Arun Microelectronics SMD4 User Manual
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Arun Microelectronics SMD4 User Manual

Uhv stepper motor drive
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SMD4 User Manual
UHV Stepper Motor Drive
Introduction
Safety and warning notices
Technical information
Installation
Operation
Software
Remote interfaces
Communications protocol
Guidance on use of VCSMs
Maintenance and service
Troubleshooting
Storage and disposal
Assistance
Compliance Certificate

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Summary of Contents for Arun Microelectronics SMD4

  • Page 1 SMD4 User Manual UHV Stepper Motor Drive Introduction Safety and warning notices Technical information Installation Operation Software Remote interfaces Communications protocol Guidance on use of VCSMs Maintenance and service Troubleshooting Storage and disposal Assistance Compliance Certificate...

  • Page 2: Liability And Warranty

    Introduction SMD4_1_transparent.webp The SMD4 stepper motor drive is a single-axis bipolar stepper motor drive, intended for use with AMLs range of vacuum-compatible stepper motors (VCSMs). It maximises motor performance while minimising temperature rise. Powerful software is supplied with the SMD4 that enables you to easily control and configure multiple SMD4 units simultaneously, in a single, user-friendly graphical interface.

  • Page 3: Safety And Warning Notices

    Safety and warning notices WARNING! All work described in this document may only be carried out by persons who have suitable technical training and the necessary experience or who have been instructed by the end-user of the product. The safety of any system incorporating the instrument is the responsibility of the assembler of the system. Use the instrument only as specified in this manual, otherwise the protection provided by the instrument might be impaired.

  • Page 4: Technical Information

    Technical information General General 166 mm x 106 mm x 56 mm Dimensions (excluding connectors and feet) Weight 0.5 kg Protection class IP 20 Operation 10°C to 60°C, Temperature Storage -10°C to 85°C 48 Vdc ± 5% power supply required. Power supply Power supply included.
  • Page 5 General RTD: Open and short-circuit Fault detection Thermocouple: Open circuit only Operating modes • Remote - Control and configure via USB, Ethernet or Serial • Step, Direction Enable (SDE) -For connection to an external motion controller or PLC • Joystick - Single-step and continuous movement triggered via a joystick (supplied separately) •...

  • Page 6: Scope Of Delivery

    The following accessory items are available from AML. Order Code Item SMD3JOY Joystick (compatible with SMD4) CAB-D15D9 SMD4 Cable, 3m, D-Sub 15 Male to D-Sub 9 Female CAB-D15MLF SMD4 Cable, 3m, D-Sub 15 Male to MLF18 CAB-3D15MLF SMD4 Cable, 3m, 3X D-Sub 15 Male to MLF18...

  • Page 7: Before Installation

    Mechanical installation The SMD4 is a freestanding instrument. It does not require mounting. Forced air ventilation is not required. The ambient operating temperature range is 10 °C to 60 °C.
  • Page 8 An external fuse may be required. The fuse should be sized: Greater than the current consumption of the SMD4 when operating the connected motor Less than the maximum current output of the power supply Considering the voltage of the supply...

  • Page 9: Custom Cables

    DANGER! Danger of electric arcing! Never plug or unplug the connector while powered! Plugging or unplugging motor while powered may damage or destroy the driver output stages. Motor Connection of the motor to the vacuum feedthrough, and vacuum feedthrough to the SMD4 is discussed in section Motor Wiring.
  • Page 10 The SMD4 disables the motor under certain fault conditions, see section Faults. When this happens, the open collector ‘Fault’ output is set and may be used to signal to an external controller that the SMD4 is in a fault state.
  • Page 11 USB Type-C connection. The connection is reversible, and the plug may be inserted either way up. The SMD4 appears as a virtual COM port when connected to the PC. No additional drivers are required. Configure and control the SMD4 using AML Device Control software, available as a free download from our website at https://arunmicro.com/documents/software/...

  • Page 12: Front Panel

    For connection of a two-button joystick allowing basic motor control, for example, during commissioning. AML supply the SMD3 Joystick, part number ‘SMD3JOY’, which is compatible with the SMD4, for this purpose. The SMD4 can be configured to automatically switch to joystick mode on connection of the joystick. See AUTOJS.
  • Page 13 The fault indicator flashes or remains lit if the SMD4 is in a fault state (see section Faults for fault indications). When a fault is present, motor operation is disabled. Motor wiring Overview Connecting motors inside a vacuum chamber to the SMD4 comprises two tasks: Wiring the motor to a vacuum feedthrough installed in the chamber wall.
  • Page 14 If the identification beads have been removed, the wires can be identified using an inexpensive multimeter, and a magnet. The multimeter must be capable of measuring resistance with a resolution of about 1 ohm. Thermocouple Leadouts The thermocouple wires are much thinner than the phase Lead Connected to terminal marked leads, and there are two of them.
  • Page 15 Motor wires pinout for the VC9DF The illustration below shows the view into the non-mating side of the connector, into which the motor leads should be inserted, as shown below. Pass the wires through the backshell before crimping. Connection Colour Pin Insertion Side Phase A1 Green...
  • Page 16 Mating side identified by dot. Motor lead terminals should be inserted in the other side. Standard pinout for the MLF18VCF The illustration below shows the view into the non-mating side of the connector, into which the motor leads should be inserted, as shown below. Connection Colour Motor 1...
  • Page 17 Wiring between drive and vacuum feedthrough AML supply three standard SMD4 cables. These are: CAB-D15D9: 3 metres long. D-sub 15-way male connector for connecting to the SMD4. D-sub 9-way female connector for connecting to a feedthrough, such as AML's VF9D-40CF.
  • Page 18 Phase B1 Black Phase B2 White Thermocouple + Brown Thermocouple - Blue RTD A Blue RTD B1 Brown RTD B2 Brown...

  • Page 19: Operation

    The easiest way to use remote mode is with the supplied AML Device Control software, which allows one or more SMD4 units to be combined into a system and controlled individually or as a group. This makes it easy to apply the same configuration to multiple devices, for example.

  • Page 20: Normal Mode

    Normal mode The SMD4 can be configured to step on the rising or rising and falling edges, which halves the step clock rate. The external enable fault is non-latching when in step direction mode; once the external enable state is restored, or the external enable setting is changed to false, normal operation will resume immediately without the need to clear it.

  • Page 21: Triggered Mode

    General concepts User interface In general, all control and configuration of the SMD4 is performed via the remote interface. The following functions and indications are available locally on the SMD4: Basic status information, via front panel green and red indicators. Green signifies power on and normal operation, red a fault.

  • Page 22: Motor Current

    (called ‘going to standby’ state). Run current must be set equal to or smaller than acceleration current. This is enforced by the SMD4; if a change to run current makes it greater than the acceleration current, the acceleration current is automatically adjusted to be equal to run current.
  • Page 23 Microstepping is not helpful at higher step rates, therefore, the SMD4 automatically switches between microstepping at low speeds and full step at high speeds. The transition point from full step to microstep is configurable, as illustrated in Figure 1.

  • Page 24: Enable Input

    This allows the user to decide whether the enable input is used or not. When the enable input is not used, then the SMD4 is responsible for enabling the motor as required, consistent with any other requirement described in this document.

  • Page 25: Temperature Sensor Selection

    Start frequency must be set equal to or smaller than stop frequency. This is enforced by the SMD4; if a change to the stop frequency makes it smaller than the start frequency, start frequency is automatically adjusted to be equal to stop frequency.

  • Page 26: Changing Direction

    Either supply an enable signal, or if you do not wish to use the enable input, disable the external enable setting by setting it to ‘false’, which tells the SMD4 to ignore the state of the enable signal.

  • Page 27: Clearing A Fault

    Excessive temperature can damage the insulation on the motor windings, and the SMD4 does not allow the motor to be driven. The SMD4 shuts down the motor before this can happen to prevent possible damage to the motor. Wait for the motor to cool before attempting to run the motor again.

  • Page 28: Installation And Setup

    Start the AML Device Control software and click ‘Add device’ in the top left corner USB connected SMD4 devices should automatically appear in the list. Select all devices that you wish to add and click “Add n selected devices”...
  • Page 29 COM ports are present on the PC. The SMD4 network interface has an implementation of SSDP (Simple Service Discovery Protocol) which allows it to be discovered easily on a network, without knowing it's IP address.
  • Page 30 Project panel Shows a list of the devices and scripts in the project. Currently selected devices are highlighted. Multiple devices can be selected by holding down CTRL and clicking. The device properties panel shows the properties for the selected device(s). Right-clicking on an empty area within the project panel presents a context menu, with options to add new devices,...
  • Page 31 Saving projects SMD4 configuration is maintained in two locations: 1. The SMD4 itself, with the use of the ”Save to device” command. If the “Save to device” command is not used, settings will revert to their previous values on power cycling.
  • Page 32 The behaviour of the software in relation to this is as follows: If the serial number of a connected SMD4 matches that of one in the project file that is open: The configuration given in the project file prevails, and the SMD4 configuration is synchronised to match that in the project file.
  • Page 33 Function specific to the SMD4 software Function Description bool Add(string serial) Add a new device to the project. Returns true if the device has been detected and added to the project. serial: Device serial number. ClearLog void ClearLog( ) Clear command line.
  • Page 34 For example, if there is only one SMD4 connected, use BakeActiveFlag()[0] to get the state of the bake active flag for that device. The order of the array elements matches the order in which the SMD4 devices are selected. For example, suppose the “X-axis”, “Y-axis” and “Z-axis” named devices were selected with the command “smd.Select(“Z-axis”, ”X-axis”, ”Y- axis)”, to check the standby flag of the “Z-axis”...
  • Page 35 TemperatureSensorShortedFlag bool[] TemperatureSensorShortedFlag() Returns true if the selected temperature sensor is shorted (not applicable to thermocouple) Example scripts Add device, rename and set device properties // Add device with serial number 20054-027 smd.Add("20054-027"); // Set name of device with serial number 20054-027 to MyDevice smd.Name("20054-027","MyDevice");...
  • Page 36 smd.MoveRelative(-500); // Wait 5 seconds smd.DelaySeconds(5); Get value of actual position counter and log to command line // Select device with name MyDevice smd.Select("MyDevice"); // Store actual position in a variable pact = smd.ActualPosition(); // Log result to command line smd.Log(pact[0]);...

  • Page 37: Remote Interfaces

    This section may only be relevant if you are using terminal software or writing your own application. AML Device control software interacts with the SMD4 in the same way and requires no specialist knowledge to use. A C# API is also provided, allowing you to easily integrate communication with the SMD4 into your own C# .NET application.
  • Page 38 The SMD4 is discoverable on the network using SSDP (Simple Service Discovery Protocol). This makes it possible to plug the SMD4 into a network, then discover its IP address and so make a connection to it. Alternatively, use another interface, for example, USB to discover the network configuration.

  • Page 39: Communications Protocol

    Communications protocol A simple text-based protocol is used. Commands are sent to the SMD4, checked and executed, and a response returned. Data are buffered on receipt and commands are evaluated and executed on a first in first out basis. Although not a requirement, it is usually easiest to send a command and evaluate the response before sending the next command.

  • Page 40: Argument Types

    EFLAGS. Argument types Arguments may be one or a mix of the following types, depending on the command. Data returned by the SMD4 uses the same types, which are always presented as indicated in the “SMD4 response” column.
  • Page 41 BOOL Boolean Binary, true/false 0, 1 E.g. 0, 1 value DOTTED DECIMAL Dotted decimal IPV4 address or 192.168.0.1 E.g. an IP address mask, four numbers 192.168.0.1 or a net separated by dots. mask 255.255.255.100 Flags Error flags are reported by the device in hexadecimal format as explained above. E.g. a value of 0x0002 means bit 1 is set (TOPEN), indicating that the device has been disabled due to an open circuit temperature sensor.
  • Page 42 Limit Positive Limit input is active (Note that the polarity is configurable, so active can mean high or low signal level) External Enable External enable input state Ident Ident mode is active, green status indicator is flashing to aid in identifying device Reserved Reserved, read as '0'...
  • Page 43 SYS:LOAD Load saved ● configuration SYS:LOADFD Load factory default ● settings SYS:PROG Enter programming ● mode SYS:RESET Restart the SMD4 ● SYS:BSN Get motherboard ● STRING serial number SYS:PSN Get product serial ● STRING number SYS:UPTIME Get uptime ●...
  • Page 44 MOTOR:RUNH Start home mode ● STRING procedure MOTOR:STOP Bring motor to a stop ● according to the current profile MOTOR:SSTOP Stop motor in 1 ● second on full step position independently of the current motion profile MOTOR:ESTOP Emergency stop. ● Stops the motor immediately Motor...
  • Page 45 LIMIT:POL Limit polarity for ● BOOL both Limit positive (Limit 1) and negative (Limit 2), (0 for active high, 1 for active low) LIMIT:STOPMODE How to stop on limit ● ● BOOL being triggered Profile Mnemonic Description Arguments MOTOR:AMAX Acceleration in Hz/s ●...
  • Page 46 ● ● UINT in milliseconds specifying the delay to execute between receipt of a command from the host and the client (SMD4) sending the response COMS:SERIAL:TERM Gets or sets a value ● ● BOOL indicating whether RS485 line termination should...
  • Page 47 General SYS:IDENT - Rapidly blinks status indicator (R/W) Gets or sets a value indicating whether the identify function is enabled. When set to true, the green status light on the front of the product flashes. This can be used to help identify one device amongst several. Command: SYS:IDENT, Enable<CR><LF>...
  • Page 48 SYS:JSMODE – Joystick mode Gets or sets the joystick mode. Choose between single step, which allows precise single steps or continuous rotation, or continuous which requires only a single button press to make the motor move. Command: SYS:JSMODE, Mode<CR><LF> Query: SYS:JSMODE<CR><LF> Arguments Mode UINT...
  • Page 49 Tx: SYS:AUTOJS,1<CR><LF> // Enable Rx: 0x0000,0x0000,1<CR><LF> Tx: SYS:AUTOJS<CR><LF> // Query state Rx: 0x0000,0x0000,1<CR><LF> SYS:EXTEN – External enable used Gets or sets a value indicating whether the external enable signal should be respected. If not using the external enable and it remains disconnected, set to false. Command: SYS:EXTEN, Used<CR><LF>...
  • Page 50 Tx: SYS:FLAGS<CR><LF> // Get flags Rx: 0x0000,0x0000,1<CR><LF> SYS:FLAGSV – Get status and error flags summary Gets a human readable summary of status and error flags. Query: SYS:FLAGSV<CR><LF> Remarks None. Examples Tx: SYS:FLAGSV<CR><LF> Rx: 0x088e,0x0000,<CR><LF> -------Status flags------ [ ]JsCon [X]LimitNeg [X]LimitPos [X]Exten [ ]Ident [ ]reserved1...
  • Page 51 Examples Tx: SYS:LOADFD<CR><LF> Rx: 0x088e,0x0000<CR><LF> SYS:PROG – Enter programming mode Reboot the SMD4 into programming mode. Used by AML device control software to initiate a firmware update. Power cycle to cancel this mode. Command: SYS:PROG<CR><LF> Remarks There is no response to this command.
  • Page 52 Remarks There is no response to this command. Examples Tx: SYS:RESET<CR><LF> SYS:BSN – Get motherboard serial number Gets the serial number of the motherboard. Query: SYS:BSN<CR><LF> Returns Motherboard serial number STRING Remarks None. Examples Tx: SYS:BSN<CR><LF> // Query Rx: 0x088e,0x0000,1234ABCD<CR><LF> SYS:PSN –...
  • Page 53 Tx: SYS:UPTIME<CR><LF> // Query Rx: 0x088e,0x0000,10000<CR><LF> // Uptime is 10 seconds SYS:UUID – Get UUID Gets a unique ID number which is included in the data reported when using SSDP. See SSDP. Not the same as the MAC address. Query: SYS:UUID<CR><LF> Returns UUID UUID Remarks...
  • Page 54 Maximum: 8388607 Remarks None. Examples Tx: MOTOR:RUNA,1000<CR><LF> // Drive motor to step position 1000 Rx: 0x0000,0x0000<CR><LF> Tx: MOTOR:RUNA,-1000<CR><LF> // Drive motor to step position -1000 Rx: 0x0000,0x0000<CR><LF> MOTOR:RUNR - Run, relative position Move the motor a specified number of steps, relative to the current position. Command: MOTOR:RUNR, Relative <CR><LF>...
  • Page 55 MOTOR:STOP – Stop motor Stop the motor, decelerating according to the current profile Command: MOTOR:STOP<CR><LF> Remarks During the deceleration phase that stops the motor, any modifications to the acceleration or deceleration interrupt the stopping phase. Re-send the command to restart the motor stopping phase. Examples Tx: MOTOR:STOP<CR><LF>...
  • Page 56 Motor temperature sensor type. Thermocouple] Returns Selected temperature sensor type, as above. Remarks To protect the motor from possible damage, the motor is disabled if the temperature sensor is faulty or missing. The response is not immediate, and several seconds may elapse between emergence of a fault and the motor being disabled.
  • Page 57 Run current must be set equal to or smaller than acceleration current. Acceleration current is automatically adjusted to be equal to run current, if a change to run current makes it greater than acceleration current. Examples Tx: MOTOR:IR,1<CR><LF> // Set run current to 1 A Rx: 0x0000,0x0000,1.0000E+00<CR><LF>...
  • Page 58 Examples Tx: MOTOR:IH,0.5<CR><LF> // Set hold current to 0.5 A Rx: 0x0000,0x0000,5.0000E-01<CR><LF> Tx: MOTOR:IH<CR><LF> // Query hold current Rx: 0x0000,0x0000,5.0000E-01<CR><LF> MOTOR:PDDEL – Power down delay Gets or sets the delay time in seconds between stand still occurring and the motor current being reduced from the acceleration current to the hold current.
  • Page 59 Returns The delay per current reduction step in seconds. Remarks See also section Going to standby Examples Tx: MOTOR:IHD,328E-3<CR><LF> // Set IHD to 328 ms Rx: 0x0000,0x0000,3.2800E-01<CR><LF> Tx: MOTOR:IHD<CR><LF> // Query IHD Rx: 0x0000,0x0000,3.2800E-01<CR><LF> MOTOR:F – Freewheel mode Gets or sets the freewheel mode. For maximum passive braking use phases shorted. Use freewheel to electrically disconnect the motor and allow it to freewheel.
  • Page 60 Resolution UINT The microstep resolution as an integer. [Default: 256] Possible values: 8, 16, 32, 64, 128, 256 Returns The microstep resolution, as above. Remarks Motor must be in standby to set the resolution. The resolution applies globally, including for the step/direction interface. Each step on the step/direction interface generates a 1/8, 1/16, 1/32 etc step according to the resolution set here.
  • Page 61 Gets or sets global limit enable state. If this setting is false, limits are disabled regardless of the state of any other limits configuration item This does not affect other limits configuration settings, allowing limits to be configured as desired, then globally enabled or disabled if required.
  • Page 62 Tx: LIMIT:EN+,1<CR><LF> // Set positive limit enable Rx: 0x0000,0x0000,1<CR><LF> Tx: LIMIT:EN-<CR><LF> // Query negative limit enable state Rx: 0x0000,0x0000,1<CR><LF> LIMIT:POL-, LIMIT:POL+ Negative limit polarity, positive limit polarity Gets or sets the negative or positive limit polarity. Command: LIMIT:POLx,Polarity<CR><LF> Query: LIMIT:POLx<CR><LF> Where 'x' is '-' for negative or '+' for positive limit.
  • Page 63 Gets or sets the limits stop mode, which determines behaviour on limit being triggered. Command: LIMIT:STOPMODE, Mode<CR><LF> Query: LSM<CR><LF> Arguments Mode UINT The stop mode. Hard stop; the motor will stop immediately on a limit being triggered] Soft stop; the motor decelerates according to the profile Returns The stop mode, as above.
  • Page 64 Tx: MOTOR:AMAX,150<CR><LF> // Set acceleration to 150Hz/s Rx: 0x0000,0x0000,1.5000E+02,1.4988E+02<CR><LF> // Note that the target value of 150 has been adjusted to Tx: AMAX<CR><LF> the closest real value, which deviates from the requested Rx: 0x0000,0x0000,1.5000E+02,1.4988E+02<CR><LF> value by 0.12 Hz/s MOTOR:DMAX - Deceleration Gets or sets the deceleration, in Hz/s (steps per second per second).
  • Page 65 Start frequency must be set equal to or less than stop frequency. If a change to start frequency makes it bigger than stop frequency, stop frequency is automatically adjusted to be equal to start frequency. Start frequency must be set equal to or less than step frequency. Start frequency is not adjusted to match step frequency if start frequency is greater than step frequency.
  • Page 66 The target frequency in Hz. [Default: 1 kHz] Minimum: 1 Hz Maximum: 15 kHz Returns User value (data 1) and real value (data 2). See user/real values. Remarks Motor torque decreases with speed, and each motor will have a different maximum frequency that it can achieve while reliably maintaining synchronicity (when synchronicity is lost, the motor fails to complete the steps that it is commanded to, leading to a difference between the true and actual positions), depending on the load it is driving.
  • Page 67 The target position in steps. Minimum: -8388608 Maximum: 8388607 Returns The absolute position, as above. Remarks Query is applicable any time, Set requires the motor in standby condition. Examples Tx: MOTOR:PACT<CR><LF> // Query Rx: 0x0000,0x0000,1000.00<CR><LF> Tx: MOTOR:PACT,0<CR><LF> // Set actual position 0 Rx: 0x0000,0x0000,0.00<CR><LF>...
  • Page 68 Query: MOTOR:TZW <CR><LF> Arguments Duration FLOAT The waiting time in seconds. [Default: Minimum: Maximum: 2.7 s Returns The zero wait time, as above. Examples Tx: MOTOR:TZW,0.1<CR><LF> // Set TZW to 100 ms Rx: 0x0000,0x0000,1.0000E+02<CR><LF> Tx: MOTOR:TZW<CR><LF> // Query Rx: 0x0000,0x0000,1.0000E+02<CR><LF> MOTOR:THIGH –...
  • Page 69 Gets or sets which edge(s) a step occurs on when in step direction mode. Command: MOTOR:EDGE, Edge<CR><LF> Query: MOTOR:EDGE <CR><LF> Arguments Edge UINT Edge(s) to step on. Rising edge only] Both rising and falling edges Returns Edge(s) to step on. Remarks Use option for both edges to halve the frequency on the step input required to obtain a given step rate.
  • Page 70 Tx: MOTOR:INTERP,1<CR><LF> // Enable interpolation Rx: 0x0000,0x0000,1<CR><LF> Tx: MOTOR:INTERP<CR><LF> // Query Rx: 0x0000,0x0000,1<CR><LF> Bake BAKE:T – Bake temperature setpoint Gets or sets the bake temperature setpoint. To run bake, select bake mode using the MODE, then start bake using the run bake command.
  • Page 71 BOOST:EN – Boost enable Gets or sets a value indicating whether the boost supply should be enabled. The boost supply steps up the input voltage from 48 V to 67 V to maximise motor dynamic performance. Enable for best performance. Regardless of this setting, the boost supply is disabled when input voltage falls below 48 V, or the boost enable jumper is not fitted.
  • Page 72 later time. Command: COMS:NET:GATEWAY,Address<CR><LF> Query: COMS:NET:GATEWAY<CR><LF> Arguments Address DOTTED DECIMAL Returns Address DOTTED DECIMAL Examples Tx: COMS:NET:DHCP<CR><LF> // Query DHCP state Rx: 0x0000,0x0000,1<CR><LF> // DHCP is on Tx: COMS:NET:GATEWAY,192.168.1.1<CR><LF> // Set the gateway Rx: 0x0000,0x0000,10.0.96.1<CR><LF> // DHCP is on, and has assigned the gateway so the returned value does not match what we set COMS:NET:NETMASK –...
  • Page 73 Tx: COMS:NET:IP<CR><LF> // Query the IP address Rx: 0x0000,0x0000,10.0.97.70<CR><LF> COMS:NET:IPCONF – Get network config summary Outputs a summary of network configuration in human readable form. Query: COMS:NET:IPCONF<CR><LF> Returns Network config summary See example below. Examples Tx: COMS:NET:IPCONF<CR><LF> Rx: 0x0000,0x0000,<CR><LF> Ethernet interface:<CR><LF> IPv4 Address.
  • Page 74 Gets or sets a value in milliseconds specifying the delay to execute between receipt of a command from the host and the client (SMD4) sending the response. Applicable to RS485 mode only. The RS485 interface is half duplex (it can send or receive data, but cannot do both at once) and so by default is in the receive state.
  • Page 75 preceding switching to transmit, to allow the host more time to switch into receive mode. Experiment with increasing this setting if you find that host receives a response with a portion missing from the start of the response, for example missing some or all of the status an error flags. Command: COMS:SERIAL:RS485DEL,Delay<CR><LF>...
  • Page 76 Query: COMS:SERIAL:SLAVEADDR<CR><LF> Arguments Address UINT Termination enable state Default: Minimum: Maximum: Returns Address UINT Examples Tx: COMS:SERIAL:SLAVEADDR,1<CR><LF> // Disable termination Rx: 0x0000,0x0000,1<CR><LF> Tx: COMS:SERIAL:SLAVEADDR<CR><LF> // Query Rx: 0x0000,0x0000,1<CR><LF>...
  • Page 77 A resistance of a few ohms should be connected in series with each winding, in order to present a normal load to the SMD4. The leads of the motor will be very brittle at low temperatures and should not be allowed to flex.
  • Page 78 Load friction increases damping. Because the drive circuits of the SMD4 produce a controlled phase current this produces heavy damping. Drives which are voltage sources and which rely on the motor winding and other resistance to define the current have a lower damping factor.

  • Page 79: Rotation (Speed Control)

    techniques is assumed. AML supply a range of standard mechanisms which can be customised, as well as designing custom mechanisms and components. Rotation (Position control) The load inertia coupled to the motor shaft should ideally be small compared to the rotor inertia of the motor. Load inertia up to two or three times that of the motor can be driven, without significant difference to the maximum start speed and acceleration which is achieved by the unloaded motor.
  • Page 80 Erratic stepping is easy to see; a cable tie on the motor shaft makes a useful pointer. Familiarity with the SMD4 software and or remote interface is assumed.
  • Page 81 Motors can overheat very quickly in vacuum. This is very unlikely to happen with a properly connected SMD4 drive. Never use a drive capable of providing more than 1 amp of phase current and ensure that the drive current is removed...

  • Page 82: Maintenance And Service

    Maintenance and service The SMD4 contains no user-serviceable parts. Cleaning If the instrument requires cleaning, disconnect the power and all other connections, and wipe it down with a cloth slightly dampened with water or a mild detergent.

  • Page 83: Troubleshooting

    Troubleshooting Problem Resolution Red and green status indicators off Check that the power supply to SMD4 is correctly connected and meets the requirements given in section Technical Information Red status indicator flashing or lit solidly Each indication corresponds to a fault, review section...

  • Page 84: Storage And Disposal

    Storage and disposal The product must be disposed of in accordance with the relevant local regulations for the environmentally safe disposal of systems and electronical components. In the United Kingdom (UK) and European Union (EU), waste from electrical and electronic equipment (WEEE) is subject to legislation designed to prevent the disposal of such waste and to encourage proper treatment measures to minimize the amount of waste ultimately disposed to...
  • Page 85 Provide a written description of the problem. If the problem is related to a motor or mechanism manufactured by AML, include the serial number(s) of those items. Do not return products to AML without prior approval. Arun Microelectronics Ltd Tel: +44 (0)1903 884141 Email: info@arunmicro.com Website: arunmicro.com...

  • Page 86: Compliance Certificate

    Compliance Certificate This declaration of conformity is issued under the sole responsibility of the manufacturer. Manufacturer: Arun Microelectronics Limited Address: Unit 2, Bury Mill Farm, Bury Gate, Pulborough, RH20 1NN, United Kingdom Object: Stepper Motor Drive Part No.: SMD4 The object of the declaration described above is in conformity with the relevant UK Statutory Instruments (and their...

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