x t e n d e d list of the trajectory MM4006 Usage ■ IMM ■ I MIP Syntax x x L T Parameters Description x x [ i n t ] E l e m e n t number.
Page 174 LX D e f i n e X position and build a MM4006 line segment = f (LX, tangent) ■ PGM Usage • ❑ Syntax L X n n Parameters Description n n [double] — X coordinate to reach with a line segment.
Page 175 LY D e f i n e Y position and build a MM4006 line segment = f (LY, tangent) Usage ■ 1MM ■ K M NIII) Syntax L Y n n Parameters Description n n [double] — Y coordinate to reach with a line segment.
Page 176 MC — Set manual mode MM4006 Usage ■ 1MM ■ Syntax M C Parameters N o n e . Description T h i s command activates the manual jog mode. In this mode, axes can be manually moved by pressing the appropriate low or high speed jog buttons on the front panel numerical keypad.
Page 177 MF M o t o r OFF Usage ■ IMM ■ ■ Syntax x x M F Parameters Description [ i n t ] A x i s number. Range x x to 8. Units Defaults x x M i s s i n g : 0 . Out of range: E r r o r B.
Page 178 MH S e t manual velocity MM4006 Usage ■ 1MM ■ 1 MIP Syntax x x M H n n or xxMH? Parameters Description x x [ i n t ] A x i s number. nn [float] M a n u a l jog high velocity value.
Page 179 ML S e t local mode MM4006 Usage ■ 1MM ■ Syntax M L Parameters N o n e . Description T h i s command activates the local mode. In this mode, the control is passed to the front panel and all its functionality becomes available.
Page 180 MO M o t o r ON MM4006 Usage ■ IMM ■ PGM L l MIP Syntax x x M O Parameters Description x x [ i n t ] A x i s number. Range x x to 8.
Page 181 MP D o w n l o a d EEPROM to RAM MM4006 Usage ■ IMM P G M C L MIP Syntax M P Parameters N o n e . Description T h i s command copies the programs stored in non-volatile memory to RAM.
Page 182 MR S e t remote mode MM4006 Usage ■ 1MM ■ ❑ Syntax M R Parameters N o n e . Description T h i s command activates the remote mode. In this mode all function keys and the keypad on the front panel are disabled. The front panel still dis- plays motion and status information but only the power and motor power buttons remain active.
Page 183 MS R e a d motor status MM4006 Usage ■ IMM ■ ■ Syntax x x M S Parameters Description x x [ i n t ] A x i s number. Range x x — 0 to 8. Units x x Defaults x x M i s s i n g : 0 .
Page 184 M i s s i n g : E r r o r C. Out of range: E r r o r C. Description T h i s command directs the MM4006 to move until it senses the physical travel limit. The parameter + or - sets the direction of motion.
Page 185 MV I n f i n i t e movement MM4006 Usage ■ IMM ■ ■ Syntax x x M V + or xxMV- Parameters Description x x [ i n t ] A x i s number. Displacement in positive direction.
Page 186 MX D e f i n e X position for a MM4006 line segment = f (MX, MY) Usage ■ IMM ■ M I P Syntax M X n n Parameters Description n n [double] — X coordinate to reach with a line segment.
Page 187 MY D e f i n e Y position and build a MM4006 line segment = f (MX, MY) Usage ■ IMM ■ ❑ Syntax M Y n n Parameters Description n n [double] — Y coordinate to reach with a line segment.
Page 188 NB S e t trajectory element MM4006 where the generation of pulses starts Usage ■ IMM ■ Syntax N B n n or NB? Parameters Description n n [ i n t ] N u m b e r of trajectory element where the pulses genera- tion commences.
Page 189 NE S e t trajectory element MM4006 where the generation of pulses ends Usage ■ IMM ■ Syntax N E n n or NE? Parameters Description n n [ i n t ] N u m b e r of trajectory element where the pulses genera- tion ends.
Page 190 NI S e t step (curvilinear distance) MM4006 between Synchronization pulses Usage ■ IMM ■ 1 MIP Syntax N l n n or NI? Parameters Description n n [long] N e w value of step between pulses. Read step. Range n n —...
Page 191 M M 4 0 0 6 N N — Set number of synchronization pulses to generate Usage ■ IMM ■ Syntax N N n n or NN? Parameters Description n n [long] — N e w value of number of pulses to generate. —...
Page 192 M M 4 0 0 6 N P S e t decimal digits number of position display Usage I I IMM • PGM L I I MIP Syntax x x N P n n or xxNP? Parameters Description [ i n t ] —...
Page 193 NQ R e a d global acquisition nr. MM4006 ■ 1MM ■ ■ Mil' Usage Syntax Parameters None. This command reads the current number of global trace acquisitions. During Description a global trace mode initiated by the GQ command, the number of stored sam- ples can be read to monitor the progress of the acquisition process.
Page 194 M M 4 0 0 6 A l l o w generation of pulses on interpolation Usage ■ IMM ■ PGM L 1 MIP Syntax N S Parameters N o n e . Description T h i s command, together with ET command, verifies the correctness of data entered by NB, NE and NI, NN before allow generation of pulses along the tra- jectory.
Page 195 M M 4 0 0 6 S t a r t definition of a new trajectory Usage ■ IMM ■ M I P Syntax N T Parameters N o n e . Description T h i s command tells to the controller to reset the trajectory buffer and to get ready to load a new trajectory for execution.
Page 196 OA S e t home search acceleration MM4006 Usage ■ IMM ■ PGM 1 1 M I P Syntax x x O A n n Parameters Description x x [ i n t ] — A x i s number.
Page 197 OE T e s t I/O output MM4006 ■ IMM ■ Usage M I P Syntax xxOEnn Parameters Description xx [ i n t ] — I / O output bit number. nn [ i n t ] — I / O output bit or byte state.
Page 198 OH — Set home search high velocity MM4006 ■ Usage I I I 1MM PUM L i MW Syntax x x O H n n or xx0H? Parameters Description x x [ i n t ] A x i s number.
Page 199 OL S e t home search low velocity MM4006 Usage ■ IMM ■ Syntax x x O L n n Parameters Description x x [ i n t ] — A x i s number. nn [float] L o w velocity value.
Page 200 OR — Search for home MM4006 Usage ■ IMM ■ M I P Syntax x x O R n n Parameters Description x x [int] — Axis number. nn [ i n t ] H o m e search position option.
Page 201 PA M o v e to absolute position MM4006 Usage ■ 1MM ■ Syntax x x P A n n Parameters Description [ i n t ] A x i s number. nn [float] A b s o l u t e position destination.
Page 202 M M 4 0 0 6 S e t start position of generation of pulses of synchronization Usage ■ IMM • PGM L i MIP Syntax x x P B n n or xxPB? Parameters Description x x [int] Axis number. nn [float] New value of start position of generation of pulses.
Page 203 M M 4 0 0 6 S e t end position of generation of pulses of synchronization Usage ■ IMM ■ Syntax x x P E n n or xxPE? Parameters Description x x [int] Axis number. New value of end position of generation of pulses. nn [float] Read the actual end position of generation of pulses of synchronization for the axis #xx.
Page 204 M M 4 0 0 6 P I S e t step of generation of pulses of synchronization Usage II 1MM • Syntax xxPlnn or xxPl? Parameters Description xx [int] Axis number. nn [float] New value of step of generation of pulses. Read the actual step of generation of pulses of synchro- nization for the axis #xx.
Page 205 PR M o v e to relative position MM4006 Usage ■ 1MM ■ M I P Syntax x x P R n n Parameters Description x x [ i n t ] A x i s number. nn [float] R e l a t i v e motion increment.
Page 206 M M 4 0 0 6 A l l o w generation of pulses on motion Usage • • PGM L l MIP Syntax x x P S p p Parameters Description x x [ i n t ] A x i s number.
Page 207 PS A l l o w generation of pulses on motion (cont) MM4006 Rel. Commands PR — S e t start position of generation of pulses of synchronization. PE — S e t end position of generation of pulses of synchronization.
Page 208 PT Calculate necessary time for axis displacement Usage • • I MIP Syntax x x P T n n Parameters Description x x [int] — Axis number. — Distance of displacement. Range x x to 8. — Float. Units x x —...
Page 209 PW — Save parameters MM4006 Usage ■ IMM ■ M I P Syntax x x P W Parameters Description x x [ i n t ] A x i s number. Range x x to 8. Units x x Defaults x x M i s s i n g : O.
Page 210 QP —Quit program mode MM4006 Usage ■ 1MM I PGM L . l MIP Syntax Q P Parameters N o n e . Description T h i s command terminates the program entry mode and sets the controller back to immediate mode. All the commands following this one will be exe- cuted immediately.
Page 211 QW — Save general parameters MM4006 Usage • • PGM L I MIP Syntax Q W Parameters N o n e . Description T h i s command saves in non-volatile memory all general parameters that have been changed through on-line commands or from within a program.
Page 212 RA R e a d analog input MM4006 Usage ■ I M M ■ P G M • Syntax x x R A Parameters Description x x [int] — Analog port number. Range x x — 0 to 4. Units x x Defaults x x M i s s i n g : 0 .
Page 213 RB R e a d I/O input MM4006 Usage ■ IMM ■ ■ Syntax x x R B Parameters Description x x [int] — I / O bit number. Range x x — 0 to 8. Units x x Defaults x x M i s s i n g : 0 .
Page 214 RD D i s a b l e display refresh MM4006 Usage • • • Syntax R D Parameters N o n e . Description T h i s command disables the front panel display. It is used primarily to save the CPU overhead time during time consuming or time-sensitive opera- tions.
Page 215 RE E n a b l e display refresh MM4006 Usage ■ IMM ■ • Syntax R E Parameters N o n e . Description T h i s command enables the front panel display. It is used after the front panel display refresh is disabled using the RI) command.
Page 216 RO R e a d I/O output MM4006 Usage • • • Syntax x x R O Parameters Description x x [ i n t ] — I / O bit number. Range x x — 0 to 8. Units x x Defaults x x M i s s i n g : 0 .
Page 217 RP R e p e a t command line MM4006 Usage ■ IMM ■ ❑ Syntax R P n n Parameters Description n n [ i n t ] N u m b e r of times to repeat command line.
Page 218 7 of the response is 1 and the lower five bits equal the para- meter nn. This command can be used to notify the host computer of the progress or flow of command execution in the MM4006. Returns None.
Page 219 SB S e t I/O output bits MM4006 Usage ■ IMM ■ ■ Syntax x x S B n n Parameters Description [ i n t ] — I / O bit number. nn [ i n t ] —...
Page 220 SC — Set control loop type MM4006 Usage ■ IMM ■ I MIP Syntax x x S C n n or xxSC? Parameters Description x x [ i n t ] A x i s number. nn [ i n t ] L o o p type.
Page 221 SD S p e e d scaling MM4006 Usage ■ 1MM ■ Syntax S D n n Parameters Description n n [float] P e r c e n t a g e of velocity. Range n n to 100. Units n n (percentage).
Page 222 SE S t a r t synchronized motion MM4006 Usage ■ 1MM ■ ❑ Syntax S E Parameters N o n e . Description T h i s command starts execution of a synchronized motion. When some axes are defined as synchronized by the use of SY command, they do not exe- cute any motion commands until SE is issued.
Page 223 Set axis mechanical motion device MM4006 ■ 1MM ■ Usage Syntax xxSFname/p, xxSFnn or xxSF? Parameters Description xx [int] Axis number. nn [int] Axis number. name/p Name of mechanical device to set, with: p = 0 or missing: origin at center (center of the travel)
Page 224 SL S e t left travel limit MM4006 Usage ■ IMM • M I P Syntax x x S L n n or xxSL? Parameters Description [ i n t ] A x i s number. nn [float] — L e f t (negative) software travel limit.
Page 225 SL — Set left travel limit (cont.) MM4006 Errors A U n k n o w n message code. 1 3 — I n c o r r e c t axis number. C P a r a m e t e r out of limits.
Page 226 SM S a v e program MM4006 ■ IMM Usage 1 PGM M I P Syntax Parameters None. Description This command saves all programs from RAM in non-volatile memory. It should be used after creating or editing a program to assure that the pro- gram will not be lost when the controller is powered off.
Page 227 SN — Set axis displacement units MM4006 Usage ■ 1MM ■ MIL) Syntax x x S N n a m e or xxSN? Parameters — A x i s number. Description x x [int] name — N a m e of displacement unit to set.
Page 228 SO S e t I/O output byte MM4006 IMM ■ P G M ■ M I P Usage • Syntax S O n n Parameters Description [ i n t ] — I / O bit mask. Range n n —...
Page 229 SP — Set trace sample rate MM4006 ■ ■ Usage • Syntax S P n n or SP? Parameters Description n n [float] T r a c e sample period. Range n n to 9. Reading of the trace sample rate value.
Page 230 SQ S e t global sample rate MM4006 Usage I I I IMM • • Syntax S Q n n or SQ? Parameters Description [float] T r a c e sample period. Range n n to 9. Reading of the global sample rate value.
Page 231 SR — Set right travel limit MM4006 Usage ■ IMM ■ ■ Syntax x x S R n n or xxSR? Parameters Description x x [int] Axis number. nn [float] Right (positive) software travel limit. Range x x 1 to 8.
Page 232 SR S e t right travel limit (cont.) MM4006 Errors A — U n k n o w n message code. — I n c o r r e c t axis number. — Parameter out of limits. — Unauthorized execution.
Page 233 SS S e t master-slave mode MM4006 Usage ■ IMM ■ M I P Syntax x x S S n p or xxSS? Parameters Description x x [int] — A x i s number to define. n [ i n t ] —...
Page 234 ST S t o p motion MM4006 Usage • 1MM • • Syntax x x S T Parameters Description x x [int] — Axis number. Range x x — 0 to 8. Units x x Defaults x x M i s s i n g : 0 .
Page 235 SU — Set encoder resolution MM4006 Usage ■ IMM ■ Syntax x x S U n n or xxSU? Parameters Description [ i n t ] A x i s number. nn [float] N e w value. Reading of the encoder resolution value.
Page 236 SV S e t stepper motor resolution M M 4 0 0 6 Usage ■ IMM ■ J MIP Syntax x x S V n n or xxSV? Parameters Description x x [ i n t ] A x i s number.
Page 237 SY A x i s synchronization MM4006 ■ Usage 11111MM M11) Syntax x x S Y n n Parameters Description x x [int] A x i s number. nn [int] S y n c h r o n i z a t i o n code.
Page 238 TB R e a d error message MM4006 Usage ■ IMM ■ ■ I'GM Syntax T B a a Parameters Description aa [char] — Error code character, in ASCII format. Range — @ to U. Units — None. Defaults Missing: Reads current error.
Page 239 TD R e a d error line of program MM4006 Usage ■ IMM ■ PGM C I MIP Syntax T D Parameters N o n e . Description T h i s command reads the line of a program where the error is if an error occurred in execution.
Page 240 TE R e a d error code MM4006 Usage ■ IMM ■ ■ Syntax T E Parameters N o n e . Description T h i s command reads the error code of the controller. The error code is one ASCII character, stored in the error register.
Page 241 TF R e a d filter parameters MM4006 Usage ■ IMM ■ mil) Syntax x x T F Parameters Description x x [ i n t ] A x i s number. Range x x to 8. Units x x Defaults x x M i s s i n g : E r r o r B.
Page 242 TG To g g l e I/O output bits MM4006 Usage ■ IMM ■ ■ l'GM Syntax x x T G n n Parameters Description x x [int] bit number. nn [int] bit mask. Range x x to 8. to 255.
Page 243 TH R e a d theoretical position MM4006 Usage ■ IMM ■ ■ Syntax x x T H Parameters Description x x [int] A x i s number. Range x x to 8. Units x x Defaults x x M i s s i n g : 0 .
Page 244 TM — Set trace mode MM4006 Usage ■ IMM ■ ■ Syntax x x T M n n or xx TM? Parameters Description x x [ i n t ] A x i s number. nn [ i n t ] N u m b e r of samples.
Page 245 TP R e a d actual position MM4006 Usage ■ 1MM ■ ■ Syntax x x T P Parameters Description x x [int] — Axis number. Range x x — 0 to 8. Units x x Defaults x x M i s s i n g : 0 .
Page 246 TQ R e a d global trace data MM4006 Usage ■ IMM ■ I MIP Syntax x x T Q n n Parameters Description [ i n t ] N u m b e r of samples to read. nn [ i n t ] 0 (or missing) or I.
Page 247 TQ R e a d global trace data (cont.) MM4006 Example SQO, 002 S e t global trace sample period to 2 ms. GQ500 I S e t global trace mode for 500 data points. 211'20.1, WS I P e r f o r m a motion of 0. I units on axis #2 and wait for stop.
Page 248 TS R e a d controller status MM4006 Usage ■ IMM ■ ■ l'GM Syntax T S Parameters N o n e . Description T h i s command reads the controller status byte. Returns T S e i (1- to 4-axis controller) or TSc1c2 (5- to 8-axis controller) c1c2 —...
Page 249 R e a d axis extended status MM4006 ■ ■ Usage I I IMM Syntax x x T S Parameters Description [ i n t ] A x i s number. Range x x to 8 (6 with 2 linear axes).
Page 250 TT R e a d trace data MM4006 IMM ■ P G M ❑ M I P Usage • Syntax x x l I T Parameters Description x x [ i n t ] S a m p l e number to read.
Page 251 TX R e a d controller activity MM4006 Usage ■ IMM ■ ■ Syntax T X Parameters N o n e . Description T h i s command reads the controller activity register. Each bit of the status byte represents a particular parameter, as described in the following table:...
Page 252 TX1 R e a d controller extended status MM4006 PGM ■ M I P Usage • 1MM • Syntax TX I Parameters None. Description This command reports controller's dynamic status. As this controller can perform concurrently a lot of tasks, it is useful to have one command that gives all the information on what the controller is doing.
Page 253 M M 4 0 0 6 R e a d controller extended status (cont.) Meaning for Bit # Function for al b1 c1 d, Bit LOW B i t HIGH Axis is connected Axis Motor Power Axis Idle Axis is moving Axis in permanent motion Following error Not used...
Page 254 UF U p d a t e servo filter M M 4 0 0 6 Usage ■ 1MM ■ ■ Syntax x x U F Parameters Description [ i n t ] — A x i s number. Range x x —...
Page 255 UH W a i t for I/O high MM4006 ■ ❑ Usage L I IMM Syntax x x U H Parameters Description x x [ i n t ] — I / O bit number. Range x x to 8.
Page 256 UL W a i t for I/O low MM4006 Usage I I IMM • PGM L i MIP Syntax x x U L Parameters Description x x [int] — I / O bit number. Range x x — 0 to 8.
Page 257 VA S e t velocity MM4006 Usage ■ IMM ■ ■ Syntax x x V A n n or xxVA? Parameters Description x x [int] — A x i s number. nn [float] — Ve l o c i t y value.
Page 258 M M 4 0 0 6 S e t base velocity (Stepper motor only) Usage I I 1MM • • Syntax x x V B n n Parameters Description x x [int] A x i s number. nn [float] V e l o c i t y value. Range x x to 8.
Page 259 Use this command to deter- mine the controller type and in particular, the firmware version. Returns V E MM4006 Controller Version xx.yyy xx.yyy V e r s i o n and release number.
Page 260 M M 4 0 0 6 V S D e f i n e the vector acceleration on trajectory (trajectory acceleration) ■ Usage I I IMM • Syntax V S n n or VS? Parameters Description n n [double] — Desired trajectory acceleration. Range n n —...
Page 261 VU S e t maximum velocity MM4006 Usage • • Syntax x x V A n n Parameters Description [ i n t ] — A x i s number. nn [float] — Maximum velocity value. Range — 1 to 8.
Page 262 M M 4 0 0 6 D e f i n e the vector velocity on trajectory (trajectory velocity) PGM ■ M I P Usage • • Syntax V V n n or VV? Parameters Description n n (double) — Desired trajectory velocity. Range n n >...
Page 263 VW — Set scaling velocity MM4006 Usage ■ IMM ■ ❑ Syntax x x V W n n Parameters Description x x [ i n t ] A x i s number. nn [float] S c a l i n g velocity value.
Page 264 WA W a i t MM4006 Usage • • I MIP Syntax W A n n Parameters Description n n [ i n t ] W a i t time (delay). Range n n to 1073741824. Units n n M i l l i s e c o n d s .
Page 265 WE E n d While loop MM4006 ■ Usage r l 1MM PGM H ] MIP Syntax W E Parameters N o n e . Description T h i s command terminates a WHILE loop initiated b y any of the WG, WH, WL or WY commands.
Page 266 WF W a i t for function key MM4006 ■ Usage L I 1MM Syntax x x W F Parameters Description x x [ i n t ] V a r i a b l e number. Range x x 1 to 100 (integers) and 101 to 120 (floats).
Page 267 WG W h i l e variable is greater MM4006 ■ Usage [ 11MM Syntax x x W G n n Parameters Description [ i n t ] — Variable number. nn [ i n t ] — Comparison value.
Page 268 WH W h i l e I/O input is equal MM4006 ■ Usage L i IMM J MIP Syntax x x W H n n Parameters Description x x [ i n t ] input bit number. nn [ i n t ] —...
Page 269 M M 4 0 0 6 W a i t for a trajectory (curvilinear) length ■ Usage L 11MM Syntax W l n n Parameters Description n n [double] T r a j e c t o r y length to wait for. Range n n to Trajectory total length.
Page 270 WK W a i t for key MM4006 ■ Usage ❑ IMM ❑ Syntax W K a a Parameters Description aa [str] String to he displayed, in ASCII format. Range I to 14 characters. Units — None. Defaults Missing: Null string; clears the line.
Page 271 WL W h i l e variable is less MM4006 ■ Usage Li 1MM PGM L i MIP Syntax xxWLnn Parameters Description xx [ i n t ] — Variable number. nn [ i n t ] Comparison value. 1 to 100 (integers) and 101 to 120 (floats).
Page 272 WN W a i t for a element of trajectory MM4006 ■ I 1MM PGM L i MIP Usage Syntax WNnn Parameters Description nn [int] Number of trajectory element to wait for. Range — 0 to Element total number of the trajectory.
Page 273 WP W a i t for position MM4006 Usage ■ IMM ■ Syntax x x W P n n Parameters Description x x [ i n t ] A x i s number. nn [float] P o s i t i o n to wait for.
Page 274 WS W a i t for motion stop MM4006 ■ IMM ■ Usage PGM f . j MIP Syntax xxWSnn Parameters Description xx [ i n t ] Axis [lumber. Delay after motion is complete. nn [ i n t ] Range 0 to 8.
Page 275 WT W a i t MM4006 Usage ■ IMM ■ Syntax W i n n Parameters Description n n [ i n t ] W a i t time (delay). Range n n to 1073741824. Units n n M i l l i s e c o n d s .
Page 276 WY W h i l e variable is different MM4006 ■ Usage L IMM M I P Syntax x x W Y n n Parameters Description x x [int] Variable number. nn [ int] Comparison value. Range x x 1 to 100 (integers) and 101 to 120 (floats).
Page 277 M M 4 0 0 6 T e l l the current maximum allowed angle of discontinuity Usage ■ IMM ■ Syntax X A Parameters N o n e . Description T h i s command retrieves from the controller the current maximum allowed discontinuity angle.
Page 278 XE T e l l the last element MM4006 Usage • • PGM J M I P Syntax X E Parameters N o n e . Description T h i s command retrieves from the controller the information of the last defined element.
Page 279 XL D e l e t e one line of program MM4006 ■ 1MM 1 _ 1 PGM Usage Syntax xxXLnn Parameters Description xx [int] — Program number. — L i n e number. nn [int] Range x x 1 to 127.
Page 280 XM R e a d available memory MM4006 Usage ■ IMM ■ ■ Syntax x x X M Parameters Description x x [ i n t ] — Program number. Range x x — 0 to 127. Units x x —...
Page 281 XN R e a d number of acquisitions MM4006 • 1MM ■ P G M ■ M 1 P Usage Syntax Parameters None. This command reads the current number of trace acquisitions. During a Description trace mode initiated by the TM command, the number of stored samples can be read to monitor the progress of the acquisition process.
Page 282 M M 4 0 0 6 — Tell number of elements in the trajectory Usage I I I IMM • Syntax X T Parameters N o n e . Description T h i s command retrieves from the controller the number of valid elements that have been loaded into the trajectory.
Page 283 M M 4 0 0 6 T e l l the vector acceleration on trajectory (trajectory acceleration) PGM ■ M I P Usage • • Syntax X U n n Parameters Description [ i n t ] — 0 or Defaults n n M i s s i n g : 0 .
Page 284 M M 4 0 0 6 T e l l the vector velocity on trajectory (trajectory velocity) Usage ■ IMM ■ ■ Syntax X V n n Parameters Description n n [ i n t ] — 0 or _>_1. Defaults n n M i s s i n g : 0 .
Page 285 XX E r a s e program MM4006 Usage ■ IMM C l PGM M I P Syntax x x X X Parameters Description x x [ i n t ] P r o g r a m number. Range x x to 127.
Page 286 YA A d d to variable MM4006 ■ PGM Usage O I M M J MIP Syntax x x YA n n Parameters Description x x [int] Variable number. nn [ i n t ] Value to add. Range x x I to 100 (integers) and 101 to 120 (floats).
Page 287 YB N e g a t e variable MM4006 ■ Usage I I I M M PGM L i MIP Syntax x x Y B Parameters Description x x [int V a r i a b l e number. Range x x to 100 (integers) and 101 to 120 (floats).
Page 288 YC A d d variables M M 4 0 0 6 Usage ■ IMM ■PGM 1 1 M I P Syntax x x Y C n n Parameters Description x x [hit ] — Variable number. nn [int] — Variable number. 120 (floats).
Page 289 YD D i v i d e variables MM4006 Usage ■ IMM ■ M I P Syntax x x Y D n n Parameters Description [ i n t ] V a r i a b l e number. nn [ i n t ] V a r i a b l e number.
Page 290 YE I f variable is equal MM4006 Usage L I IMM • PGM L I MIP Syntax x x Y E n n Parameters Description [ i n t ] — Variable number. nn [ i n t ] —...
Page 291 YF S c a l e variable MM4006 Usage ■ 1MM ■ Syntax x x Y F n n Parameters Description x x [int] Variable number. nn [int] Scaling factor. 1 to 100 (integers) and 101 to 120 (floats). Range x x —...
Page 292 YG I f variable is greater M M 4 0 0 6 Usage ■ IMM ■ I MIP Syntax x x Y G n n Parameters Description x x [ i n t ] V a r i a b l e number. nn [ i n t ] C o m p a r i s o n value.
Page 293 YK R e a d key to variable MM4006 ■ Usage I N IMM IM113 Syntax x x Y K Parameters Description [ i n t ] V a r i a b l e number. Range x x to 100 (integers) and 101 to 120 (floats).
Page 294 YL I f variable is less MM4006 Usage • 1MM • M I P Syntax x x Y L n n Parameters Description x x [ I n t l — Variable number. nn [int] — Comparison value. Range x x to 100 (integers) and 101 to 120 (floats).
Page 295 YM M u l t i p l y variables MM4006 Usage ■ IMM ■ I MIP Syntax x x Y M n n Parameters Description x x [ i n t ] V a r i a b l e number.
Page 296 YN I f variable is different MM4006 Usage ■ IMM ■ Syntax x x Y N n n Parameters Description [ i n t ] V a r i a b l e number. nn [ i n t ] C o m p a r i s o n value.
Page 297 YO — Send a value to an user analog port MM4006 Usage ■ IMM ■ M I P Syntax x x Y O n n Parameters Description x x [ i n t ] A n a l o g output port number.
Page 298 YP S e t theoretical position in variable MM4006 Usage ■ IMM ■ Syntax x x Y P n n Parameters Description [ i n t ] A x i s number. nn [ i n t ] F l o a t variable.
Page 299 YQ S e t current position in variable MM4006 ■ IMM ■ Usage I I MIP Syntax xxYQnn Parameters Description x x [int] Axis number. nn [int) Float variable. Range to 8. 101 to 120. Units x x None. None.
Page 300 M M 4 0 0 6 R e a d a value from an user analog port and affect variable Usage ■ 1MM ■ ■ Syntax x x Y R n n Parameters Description [ i n t ] A n a l o g port number. nn [ i n t ] V a r i a b l e number.
Page 301 YS — Initialize variable MM4006 Usage ■ 1MM ■ M I P Syntax x x Y S n n or xxYS? Parameters Description [ i n t ] V a r i a b l e number. nn [ i n t ] I n i t i a l i z i n g value.
Page 302 M M 4 0 0 6 R e a d value from keyboard in a variable Usage ■ IMM ■ l'GM M I P Syntax xxYVmessage Parameters Description x x [ i n t ] V a r i a b l e number. message P r o m p t message.
Page 303 YW W a i t and read key MM4006 Usage "=1 IMM • I MIP Syntax x x Y W Parameters Description x x l i n t ] — Variable number. Range x x to 100 (integers) and 101 to 120 (floats).
Page 304 YY C o p y variable MM4006 Usage ■ IMM ■ M I P Syntax x x Y Y n n Parameters Description x x [int] V a r i a b l e number. nn [int] — Variable number.
Page 305 M M 4 0 0 6 — Set and save home preset position Usage ■ 1MM ■ I MIP Syntax x x Z H n n Parameters Description [ i n t ] A x i s number. nn [float] H o m e preset position.
Page 306 ZL S e t and save left travel limit MM4006 Usage ■ IMM ■ Syntax x x Z L n n Parameters Description [ M t ] A x i s number. nn [float] L e f t (negative) travel limit.
Page 307 ZP Z e r o position MM4006 Usage ■ IMM ■ M I P Syntax x x Z P Parameters Description x x [int] Variable number. Range x x 0 to 8. Units x x — N o n e .
Page 308 ZR S e t and save right travel limit MM4006 ■ Usage • M I P Syntax x x Z R n n Parameters Description x x [ i n t ] A x i s number. nn [float] —...
Page 309 M i s s i n g : 0 . Out of range: E r r o r C. Description T h i s command reports the MM4006 axis/general parameters configuration that is found in the menu SETUP MENU A X E S o r SETUP MENU GEN, .
Page 310 Section 4 Motion Control Tutorial I l e v v p o r t .
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Page 312 MM4006 -Axis Motion Controller/Driver Table of Contents Section 4 M o t i o n Control Tutorial 4.1 M o t i o n Systems4 4.2 Specification Definitions4 4.2.1 Following Error4 4.2.2 E r r o r 4 4.2.3 Accuracy4 4.2.4 Local Accuracy4...
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Page 314 8-Axis Motion Controller/Driver MM4006 Section 4 Motion Control Tutorial Motion Systems A schematic of a typical motion control system is shown in Fig. 4.1. Fig. 4.1 — Typical Motion Control System. Its major components are: Controller An electronic device that receives motion commands from an operator directly or via a computer, verifies the real motion device position and gen- erates the necessary control signals.
Page 315 MM4006 Control Tutorial If you are like most motion control users, you started by selecting a motion device that matches certain specifications needed for an application. Next, you chose a controller that can satisfy the motion characteristics required. The chances are that you are less interested in how the components look or what their individual specs are, but want to be sure that together they perform reliably according to your needs.
Page 316 MM4006 Control Tutorial 4.2.2 E r r o r Error has the same definition as the Following Error with the exception that the ideal trajectory is not compared t o the position feedback device (encoder) but to an external precision measuring device.
Page 317 Resolution is the smallest motion that the controller attempts to make. For all DC motor and all standard stepper motor driven stages supported by the MM4006, this is also the resolution of the encoder. Keeping in mind that the servo loop is a digital loop, the Resolution can be also viewed as the smallest position increment that the controller can han- dle.
Page 318 MM4006 Control Tutorial 4.2.6 M i n i m u m Incremental Motion The Minimum Incremental Motion is the smallest motion that a device can reliably make, measured with an external precision measuring device. The controller can, for instance, execute a motion equal to the Resolution (one encoder count) but in reality, the load may not move at all.
Page 319 MM4006 Control Tutorial Relative Error 100% 4(1% 10 1 1 Motion step size (in resolution increments) Fig. 4.6 — Error vs Motion Step Size. Fig. 4.6 shows an example of such a plot. The graph represents the maxi- mum relative error for different motion step sizes. In this example, the Minimum Incremental Motion that can be reliably performed with a maxi- mum of 20% error is one equivalent to 4 resolution (encoder) increments.
Page 320 MM4006 Control Tutorial Error Fig. 4.7 — Hysteresis Plot. The error plot in reverse direction is identical with the first one hut seems to be shifted d o w n b y a constant e r r o r. T h i s constant e r r o r is t h e Hysteresis of the system.
Page 321 Motion Control Tutorial MM4006 The problem with this definition is that, though correct, it is difficult t o remember. A more graphical representation in presented in Fig. 4.10. Imagine a tiny carriage driven by a giant leadscrew. When the carriage rolls sideways on the lead screw, we call it a Roll.
Page 322 Usually it represents a lower value than the motor or driver are capable of. In most cases and in particu- lar for the MM4006, the default Maximum Velocity should not be increased. The hardware and firmware are tuned for a particular maximum velocity that cannot be exceeded.
Page 323 MM4006 is one of them. Since having a real tachometer is very expensive and in some cases close to impossible to implement, the MM4006 can both use or simulate a tachometer through special circuitry and obtains the same result.
Page 324 Also, due to the integrated nature of the MM4006 system, many basic errors can be significantly corrected by an other component of the loop.
Page 325 MM4006 Control Tutorial 4.3.1 P I D Servo Loops The PID term comes from the proportional, integral and derivative gain fac- tors that are at the basis of the control loop calculation. The common equation given for it is: K1, • e + K, e d t 4- Kd • d t where K1) = Proportional gain factor.
Page 326 MM4006 Control Tutorial PI Loop To eliminate the error at stop and during long constant velocity motions (usually called steady-state error), an integral term can be added to the loop. This term integrates (adds) the error every servo cycle and the value, multiplied by the Ki gain factor, is added to the control signal (Fig.
Page 327 MM4006 Control Tutorial 4.3.2 F e e d -Forward Loops As described in the previous paragraph, the main driving force in a PID loop is the proportional term. The other two correct static and dynamic errors associated with the closed loop.
Page 328 Kvff parameter, the feed-forward signal could perform an excellent job, leaving very little for the PID loop to The MM4006 uses this type of velocity control driver to get the highest per- formance possible. In addition, since tachometers are expensive and many times impractical or even impossible to use, the driver has a special cir- cuitry tuned to each individual motor type that can "calculate"...
Page 329 (the constant portion of it) can be set by the user before every move com- mand. Advanced controllers like the MM4006 allow the user to change them even during the motion. However, the MM4006 always verifies that a parameter change can be safely performed. If not, the command is ignored and the motion continues as initially defined.
Page 330 MM4006 Control Tutorial 4.4.2 D e f a u l t Mode: S-CURVE Profile Two types of profiles exist: TRAPEZOID and S-CURVE. / \ f TRAPEZOID -CURVE The S-curve type avoids abrupt variations in speed during axis movement, consequently it improves the movement quality.
Page 331 The motion continues only while the button is pressed and stops immediately after its release. The MM4006 offers two jog speeds. The high speed is programable and the low speed is ten times smaller. The jog acceleration is also ten times small- er than the programed maximum acceleration values.
Page 332 MM4006 Control Tutorial An origin switch (Fig. 4.22) separates the entire travel in two areas: one for which it has a high level and one for which it is low. The most important part of it is the transition between the two areas. Also, looking at the origin switch level, the controller knows on which side of the transition it current- ly is and which way to move to find it.
Page 333 Pulse Fig. 4.25 — Origin Search From Opposite Direction. The MM4006 moves at high speed up to the origin switch transition (seg- ment A) and then execute B, C, D and E. All home search routines are run so that the last segment, E, is performed in the positive direction of travel.
Page 334 Section 5 Trajectory Functions Tutorial ( % ) Newport.
Page 335 MM4006 -Axis Motion Controller/Driver Newport.
Page 336 MM4006 -Axis Motion Controller/Driver Table of Contents Section 5 Tr a j e c t o r y Functions Tutorial 5.1 D e f i n i t i o n of Terms5 5.1.1 Trajectory5 5.1.2 Trajectory Element5 5.1.3 Trajectory Vector5 5.1.4 Ve c t o r Velocity5...
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Page 338 5.1.1 T r a j e c t o r y A continuous multi-dimensional motion path. In the MM4006 case, the t r a j e c t o r y i s d e f i n e d i n a t w o - d i m e n s i o n a l X -Y plane. T h e m a j o r...
Page 339 Trajectory Description and Conventions When defining and executing a trajectory, a number of rules must be fol- lowed. For the current MM4006 version, these are the conventions that guide the contouring implementation: • M u l t i p l e trajectories can be defined in a program but only one is active at a time.
Page 340 Trajectories can be defined in many different ways. There is no universal standard and most manufacturers of motion controllers use some degree of custom conventions. For the MM4006, the guiding principal was to be as user friendly as possible. Line and arc elements can be defined i n more than one way to offer the best solution for each application.
Page 341 MM4006 Functions Tutorial To eliminate the burden of calculating the angle matching, use as much as possible the commands that define a straight line by one coordinate, X or Y, and by the entry angle (also referred to as the tangent). This simplifies the user's Programing task and lets the controller find the best fit for the trajectory elements.
Page 342 MM4006 Functions Tutorial Both radius and sweep angle are expressed in double precision floating point numbers. It is particularly interesting to mention that the sweep angle has a range of 1E-12 to 1.7E304, allowing execution of arcs from a frac- tion of a degree to a practically infinite number of overlapping circles.
Page 343 Trajectory Functions Tutorial MM4006 Programing a Trajectory The following list describes t h e few rules t h a t govern t h e trajectory Programing process and gives some examples: • A trajectory must be first defined and then executed.
Page 344 MM4006 Functions Tutorial • W h e n defining a trajectory, start by assigning the two motion axes t o the X and Y coordinates. These axis can still be used when the trajecto- ry is not executing. NT I S t a r t new trajectory definition.
Page 345 Trajectory Functions Tutorial MM4006 5.7 Trajectory-Specific Commands These are the commands needed to support the contouring feature. They are fully compatible with the general description of all other commands and will follow the same protocol. 5.7.1 T r a j e c t o r y Setup Commands AD nn D e f i n e the maximum allowed angle of discontinuity.
Page 346 Section 6 Feature Descriptions Tutorial Newport.
Page 347 MM4006 -Axis Motion Controller/Driver Nevvport.
Page 348 MM4006 -Axis Motion Controller/Driver Table of Contents Section 6 F e a t u r e Descriptions Tutorial 6.1 Synchronizing Events to Motion6 6.1.1 Pulses Synchronized to One Axis6 6.1.2 Pulses Synchronized to a Trajectory6 6.1.3 Synchronizing Events to Trajectory Elements6 6.1.4 Synchronizing Events to Trajectory Position6...
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Page 350 8-Axis Motion Controller/Driver MM4006 Section 6 Feature Descriptions Tutorial Synchronizing Events to Motion 6.1.1 P u l s e s Synchronized to One Axis Certain applications require an output pulse (— 5 psec) synchronized with the motion of an axis. This signal is triggered not by a timer but by the specified axis crossing a predefined position.
Page 351 MM4006 Descriptions Tutorial NOTE The starting position and the ending position of the axis must be outside the interval defined with PB and PE commands without forget accelera- tion and deceleration ranges. Example Generate a signal synchronized b y axis 1. It should start when the axis crosses position -10 (current units) and end when it reaches position 10.
Page 352 MM4006 Descriptions Tutorial 6.1.2 P u l s e s Synchronized to a Trajectory Equally spaced pulses can also be generated synchronous with a trajectory (at pin 12 of the 25-pin D-Sub Auxiliary connector). The NB. NE, NI, NN and...
Page 353 MM4006 Descriptions Tutorial NS I Enable the signal generation_ ET I Execute the trajectory. TQ I Read position of every pulse generated. During the execution of a trajectory with such synchronized signals, each time a pulse is generated, the real and theoretical position of all axes is recorded in the global position buffer that could be read with the TQ com- mand.
Page 354 MM4006 Feature Descriptions Tutorial WN2, VV10 I Starting with element #2 set velocity to 10 mm/sec. WN4, VV5 I Starting with element #4 set velocity to 5 min/sec. QP E n d program entry mode. 1SM S a v e program in non-volatile RAM.
Page 355 To safely define and operate such a motion control system, the follow- ing rules must be observed: • E a c h axis of the MM4006 has an identity: Master (default) or Slave. By default, all axes are configured as masters, meaning that all can execute independent motion commands.
Page 356 The MM4006 lets you use a joystick to manually manipulate axes remotely. The MM4006 joystick has f o u r buttons: M O T. ON, M O T. OFF, ()RIG, MANU., three slide switches PX, PY, PXY, t w o LEDs L I , L 2 and a two-dimensional potentiometer PO.
Page 357 MM4006 Descriptions Tutorial MOTOR OFF Equivalent to the MOTOR OFF b u t t o n on the MM4006. MOTOR ON Equivalent to the MOTOR 113211 button on the MM4006. The corresponding messages are displayed when t h e joystick goes to state 1 (axes 1 a n d 2) and state 2 (axes 3 and 4).
Page 358 Feature Descriptions Tutorial MM4006 Executing Sub-routines in a Program: EX Command The MM4006 is capable of executing complex programs containing sub-rou- tines. The sub-routines are blocks of commands that do not contain the EX com- mand. They are called by the main program.
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Page 360 Section 7 Servo Tuning rano:at-1 2 2 EOF • 110 1 0 , 0 0 0 0 i l l : f p L 4 Newport.
Page 361 MM4006 -Axis Motion Controller/Driver Nevvport.
Page 362 MM4006 -Axis Motion Controller/Driver Table of Contents Section 7 S e r v o Tuning 7.1 S e r v o Tuning Principles7 7.1.1 Hardware Requirements7 7.1.2 Software Requirements7 7.2 T u n i n g Procedures7 7.2.1 A x i s Oscillation7 7.2.2 Increasing Performance7...
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Page 364 Always start the tuning process using the default values supplied with the MM4006 for each motion device type, or for the generic Default type. These values are usually v e r y conservative, favoring safe, oscillation -free operation for a tighter, more responsive system that minimizes following error.
Page 365 MM4006 Servo Tuning Tuning Procedures Servo tuning is usually performed to achieve better motion performance (such as reducing the following error statically and/or dynamically) or because the system is malfunctioning (oscillating and/or shutting off due to excessive following error). NOTE Remember that all three PID gain factors are normalized, meaning that they take a value between 0 and 1.
Page 366 MM4006 Tuning 7.2.2 I n c r e a s i n g Performance If your system is stable and you want to improve the performance, start with the current parameters. The goal is to reduce the following error dur- ing motion and to eliminate it at stop.
Page 367 7.2.3 P o i n t s to Remember • T h e MM4006 controller uses a servo loop based on the PID with velocity feed-forward algorithm. • Special servo design makes the velocity feed-forward only motor-depen- dent, not load-dependent.
Page 368 Section 8 Appendices INevvport.
Page 369 MM4006 -Axis Motion Controller/Driver Newport.
Page 370 A E r r o r Messages8 Error List8 B I E E E -488 Link Characteristics 8 IEEE-488 Functions Supported by MM4006 Controller8 IEEE-488 Function Subsets8 SRQ Using8 C C o n n e c t o r Pinouts 8...
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Page 372 When an error is detected, the controller stores it in an error register. To avoid communication and application conflicts, the MM4006 does not automatically report the error. It is the user's responsibili- ty to periodically query the error status, particularly during the development phase of an application.
Page 373 MM4006 A — Error Messages Tr a j e c t o r y : first angle definition error. Y — Tr a j e c t o r y : Line (x, y) Line expected. Z T r a j e c t o r y : Line (x, y) too big discontinuity.
Page 374 Appendix A — Error Messages MM4006 1 EEE4 88 i n i t i a l i z a t i o n e r r o r P r e s s a n k e t o c o n t i n u e Fig.
Page 375 Comply t o IEEE Standard D i g i t a l I n t e r f a c e f o r Programmable Instrumentation. ANSI/IEEE Std. 488 - 1978. This norm is commonly called IEEE-488. IEEE-488 Functions Supported by MM4006 Controller Definition Support...
Page 376 RLO (Remote/Local). The MM4006 does not support the GTL (Go To Local) and LLO (Local Lock Out) functions. PPO (Parralel Poll). The MM4006 has no Parallel Poll capability. It does not respond to the following interface messages: PPC, PPD, PPE and PPU. The MM4006 does not send out a message when the ATN (Attention) and E01 (End or Identify) line are asserted.
Page 377 The MM4006 Controller is an IEEE-488 device in which the SRQ is always enable. It will respond accordingly to the National Instruments example. When the queried data will be ready, the MM4006 will assert the SRQ line and, in the serial poll response bit 6 will be set (Requesting service) and bit 7 (manufacturer-defined) will be set (Message Availiable).
Page 378 MM4006 -Axis Motion Controller/Driver C Connector Pinouts Labeling Conventions All pinout diagrams in this section use the following labeling convention: AGND A n a l o g ground. DGND D i g i t a l ground. N.C. connected. UTIL T e s t / u t i l i t y signal. DO NOT USE; MAY BE ENERGIZED.
Page 379 MM4006 C — Connector Pinouts Remote Control Connector (15-pin D-Sub) This connector should only be used with the NEWPORT RC4000 remote Controller. The connector also provides an Emergency Stop switch input with identi- cal operation to the one in the Power Inhibition connector. If no remote controller are used, the pins must be shorted.
Page 380 MM4006 Appendix C — Connector Pinouts Auxiliary Connector (25-Pin D-Sub) This connector is used for the MOTOR Orr indicator, the frequency gener- ator output, the analog inputs and Outputs and the synchronisation pulses. The analog outputs are only available in option.
Page 381 MM4006 C — Connector Pinouts 17 — I A n a l o g Input 4. 18 D G N D 19 — A n a l o g Output I. A n a l o g Output 2. A n a l o g Output 3.
Page 382 2 - ) T h e minimum width on an output pulse cannot be smaller than one servo- cycle. To assure good use and performances of the MM4006, respect these maxi- mum ratings. +12 V Out 3 0 V max.
Page 383 MM4006 C — Connector Pinouts RS-232C Interface Connector (9-Pin D-Sub) The RS-232 C interface uses a 9-pin Sub-D connector. The back panel connector pinout is shown in Fig. C.3. Internal Connections Fig. C.3 — RS-232C connector pinout. RS-232C Interface Cable The reason some pins are jumpered in the controller as described in Fig.
Page 384 MM4006 C — Connector Pinouts 9-Pin D-Sub 9-Pin D-Sub Femal Connector Femal Connector on Controller Side on Computer Side Fig. C.5 — Conductor RS-232C interface cable. If your computer or terminal uses a 25-pin connector for the RS 232C inter- face, you can use an off-the-shelf 25 t o 9-pin adapter and one of the two cables described above.
Page 385 MM4006 C — Connector Pinouts IEEE488 Interface Connector (24-Pin) The IEEE488 connector has a standard configuration, shown in Fig. C.8. Pin # D101 D105 D102 D106 D103 D107 D104 D108 E01 5 NRFD NDAC SHIELD SIG. GND Fig. C.8 — IEEE488 connector definition.
Page 386 Name F e m a l F e m a l Point-to-Point Four Wires Full Duplex This is the mode for single computer to a single MM4006 controller in long distance or noisy environment high speed communication. The following figure shows the how to connect your computer, or protocol converter to the MM4006 controller.
Page 387 The standard command set of the MM4006 controller is directly usable with the following changes: • E a c h command must be initiated with the string address:: to be under- stood b y the right controller.
Page 388 MM4006 C — Connector Pinouts Motor Interface Connector (25-Pin D-Sub) This c o n n e c t o r interfaces t o t h e m o t i o n device. Depending o n t h e t y p e o f driver and m o t o r, some pins have different meanings.
Page 389 MM4006 C — Connector Pinouts Pass-Through Board Connector (25-Pin D-Sub) WARNING This pass-through board connector takes the place of the motor interface connector only if this axis is connected to an external motor driver. Pin # D e s i g n a t i o n 1 —...
Page 390 The motion controller's command set is a spe- cialized language that needs to be mastered in order to be able to create complex applications. "Fo help you familiarize yourself with MM4006 pro- gramming structure and language, this appendix contains a few examples that you can read and copy.
Page 391 MM4006 D — Motion Program Examples Example 2 In the previous example, to generate the diagonal line (the third motion segment) both axes must move simultaneously. This is achieved by taking two special precautions: the commands are placed on the same line to insure a good start synchronization and the velocities are modified such that the motions will end in the same time.
Page 392 MM4006 D — Motion Program Examples Example 3 The MM4006 does not offer true circular interpolation but in many cases less demanding applications can be successfully implemented. Take the example of dispensing glue on the pattern shown in Fig. D.2.
Page 393 MM4006 D — Motion Program Examples Before starting to write the actual program, we need to consider one more thing: to assure a good result, the glue must start being dispensed while the motion is in progress. Thus, we have to start the motion first and then turn on the dispenser.
Page 394 D — Motion Program Examples Example 4 Lets assume we want to write the M . from the Newport logo. We have a X-Y table and a 0.5 mm plotter pen (or a laser beam) controlled by a TTL line. One possibility is to scan the symbol with a 0.5 mm spacing and fill it in with 0.5 mm lines.
Page 395 MM4006 Appendix D — Motion Program Examples program #4, i f it exists. all following entries as program #1. all output I/O bits: set all bits to zero. 1PA0,2PA12.5,WS M o v e axis #1 to 0 mm and axis #2 to 125 mm, wait for all motion to complete.
Page 396 Appendix D — Motion Program Examples MM4006 2PAO,SE,WS destination of axis #2 to 0 min; start synchronized axis; wait for motion to complete. • 1PA11.5,SE,WS destination of axis #1 to 11.5 mm; start synchro- nized axis; wait for motion to complete.
Page 397 MM4006 Appendix D — Motion Program Examples 2PR3,SE,WS relative destination of axis #2 3 mm away from current position; start motion on the synchronized axis; wait for motion to complete. 1YA1 I n c r e m e n t variable #1 by I.
Page 398 E Troubleshooting Guide Remember that there are no user-serviceable parts or adjustments to be made inside the controller or any other component. Contact Newport for any repair or other hardware corrective action. Most of the time, a blown fuse or an error reported by the controller is the result of a more serious problem.
Page 399 Appendix E — Troubleshooting Guide MM4006 Problem Corrective Action Cause Execute a home search routine or move the axis in manual mode Limit switch (jog). Make sure that the limit tripped switch was not tripped by a seri- ous problem.
Page 400 Appendix E — Troubleshooting Guide MM4006 Problem Cause Corrective Action Make sure t h a t t h e c o m p u t e r Wrong line and the controller use the same line terminator. Verify that the controller is set...
Page 401 MM4006 -Axis Motion Controller/Driver F Decimal/ASCII/Binary Conversion Table Some of the status reporting commands return an ASCII character that must be converted to binary. To aid with the conversion process, the fol- lowing table converts all character used and some other common ASCII symbols to decimal and binary.
Page 402 MM4006 F — Decimal/ASCII/Binary Conversion Table Number ASCII Binary Number ASCII Binary (decimal) Code Code (decimal) Code Code 01001000 01111000 01001001 01111001 01001010 01111010 01111011 01001011 01001100 01111100 01001101 01111101 01001110 01111110 01001111 01111111 01010000 10000000 01010001 10000001 01010010 10000010...
Page 403 MM4006 F — Decimal/ASCII/Binary Conversion Table ASCII B i n a r y ASCII B i n a r y Number Number (decimal) Code C o d e (decimal) Code C o d e 10101000 11010100 10101001 11010101 10101010 11010110...
Page 404 MM4006 -Axis Motion Controller/Driver G S t a g e s Preset in the Controller Default Stages DEFAULT-PP-T DEFAULT-PP-R DEFAULT-CC-T DEFAULT-CC-R Translation Stages CTS25 ILS100CC MTL1OOPP0.1 MTM 10OPP1/1 CTS25#10.01 ILS100CCHA MTL100PP1 MTM100CCO.1/-1 ILS15OPP MT1,100PP2.54 MTM100CCO.1/0 GVM500PE10 ILS150CC MTL100CCO.1HA MTM100CCO.1/1 GVM500PE100...
Page 405 MM4006 G - Stages Preset in the Controller MTM150CC0.1/-1 M T M 2 5 0 P E 0 . 1 / - 1 T B M 1 6 0 0 C C U T M 2 5 P E 1 / 0 MTM150CC0.1/0 M T M 2 5 0 P E 0 .
Page 406 MM4006 Appendix G - Stages Preset in the Controller UTM5OCC0.5HA#72/1 UTM100CC1H L/1 UTMI5OPP0.1/1 UTS2OPP0.1 UTM5OCCO. IDD/-1 UTM1OOCC I HL#72/-1 UTMI5OPP1HL/-1 UTS2OPP0.1F UTM5OCCO.IDD/0 UTM1OOCC I HI.#72/0 UTMI5OPP1HL/0 UTS2OPP1 UTMI5OPP1HL/1 UTM5OCCO. I DD/1 UTM 100CC I HI .#72/1 UTS2OPPIF UTM5OCC1DD/-1 UTM100CCO.511A/-1 UTM150CC0.1/-1 UTS2OCC0.1...
Page 407 MM4006 Appendix G — Stages Preset in the Controller RV240PE RV3501) UBG8OPP URM8OACCIAL RV240PEHL RV350CC UBG8OCC URM !DOPE UBG 120PP URM 1 00APE RV24OPPHI., RV350CCHL RV24OPP RV3501IA UBG120CC URM I OOPP RV350HAFIL URM 100APP RV240CC RV350HAT URM8OPE URM 100CC RV240CCHL...
Page 408 Introduction This section contains information regarding factory service f or the MM4006. The MM4006 contains no user-serviceable parts. The user should not attempt any maintenance or service of this instrument and/or acces- sories beyond the procedures outlined i n the Troubleshooting Guide, Appendix E.
Page 409 Service Form Your Local Representative Tel.: Fax: Name: Authorization #: (Please obtain prior to return of item) Compagny: Actress: Country: Number: P.O. Number: Number: Item(s) Being Returned: Model #: Description: Reasons of return of goods (please list any specific problems): 8.40 t N e w p o r t .
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