Newport New Focus Picomotor 8743-CL User Manual
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Newport New Focus Picomotor 8743-CL User Manual

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Model 8743-CL
Picomotor™ Controller/Driver
User's Manual

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Summary of Contents for Newport New Focus Picomotor 8743-CL

  • Page 1 Model 8743-CL Picomotor™ Controller/Driver User’s Manual...

  • Page 2: Eu27 Declaration Of Conformity

    Preface EU27 Declaration of Conformity Application of Council Directive(s): ☒ Electromagnetic Compatibility Directive (EMCD) – 2014/30/EU ☒ Low Voltage Directive (LVD) – 2014/35/EU ☒ Restriction of Hazardous Substances Directive (RoHS2) – 2011/65/EU ☒ Restriction of Hazardous Substances Directive (RoHS3) – (EU) 2015/863 ☒...

  • Page 3: Uk Declaration Of Conformity

    Preface UK Declaration of Conformity Application of Council Directive(s): ☒ Electromagnetic Compatibility Directive (EMCD) – 2014/30/EU ☒ Low Voltage Directive (LVD) – 2014/35/EU ☒ Restriction of Hazardous Substances Directive (RoHS2) – 2011/65/EU ☒ Restriction of Hazardous Substances Directive (RoHS3) – (EU) 2015/863 ☒...

  • Page 4: Warranty

    Focus's option. To exercise this warranty, write or call your local New Focus office or representative, or contact Newport headquarters in Irvine, California. You will be given prompt assistance and return instructions. Send the product, freight prepaid, to the indicated service facility. Repairs will be made and the instrument returned freight prepaid.
  • Page 5 Programs; or (4) approved by New Focus for release without restriction. Trademarks The New Focus logo and name are registered trademarks of Newport Corporation in Mexico, Israel, Singapore, European Union, Taiwan, Hong Kong, China, Japan, Korea, Canada, Australia, and the United States.

  • Page 6: Technical Support Contacts

    Return the product to Newport Corporation, freight prepaid, clearly marked with the RMA# and we will either repair or replace it at our discretion. Newport is not responsible for damage occurring in transit and is not obligated to accept products returned without an RMA#.

  • Page 7: Table Of Contents

    Preface Table of Contents EU27 Declaration of Conformity ............ii UK Declaration of Conformity ............. iii Warranty ....................iv Technical Support Contacts ..............vi Table of Contents ................. vii List of Figures ..................xi Safety Precautions Definitions and Symbols .............13 1.1.1 General Warning or Caution ...........13 1.1.2 Electric Shock ..............13 1.1.3 Potential Burn Hazard .............13...
  • Page 8 viii Preface Specifications ................26 2.6.1 Operating Limits* ............26 2.6.2 Weight, Dimensions ............27 Theory of Operation How the Picomotor Actuator Works ...........28 Stepping the Picomotor with the 8743-CL Controller/Driver ..28 Closed-Loop Operation ...............29 Status Indicator ................30 Power Supply ................31 3.5.1 Fault Protection ...............31 Input / Output Connections ............32 3.6.1 USB .................33 3.6.2 Ethernet ................33...
  • Page 9 Preface USB Communication ..............48 5.3.1 USB Command Termination ...........48 Ethernet Communication .............48 5.4.1 Ethernet Dynamic and Static IP Address Setup ....49 5.4.2 Using a Static IP Address ..........49 5.4.3 Ethernet Peer-to-Peer Setup ..........52 5.4.4 Communicating Using a Hostname .........52 RS-485 Communication ..............53 5.5.1 Setting up an RS-485 Network ........54 5.5.2 Communication with a Slave Controller ......55 Picomotor Controller Software Application ........56...
  • Page 10 Preface...

  • Page 11: List Of Figures

    Preface List of Figures General Warning or Caution Symbol ........... 13 Electrical Shock Symbol ............... 13 Hot Surface Symbol ..............13 CE Mark ..................14 UKCA Mark.................. 14 Alternating Voltage Symbol ............14 On Symbol ..................14 Off Symbol..................14 Ground Symbol ................
  • Page 12 Preface Device Address Window .............. 70 Internet Browser View ..............71 Command Syntax Diagram ............73...

  • Page 13: Safety Precautions

    Safety Precautions Definitions and Symbols The following terms and symbols are used in this documentation and also appear on the Model 8743-CL Controller/Driver where safety-related issues occur. 1.1.1 General Warning or Caution General Warning or Caution Symbol The Exclamation Symbol in the figure above appears on the product and in Warning and Caution tables throughout this document.

  • Page 14: European Union Ce Mark

    Introduction 1.1.4 European Union CE Mark CE Mark The presence of the CE Mark on New Focus equipment means that this instrument has been designed, tested and certified compliant to all applicable European Union (CE) regulations and recommendations. 1.1.5 UKCA Mark UKCA Mark The presence of the United Kingdom Conformity Assessed (UKCA) Mark on New Focus equipment means that this instrument has been designed, tested and certified...

  • Page 15: Ground

    Specifications The symbol in the figure above represents a power switch position on the Model 8743-CL. This symbol represents a Power Off condition. 1.1.9 Ground Ground Symbol The symbol in the figure above appears on the Model 8743-CL to indicate the screw to be used to ground the case of the unit.

  • Page 16: Control Of Hazardous Substances

    Introduction 1.1.12 Control of Hazardous Substances RoHS Compliant Symbol This label indicates the products comply with the EU Directive 2002/95/EC that restricts the content of six hazardous chemicals. Warnings and Cautions The Model 8743-CL is a component of a system that will contain one or more Picomotors and other items.

  • Page 17: General Warnings

    Specifications Situation has the potential to cause the product to not comply with applicable United Kingdom regulations. 1.2.1 General Warnings Observe these general warnings when operating or servicing this equipment: Heed all warnings on the unit and in the operating instructions. •...

  • Page 18: Summary Of Warnings And Cautions

    Introduction 1.2.3 Summary of Warnings and Cautions The following general warning and cautions are applicable to this instrument: WARNING The Picomotor Controller/Driver is incomplete in constructional features and is considered only to be a component for the purposes of regulatory compliance. It is “equipment for building in;”...
  • Page 19 Specifications WARNING Do not apply external DC power to this equipment in excess of 14.5 VDC. WARNING Use only the New Focus-supplied MAINS power cord with the external DC power supply. Use of an under-rated power cord may cause damage to the product, fire, and/or personal injury. CAUTION There are no user serviceable parts inside the Model 8743-CL Picomotor Controller/Driver.
  • Page 20 Introduction CAUTION When operated at higher pulse rates for extended periods of time, the temperature on the outside of the Model 8743-CL’s case may rise above the “surface temperature limits in normal operation” as defined in EN61010-1:2010 unless the user takes appropriate measures.

  • Page 21: Location Of Labels And Warnings

    Specifications Location of Labels and Warnings Power Supply Voltage and CE Mark Current High Voltage Warning Symbol Model Number Serial Number and WEEE Symbol Applicable US Patents Chassis Ground Identification Labels and Warnings...

  • Page 22: Safety Grounding Considerations

    Introduction Safety Grounding Considerations There are potentially lethal voltages generated within the Model 8743-CL Picomotor Controller/Driver and presented on the pins of the “Motor” connectors EVEN WHEN NO PICOMOTOR IS INSTALLED. (These voltages are not present when power is not applied to the unit. They are not present when the unit is switched OFF.) The User must manage certain system-level aspects to ensure safe operation.

  • Page 23: General Information

    General Information System Overview 8743-CL is a 2-axis closed-loop motion controller/driver for Picomotors, offering a complete motion solution for many applications. It can control up to 2 Picomotors and it can work in systems with other Model 8743-CL and 8743-CL Controller/Drivers to drive a large number of Picomotors.

  • Page 24: Scope Of This Manual

    Introduction Scope of this Manual Please carefully read this instruction manual before using the 8743-CL Picomotor Controller/Driver. Be especially careful to observe the warnings and cautions throughout this manual (see Safety Symbols and Terms). If any operating instructions are not clear, contact New Focus. This instruction manual contains the necessary information for operation and maintenance of the Model 8743-CL, as well as information for troubleshooting and obtaining service if necessary.

  • Page 25: Safety

    Specifications Safety Voltages of up to 130 V are accessible inside the 8743-CL Controller/Driver chassis, mounts, and Picomotors. DO NOT operate the units with the driver or mount covers removed. If the wire of a mount or Picomotor is damaged, discontinue use and return it for repair.

  • Page 26: Specifications

    Specifications 2.6.1 Operating Limits* PARAMETER MIN. MAX. Model 8743-CL Power input voltage (+V IN) 10.5 V 14.5 V 11 Watts 2 Watts Power Consumption @ 12 Volts (@ 2 kHz (Idle) speed) Ambient still-air operating temperature 0 °C 65 °C Storage temperature (non-operating) -40 °C 95 °C...

  • Page 27: Weight, Dimensions

    2.6.2 Weight, Dimensions Weight 9.5 oz (270 g) (L x W x H) Dimensions 5.84 in x 3.61 in x 1.02 in 148.3 mm x 91.7 mm x 25.9 mm Dimensional Outline Drawing...

  • Page 28: Theory Of Operation

    Theory of Operation How the Picomotor Actuator Works The patented design of the Picomotor actuator relies on the basic difference between dynamic and static friction. A graphic example of this is the “tablecloth trick”, in which a quick pull of the cloth leaves the dishes on the table, while a slow pull of the tablecloth ends up pulling the dishes off the table (high static friction).

  • Page 29: Closed-Loop Operation

    Closed-Loop Operation The Model 8743-CL can operate in an open-loop mode with either closed-loop or open- loop Picomotors. In addition, it can operate in closed-loop mode when connected to closed-loop Picomotors. The unit will also support mixed operation whereby an open-loop Picomotor is operated in open-loop mode on one axis and a closed-loop Picomotor is operated in closed-loop (or open-loop) mode on the other axis.

  • Page 30: Status Indicator

    Status Indicator The LED located near the power switch has several functions: Power Indicator • Status Indicator • • Troubleshooter Status Indicator Power Switch Status Indicators position When the unit is turned on the unit goes through a series of verifications and turns the LED solid green.

  • Page 31: Power Supply

    Power Supply The 8743-CL Controller/Driver can place stress on the system power supply. The stress has two components: Inrush current: The inrush current on power-up charges the internal filter capacitor. While the energy magnitude of the inrush current is limited, it can still cause problems with power supplies not designed to handle it.

  • Page 32: Input / Output Connections

    A heatsink can be mounted using these slots Heatsink mounting slots Input / Output Connections Figure 16 shows the 8743-CL input and output connections. Communication Interfaces: USB, Ethernet, RS-485 (2) Power Inputs: +12VDC (2) Picomotor Interfaces: 4 The following figure shows the position of the inputs and outputs as well as the power switch.

  • Page 33: Usb

    8743-CL Inputs and Outputs 3.6.1 The USB input is a Micro-AB connector. Use a Micro-B to USB-A cable to connect the 8743-CL Controller/Driver to a computer. 3.6.2 Ethernet The Ethernet input is a standard RJ-45 connector. Use a Cat 5 Ethernet cable to connect the 8743-CL Controller/Driver to a router, an Ethernet switch, or a computer.

  • Page 34: Power

    3.6.4 Power There are two power inputs that can take a standard barrel connector with the output diameter 5.5 mm and internal diameter 2.1 mm. The provided power supply can be plugged in either of these two connectors. The other connector is used to link the power supply to another 8743-CL Controller/Driver.

  • Page 35: Initial Setup

    Initial Setup Introduction This section contains information on how to connect the 8743-CL Controller/Driver to your local line voltage and how to connect the Picomotor to the controller. It also includes a discussion about the remote interface and the instrument’s power-up. Grounding Connect the 8-32 grounding screw to a good earth ground using a dedicated wire of at least 20AWG diameter.

  • Page 36: Connecting 8743-Cl To A Computer Via Ethernet

    Connecting 8743-CL to a Computer via Ethernet 4.5.1 Connecting to a Router The 8743-CL Controller/Driver can be connected to an Ethernet Router. Attach the computer Ethernet cable to the same router. If desired, the router can be attached to a WAN (Wide Area Network) so that the computer can also be connected to internet, or company network.

  • Page 37: Picomotor Connections

    Picomotor Connections Each 8743-CL axis has its own set of positioner interfacing connectors. In total there are two(2) feedback interface connectors and two(2) motor output connectors. Motor and Feedback Connectors 4.6.1 Motor Connectors Each Model 8743-CL controller/driver can control one of two 4-pin RJ-22 single output ports for use with any single-channel Picomotor actuator at any given time.

  • Page 38: Feedback Connectors

    4.6.2 Feedback Connectors Each model 8743-CL controller/driver can monitor the position status of up two to Closed- Loop Picomotors. In response to this information the 8743-CL will move (or hold) the position to which it was last commanded. DB-15HD Feedback connector pinouts are as follows: Pin-1 +5V Power Pin-2...

  • Page 39: Connecting Multiple Units To A Computer

    Connecting Multiple Units to a Computer The L-bracket (Figure 19) is an optional accessory to stack up several 8743-CL or 8742 units. The stack is shown in Figure 20. L-bracket Using L-brackets to stack up several Controllers...

  • Page 40: Multiple Units Stacking & Interconnection

    Multiple Units Stacking & Interconnection (8742 controllers shown) Multiple Units Stacking & Interconnection...

  • Page 41: Using Usb Hubs

    4.7.1 Using USB Hubs Each 8743-CL Controller/Driver in the stack can be connected to a USB hub. Connect the hub to a computer and launch the Picomotor Application provided on the USB Flash Drive. The application will automatically discover and display the 8743-CL units and make them available for control.

  • Page 42: Using Ethernet Routers/Switchers

    4.7.2 Using Ethernet Routers/Switchers If several 8743-CL units need to be controlled via Ethernet, connect them to a router at the LAN (Local Area Network) ports. The router will assign an IP address to each 8743-CL Controller/Driver. Connect a computer to the same router at one LAN port. Use the Picomotor Application provided on the USB Flash Drive to discover and establish a connection to each 8743-CL unit.

  • Page 43: Using Rs-485 Lan To Daisy-Chain

    4.7.3 Using RS-485 LAN to Daisy-Chain If several 8743-CL units need to be controlled via Ethernet or USB, they do not all have to be connected directly to an Ethernet Switch or USB Hub. Instead, a single unit can act as a gateway by connecting it to the Router, Switch, or Hub and also connecting it to the remaining units using a half-duplex RS-485 LAN bus.

  • Page 44: Connecting Four Units To A Computer Via Rs-485 Adapter

    This product’s RS-485 LAN implementation is a multidrop, half-duplex, 2-wire, differential signaling, balanced line over twisted pair setup. Hence, 1.2 km (~4K feet) distance is theoretically possible. Note that it is possible to use an off-the-shelf third party RS-485 converter/adapter to connect into the controller’s RS-485 LAN as an alternative to USB or Ethernet connectivity.

  • Page 45: Connecting To The 8758 Hand Control Pad

    Connecting to the 8758 Hand Control Pad The model 8758 hand control pad facilitates local (non-computer) control of positioners connected to 8743- CL Picomotor controllers. It draws its electrical power from the Picomotor controller via USB interface and, hence, does not require a separate power supply. IMPORTANT: 8743-CL controller must run firmware version 2.2 (or later) to be compatible with the 8758 Hand control pad.

  • Page 46: Multiple Controller Setup

    The 8758 hand control pad is capable of interfacing with up to 31 Picomotor controllers when configured in the RS-485 daisy-chained “Master/Slave” setup shown below. The controller that has the 8758 connected to it automatically becomes the designated Master Controller. A Master Controller initiates and arbitrates RS-485 communication to all Slave controllers on behalf of the 8758 hand control pad or PC.

  • Page 47: Computer Interfacing

    Computer Interfacing Introduction The Model 8743-CL Controller/Driver has three(3) computer interface ports: USB, Ethernet, and RS-485. All commands for the 8743-CL Controller/Driver are device dependent commands. Please see the General Guidelines sections for using either the USB (Section 5.3), Ethernet (Section 5.4) or RS-485 (Section 5.5) interfaces. These sections include important information on using these interfaces properly.

  • Page 48: Usb Communication

    USB Communication Before connecting the controller to a host PC using a standard Micro-B to USB-A cable, the user should install the application included in the USB Flash Drive that accompanies the Unit. The application automatically installs the correct USB drivers. Communication can be done through this interface by using the application or by developing software in the user’s preferred programming language.

  • Page 49: Ethernet Dynamic And Static Ip Address Setup

    MACADDR? MAC address query NETMASK Network mask address NETMASK? Network mask address query Table 2 Ethernet Related Commands 5.4.1 Ethernet Dynamic and Static IP Address Setup Use IPMODE command to setup either Dynamic or Static IP mode The IP mode command (IPMODE) is used to set the controller’s IP mode. In order for this setting to take effect, please save this setting in the controller’s non-volatile memory and reset the controller.
  • Page 50 The easiest way to set up your system for use with a static IP address is to: In the router configuration software, reserve an IP address for the picomotor controller. Try to reserve an IP address outside of the range used by the DHCP server because this will eliminate the possibility of address conflicts now and in the future.
  • Page 51 For those who cannot make changes to the router or for a peer to peer connection Open a DOS command window and run “IPCONFIG”. Ethernet adapter Local Area Connection: Connection-specific DNS Suffix Link-local IPv6 Address ..: IPv4 Address.

  • Page 52: Ethernet Peer-To-Peer Setup

    5.4.3 Ethernet Peer-to-Peer Setup Peer-to-Peer Ethernet connection means connecting your 8743-CL directly to your PC without the use of a router. This may or may not require the use of a special Ethernet ‘crossover’ cable as many new computers no longer require it. An Ethernet crossover cable is a type of Ethernet cable used to connect computing devices together directly.

  • Page 53: Communication

    RS-485 Communication RS-485 interface can be used to communicate with up to 31 Picomotor controllers (8743- CL or 8743-CL) that are daisy-chained, using a single USB/Ethernet connection. Once the desired controllers are daisy-chained using the RS-485 link cable, any one of these controllers can be connected to a host PC via USB or Ethernet interface.

  • Page 54: Setting Up An Rs-485 Network

    Picomotor Controller RS-485 LAN Topology Note that a multidrop bus is a computer bus in which all components are connected to the same set of electrical wires. A process of arbitration determines which device gets the right to be the sender of information at any point in time. The other devices must listen for the data that is intended to be received by them.

  • Page 55: Communication With A Slave Controller

    “SD?” command. Once the scan is completed, the master controller can be queried to find out the addresses of all the slave controllers. NOTE: The Picomotor Windows software application (version 2.0 and above) provides the quickest and easiest path to controller address configuration. The user friendly software will automatically report any RS-485 address conflicts found and offer easy resolution options.

  • Page 56: Picomotor Controller Software Application

    USB or Ethernet interfaces. This application comes on a USB flash drive or can be downloaded from the product’s Newport.com web page ‘Downloads’ section. NOTE: If you already have installed a different version of the software and drivers then it is recommended that you uninstall it first before installing new software.

  • Page 57: Overview

    5.6.2 Overview This Windows software application has advanced auto-discovery feature which automatically finds computer connected Picomotor controllers and list them in the “Device Tree” window. So called ‘Slave’ controllers (devices) connected via RS-485 LAN are listed immediately underneath and shifted to the right of ‘Master’ controllers which have direct computer connection.

  • Page 58: Jog Tab

    Most notably the Setup/Controller menu selection allows the user to set motor velocity, acceleration, and motor type for each axis. The parameters shown on the pop-up window represent the settings read from the controller’s memory. Clicking ‘Apply’ button will immediately send the updated parameters to the controller and save them in its non- volatile memory.

  • Page 59: Cycle Tab

    Cycle Motion Cycle Tab...
  • Page 60 Command Line Terminal Terminal Tab...

  • Page 61: Homing Methods

    Find Home Home Tab 5.6.3 Homing Methods The 8743-CL closed-loop controller supports three(3) methods of Homing a Picomotor positioner: (1) Find Home, (2) Find Index, and (3) Find Travel Limit. Which methods can be used depends primarily on what compatible signals are made available on your Picomotor positioners (i.e., Home signal, Index signal and/or Limit signal).
  • Page 62 5.6.3.1 Find Home The Find Home function (see OR command) moves to find the positioner’s Home signal. The controller executes a unique sequence of motion in order to locate and finally stop the positioner at a repeatable position. The repeatability precision will depend mostly on the repeatability of the Home switch itself.
  • Page 63 Controller Setup (Closed-Loop) Setup Window (Closed-Loop) NOTE: When controlling a standard open-loop Picomotor positioner (1) set ‘Units’ option to ‘Steps’ and (2) disable (uncheck ‘Enable’) ‘Travel Limit Checking.’ NOTE: The Travel Limit Checking feature should be disabled when controlling the 8410 rotary positioner.

  • Page 64: Options Window

    Connection Options Setup Options Window...

  • Page 65: Properties Window

    USB and Ethernet Properties Properties Window...

  • Page 66: Controller Scan

    Scan RS-485 LAN Controller Scan...

  • Page 67: Address Conflict Resolution Window

    Address Conflict Resolution Address Conflict Resolution Window...

  • Page 68: Quasi-Absolute Encoder Setup

    View/Change Controller Address Device Address Window 5.6.4 Quasi-absolute Encoder Setup To setup the controller for use with a positioner that has Quasi-absolute Encoder, select “Quasi-absolute Encoder” under Setup menu. The application will open a dialog box as shown in picture below. Make desired changes for the motor and click on OK button.

  • Page 69: Find Absolute Position

    Device Address Window 5.6.5 Find Absolute Position If the controller detects that a positioner with Quasi-absolute encoder is present, the “Home” tab will be modified as shown in picture below. The move to travel limit and index buttons are disabled. Users can click on the “Find Absolute Position” button to initiate absolute position search process.
  • Page 70 Device Address Window...

  • Page 71: Embedded Dynamic Http Server

    5.6.6 Embedded Dynamic HTTP Server It is also possible to communicate to the controller via its Ethernet interface through a computer’s web browser (e.g., Safari, Chrome, Internet Explorer). Once you know the controller’s IP address, which can be gotten from the Ethernet Properties view in the Windows Application (see previous page).

  • Page 72: Labview Tm And C# Programming Support

    LabVIEW and C# Programming Support Detailed LabVIEW and C# programming instructions are discussed in a separate document named “Picomotor Samples.pdf” (Typically installed in the following folder C:\Program Files\New Focus\Picomotor Application\Docs) Additionally, sample code is found in the “Samples” folder (Typically installed in the following folder C:\Program Files\New Focus\Picomotor Application\Samples)

  • Page 73: Remote Command Set

    Remote Command Set Command Syntax The 8743-CL Controller/Driver utilizes an ASCII command set and also outputs system status in ASCII format. Commands may be either upper or lower case characters. The diagram below illustrates the 8743-CL controller command syntax. As indicated in this diagram, a valid command consists of three main fields.

  • Page 74: Rs-485 Command Syntax

    6.1.1 RS-485 Command Syntax The command syntax for communicating with controllers on an RS-485 network is very similar to communicating with them directly using USB/Ethernet interface with the following exceptions: All the commands intended for a slave controller must have a slave controller address prefix added to the command.

  • Page 75: Summary Of Command Syntax

    6.1.2 Summary of Command Syntax COMMAND FORMAT The general format of a command is a two character mnemonic (AA). Both upper and lower case are accepted. Depending on the command, it could also have optional or required preceding (xx) and/or following (nn) parameters. BLANK SPACES Blank spaces are allowed and ignored between parameters and commands.

  • Page 76: Command List

    Command List The controller understands many commands. The following table lists all of them in alphabetical order. It also shows whether the command can be issued while motion of any Picomotor is in progress or otherwise. Command Description Command executed when motion is in progress *IDN? Identification string query...
  • Page 77 Move indefinitely Get motion direction ♦ Find index position Query if absolute position ♦ determined after controller reset Find home position Move to a target position Get destination position ♦ Get hardware status ♦ Move relative Get destination position ♦ Set motor type ♦...
  • Page 78 Set hardware configuration Get hardware configuration ♦ Set system configuration ♦ Get system configuration ♦ ETHERNET RELATED COMMANDS Command Description Command executed when motion is in progress GATEWAY Default gateway address ♦ GATEWAY? Default gateway address query ♦ HOSTNAME Hostname ♦...
  • Page 79 Get units ♦ Set hardware configuration Get hardware configuration ♦ HOMING RELATED COMMANDS Command Description Command executed when motion is in progress Find travel limit position Find index position Find home position Get hardware status ♦ Set hardware configuration Get hardware configuration ♦...

  • Page 80: Description Of Commands

    6.2.1 Description of Commands NOTE Many of the commands take an axis number as a parameter (xx). For such commands, the valid range of axis number is from 1 to 2. *IDN? Product identification string query. Description *IDN? Syntax This query will cause the instrument to return a unique identification string. This similar to the Remarks Version (VE) command but provides more information.
  • Page 81 *RCL Recall command. Description *RCL Bin Syntax This command restores the controller working parameters from values saved in its non-volatile Remarks memory. It is useful when, for example, the user has been exploring and changing parameters (e.g., velocity) but then chooses to reload from previously stored, qualified settings. Note that “*RCL 0”...
  • Page 82 *RST Reset command. Description *RST Syntax This command performs a “soft” reset or reboot of the controller CPU. Upon restart the Remarks controller reloads parameters (e.g., velocity and acceleration) last saved in non-volatile memory. Note that upon executing this command, USB and Ethernet communication will be interrupted for a few seconds while the controller re-initializes.
  • Page 83 Acceleration set. Description xxACnn Syntax This command is used to set the acceleration value for an axis. The acceleration setting Remarks specified will not have any effect on a move that is already in progress. If this command is issued when an axis’ motion is in progress, the controller will accept the new value but it will use it for subsequent moves only.
  • Page 84 Absolute position search mode set. Description xxADnn Syntax This command is used to set the absolute position search mode for an axis. It is used to specify Remarks the final move the controller should make after determining the absolute position of the stage/positioner.
  • Page 85 Quasi-absolute encoder parameters set. Description xxAEnn1,nn2,nn3,nn4 Syntax This command is used to set the quasi-absolute encoder parameters for an axis. Since these Remarks values are stage/positioner-specific, please consult the stage’s user’s manual for guidance on correct parameter values. If this command is issued when an axis’ absolute position search is in progress, the controller will generate “COMMAND NOT ALLOWED DURING HOMING”...
  • Page 86 Start absolute position search. Description xxAF Syntax This command is used to start the absolute position search process for an axis. If this command Remarks is issued when an axis’ motion is in progress, the controller will generate “MOTION IN PROGRESS”...
  • Page 87 Closed-loop control update interval set. Description xxCLnn Syntax This command is used to set the closed-loop control update interval for an axis. This will be Remarks the time duration between position error corrections during closed-loop positioning. For maximum user application flexibility, each axis is allowed to have a different and independent time interval setting from one another.
  • Page 88 Deadband set. Description xxDBnn Syntax This command is used to set the position deadband value for an axis. Since a majority of Remarks electro-mechanical systems have mechanical backlash or frictional hysteresis, closed-loop positioning can at times lead to oscillation or limit cycling of the systems around a desired position.
  • Page 89 Deadband query. Description xxDB? Syntax This command is used to query the deadband value for an axis. Remarks Argument Value Description 1 to 2 Axis number Response Value Description Integer Deadband (units) Value 2DB? (get deadband setting) Example (reply; 0 counts) DB, CL, CL?, MM, MM? See Also...
  • Page 90 Home position set. Description xxDHnn Syntax Remarks This command is used to define the “home” position for an axis. The home position is set to 0 if this command is issued without “nn” value. Upon receipt of this command, the controller will set the present position to the specified home position.
  • Page 91 Maximum following error threshold set. Description xxFEnn Syntax This command is used to set the maximum allowed following (tracking) error threshold for an Remarks axis. This error is defined as the difference between the real (encoder) position and destination (target) position of a motion device. The real position is the one reported by the position sensing device (i.e., quadrature encoder).
  • Page 92 Maximum following error threshold query. Description xxDB? Syntax This command is used to query the following error threshold value for an axis. Remarks Argument Value Description 1 to 2 Axis number Response Value Description Integer Following error (units) Value 2FE? (get following error setting) Example 1000...
  • Page 93 Motion done status query. Description xxMD? Syntax This command is used to query the motion status for an axis. Remarks Note that since this product implements a multiplexed driver architecture, it is recommended that each axis be checked for its motion done status to definitively determine if it is OK to issue a move command to that motor.
  • Page 94 Enable/disable closed-loop positioning. Description xxMMnn Syntax This command is used to enable/disable closed-loop positioning of an axis. If closed-loop Remarks positioning is disabled, Picomotors can be commanded to move, but the controller will not perform any end of move position correction. Closed-Loop correction takes affect only during position regulation (holding position) as opposed to while moving.
  • Page 95 Find hardware travel limit. Description xxMTnn Syntax This command is used to move an axis to its limit (positive or negative). The controller will Remarks automatically stop the axis after crossing the travel limit. If this command is issued when an axis’...
  • Page 96 Indefinite move command. Description xxMVnn Syntax This command is used to move an axis indefinitely. If this command is issued when an axis’ Remarks motion is in progress, the controller will ignore this command and generate “MOTION IN PROGRESS” error message. Issue a Stop (ST) or Abort (AB) motion command to terminate motion initiated by MV Argument Value...
  • Page 97 NOTE: The Find Index function is NOT compatible with 8310 and 8310-V positioners. Argument Value Description 1 to 2 Axis number Index search of desired axis in positive direction Index search desired axis in negative direction 1MZ+ (index search of motor 1 in positive direction) Example (abort / halt motion) 2MZ-...
  • Page 98 Find Home search. Description xxOR Syntax This command is used to execute a home search routine for an axis. The controller will Remarks automatically stop the axis after crossing the index. If this command is issued when an axis’ motion is in progress, the controller will ignore this command and generate “MOTION IN PROGRESS”...
  • Page 99 Target position move command. Description xxPAnn Syntax This command is used to move an axis to a desired target (absolute) position relative to the Remarks home position defined by DH command. Note that DH is automatically set to 0 after controller reset or a power cycle.
  • Page 100 Target position query. Description xxPA? Syntax This command is used to query the target position of an axis. Remarks Argument Value Description 1 to 2 Axis number Response Value Description Integer Target position (steps). 2PA? (Get motor 2 target position) Example 200000 (Returns value of 200000 step target position)
  • Page 101 Hardware status query. Description Syntax This command is used to query general hardware status for all the axes. This function allows Remarks the user to observe the various digital input signals as they appear to the controller in real-time. Note that the positioner’s Home or Index signals come in on the same controller differential input pair, feedback connector pins 14 &...
  • Page 102 Relative move command. Description xxPRnn Syntax This command is used to move an axis by a desired relative distance. If this command is issued Remarks when an axis’ motion is in progress, the controller will ignore this command and generate “MOTION IN PROGRESS”...
  • Page 103 Target position query. Description xxPR? Syntax This command is used to query the target position of an axis. Remarks Argument Value Description 1 to 2 Axis number Response Value Description Integer Target position (steps). 2PR? (Get motor 2 target position) Example 200000 (Returns value of 200000 step target position)
  • Page 104 Motor type query. Description xxQM? Syntax This command is used to query the motor type of an axis. Remarks It is important to note that the QM? command simply reports the present motor type setting in memory. It does not perform a check to determine whether the setting is still valid or corresponds with the motor connected at that instant.
  • Page 105 Controller address set. Description SAnn Syntax Remarks This command is used to set the address of a controller. This command is useful when communicating with controllers on an RS-485 network, where all controllers on the network must have unique addresses. The default controller address is 1. Argument Value Description...
  • Page 106 Initiate scan process. Description SCnn Syntax Remarks This command is used to initiate scan of controllers on RS-485 network. When a master controller receives this command, it scans the RS-485 network for all the slave controllers connected to it. If nn = 0, the master controller scans the network but does not resolve any address conflicts. If nn = 1, the master controller scans the network and resolves address conflicts, if any.
  • Page 107 RS-485 controller address map query. Description Syntax This command is used to query the list of all controllers on an RS-485 network. Remarks Response Value Description Integer 32-bit value. Default = 0 Value Bit# Value Description The scan process did not find any address conflicts The scan process found at least one address conflicts There is no controller with address 1 on the network There is a controller with address 1 on the network...
  • Page 108 Scan done status query. Description Syntax This command is used to query the scan status. Remarks Response Value Description Scan is in progress Value Scan is not in progress (Get scan status) Example (Returns value of 1 which means scan is not in progress) SC, SC? See Also Negative software travel limit set.
  • Page 109 Negative software travel limit query. Description xxSL? Syntax This command is used to query the negative software travel limit for an axis. The response to Remarks this command can be different from the value specified using “SL” command if define home (DH) command is issued after “SL”...
  • Page 110 12. Following Error (see FE command) 13. Units (see SN commands) 14. Hardware Configuration (see ZH command) 1VA1750 (See motor 1 velocity) Example (Save settings to non-volatile memory) XX, *RCL See Also Axis displacement units set. Description xxSNnn Syntax This command is used to set the displacement units of an axis. Remarks The inherent Picomotor positioner operates in steps and is open-loop.
  • Page 111 Axis displacement units query. Description xxSN? Syntax This command is used to query the displacement units for an axis. Remarks Argument Value Description 1 to 2 Axis number Response Value Description 0 or 1 Steps or Encoder counts Value 2SN? (get displacement units) Example (reply;...
  • Page 112 Positive software travel limit query. Description xxSR? Syntax This command is used to query the positive software travel limit for an axis. The response to Remarks this command can be different from the value specified using “SR” command if define home (DH) command is issued after “SR”...
  • Page 113 Error message query Description Syntax This command is used to read the error code, and the associated message. Remarks The error code is one numerical value up to three(3) digits long. (see Appendix for complete listing) In general, non-axis specific errors numbers range from 0-99. Axis-1 specific errors range from 100-199, Axis-2 errors range from 200-299 and so on.
  • Page 114 Error code query Description Syntax This command is used to read the error code. The error code is one numerical value up Remarks to three(3) digits long. (see Appendix for complete listing) In general, non-axis specific errors numbers range from 0-99. Axis-1 specific errors range from 100-199, Axis-2 errors range from 200-299 and so on.
  • Page 115 Actual Position query. Description xxTP? Syntax This command is used to query the actual position of an axis. The actual position represents the Remarks internal number of steps made by the controller relative to its position when controller was powered ON or a system reset occurred or Home (DH) command was received. Note that the real or physical position of the actuator/motor may differ as a function of mechanical precision and inherent positioning inaccuracies.
  • Page 116 Velocity set Description xxVAnn Syntax This command is used to set the velocity value for an axis. The velocity setting specified will Remarks not have any effect on a move that is already in progress. If this command is issued when an axis’...
  • Page 117 Controller firmware version query. Description Syntax This command is used to query the controller model number and firmware version. To query Remarks product serial number information see *IDN command. Response Value Description String 8743-CL Version 1.9 11/01/12 version = 1.; release date = 11/01/12 (Get model name and firmware version) Example (Replies with model and firmware info string)
  • Page 118 Hardware configuration set. Description xxZHnn Syntax This command is used to set the hardware configuration of an axis. Remarks The real-time status of hardware travel limit signals can be monitored using the PH command. If hardware travel limit checking is disabled then MT (Find Limit) command is NOT allowed. If the following error checking is disabled then the FE command setting is effectively ignored.
  • Page 119 Hardware configuration query. Description xxZH? Syntax This command is used to query the hardware configuration for an axis. Remarks Argument Value Description 1 to 2 Axis number Response Value Description see table below Value Value Definition Enable hardware travel limit checking Disable hardware travel limit checking Enable following error checking Disable following error checking...
  • Page 120 Configuration register set Description ZZnn Syntax This command is used to configure the default behavior of some of the controller’s features. It Remarks is typically followed with an SM (Save to Memory) command. Value Definition Perform auto motor detection. Check and set motor type automatically when commanded to move.
  • Page 121 ETHERNET RELATED COMMANDS GATEWAY Default gateway address set. Description GATEWAY address Syntax This command is used to set the Ethernet default gateway address. In order for this setting to Remarks take effect, please set the controller to Static IP mode (IPMODE), save (SM) this parameter in the controller’s non-volatile memory, and reset (RS) the controller.
  • Page 122 HOSTNAME Hostname set. Description HOSTNAME name Syntax This command is used to set the controller’s hostname. A hostname is a label or nickname Remarks assigned to a device connected to a computer network and is used to identify the device in various forms of communication.
  • Page 123 IPADDR IP address set. Description IPADDR address Syntax This command is used to set the controller’s internet protocol (IP) address. An IP address Remarks consists of four numbers, each of which contains one to three digits, with a single dot (.) separating each number or set of digits.
  • Page 124 IPMODE IP mode set command. Description IPMODEnn Syntax This command is used to set the controller’s IP mode. In order for this setting to take effect, Remarks please save this setting in the controller’s non-volatile memory and reset the controller. As the name implies, Static IP addresses are the same every time you connect.
  • Page 125 Logically, MAC addresses are used in the Media Access Control protocol sub-layer of the OSI reference model. Response Value Description nn1,nn2 MAC address. (Example.5827809, 20) address nn1 is Newport’s unique identifier (0x58ECE1); nn2 is controller’s unique identifier MACADDR ? (Get MAC address) Example: (Returns ; MAC address) 5827809, 20...
  • Page 126 NETMASK Network mask address set. Description NETMASK address Syntax This command is used to set the controller’s network mask address. In order for this setting to Remarks take effect, please set the controller to Static IP mode, save this parameter in the controller’s non-volatile memory, and reset the controller.

  • Page 127: Appendix

    Appendix Non Axis-Specific Error Messages 0, NO ERROR DETECTED There are no error messages in the error buffer 3, OVER TEMPERATURE SHUTDOWN The temperature inside the controller has exceeded 85 C. Under this condition, the controller automatically stops any motion that is in progress and changes the status LED color to solid RED. When the temperature goes below 75 C, the controller changes the status LED color to solid GREEN.

  • Page 128: Axis-Specific Error Messages

    46, RS-485 ETX FAULT DETECTED A slave controller can generate this error message if the command received by it is incomplete; the number of bytes transmitted by a master controller do not match the number of bytes received by the slave controller. A master controller can generate this error message if the response received by it is incomplete;...
  • Page 129 According to the encoder count monitor, the following error exceeds the maximum following (tracking) error threshold setting. x04, POSITIVE HARDWARE LIMIT DETECTED The motion in progress has been stopped because the controller detected positive direction hardware travel limit crossing. NOTE: When controlling a standard open-loop Picomotor positioner (1) set ‘Units’ option to ‘Steps’...
  • Page 130 Homing process has been aborted. This is likely caused by either Abort (AB) or Stop (ST) command received or hardware travel limit detected. x30, COMMAND NOT ALLOWED DURING HOMING The command received cannot be processed while absolute position search is in progress. x33, MAX CLOSED LOOP ATTEMPTS EXCEEDED The controller has made more than 100 unsuccessful consecutive attempts to correct the position of the motion device, and was unable to bring the following error to within specified deadband...

  • Page 131: Maintenance And Service

    Maintenance and Service WARNING There are no user serviceable parts inside the Model 8743-CL Controller/Driver. Work performed by persons not authorized by New Focus will void the warranty. Enclosure Cleaning WARNING Before cleaning the enclosure of the 8743-CL Controller/Driver, the power cord must be disconnected from the wall socket and from the unit.

  • Page 132: Service

    New Focus. Return the completed service form with the instrument. Warranty New Focus, a division of Newport Corp, guarantees its products to be free of defects for one year from the date of shipment. This is in lieu of all other guarantees, expressed or...

  • Page 133: Service Form

    Service Form New Focus U.S.A. Office: 408-919-1500 FAX: 408-980-6083 Name _______________________________ Return Authorization #__________________ (Please obtain RA# prior to return of item) Company ________________________________________________________________________ (Please obtain RA # prior to return of item) Address ________________________________ ____________________Date _________________ Country _______________________ Phone Number ______________________________________ P.O.

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