Newport UNIDRIVE6000 Manuals

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Newport ESP6000 User Manual

Newport UNIDRIVE6000 User Manual (291 pages)

Motion Controller/Driver

Brand: Newport | Category: Controller | Size: 3.5 MB

Table of Contents

6
Commands

68
- Command Summary
  68
- Table 5.2-2 - API Function Categories
  68
- Table 5.3-1 - Commands
  68
  - Initialization
    73
- Esp_Open_System(Void)
  75
- Esp_Update_Unidrive(Long Axis)
  76
  - Configuration
    77
- Esp_Set_Motor_Type(Long Axis, Long Mtype)
  
  78
- Motion
  
  97
- Esp_Move_Absolute(Long Axis, Double Position)
  
  98
- Esp_Set_Traj_Mode(Long Axis, Long Mode)
  
  108
- Motion-Related
  
  123
  - Esp_Disable_Motor(Long Axis)
    124
- Esp_Enable_Motor(Long Axis)
  
  124
- Data Acquisition
  
  151
  - Esp_Get_Adc_Range(Long *Range)
    153
  - Esp_Set_Adc_Range(Long Range)
    153
  - Long Feedback, Long Rate, Long Num)
    156
  - Esp_Daq_Done()
    157
  - Esp_Enable_Daq(Void)
    157
  - Esp_Get_Daq_Status(Long *Count)
    157
  - Esp_Disable_Daq
    162
    
    Digital I/O
    165
  - Esp_Get_Daq_Data
    162
  - Esp_Get_Portabc_Dir
    166
  - Esp_Get_Dio_Porta(Long *Data)
    167
  - Esp_Set_Dio_Porta(Long Data)
    167
  - Esp_Get_Dio_Portb(Long *Data)
    168
  - Esp_Set_Dio_Portb(Long Data)
    168
  - Esp_Get_Dio_Portc(Long *Data)
    169
    
    System
    171
  - Esp_Set_Dio_Portc(Long Data)
    169
- Esp_Get_Error_Num(Int *Error, Int *Servotick)
  
  172
  - Esp_Get_Error_String(Char *Errorstring, Int *Error, Int *Servotick)
    173
    
    Examples
    175
    
    Overview
    175
    
    Example(S)
    176
    
    Figure 5.4-1 - VI Front Panel
    176
- Section 6 - Motion Control Tutorial
  
  179
  - Motion Systems
    179
  - Figure 6.1-1-Typical Motion Control System
    179
  - Specification Definitions
    180
    
    Following Error
    180
    
    Accuracy
    181
    
    Error
    181
    
    Figure 6.2-1 - Position Error Test
    181
    
    Figure 6.2-2 - High Accuracy for Small Motions
    182
    
    Figure 6.2-3 - Low Accuracy for Small Motions
    182
    
    Local Accuracy
    182
    
    Resolution
    182
    
    Figure 6.2-4 - Effect of Stiction and Elasticity on Small Motions
    183
    
    Figure 6.2-5 - Error Plot
    183
    
    Minimum Incremental Motion
    183
    
    Backlash (Hysteresis)
    184
    
    Figure 6.2-6 - Error Vs. Motion Step Size
    184
    
    Repeatability
    184
    
    Figure 6.2-7 - Hysteresis Plot
    185
    
    Figure 6.2-8 - Real Vs. Ideal Position
    185
    
    Pitch, Roll, and Yaw
    185
    
    Figure 6.2-10 - Pitch, Yaw and Roll
    186
    
    Figure 6.2-11 - Wobble
    186
    
    Figure 6.2-9 - Pitch, Yaw, and Roll Motion Axes
    186
    
    Wobble
    186
    
    Figure 6.2-12 - Position, Velocity, and Average Velocity
    187
    
    Load Capacity
    187
    
    Maximum Velocity
    187
    
    Minimum Velocity
    187
    
    Maximum Acceleration
    188
    
    Velocity Regulation
    188
    
    Combined Parameters
    189
  - Control Loops
    189
  - Figure 6.3-1- Servo Loop
    189
    
    Figure 6.3-2- P Loop
    190
    
    PID Servo Loops
    190
    
    Figure 6.3-3 - PI Loop
    191
    
    Figure 6.3-4- PID Loop
    191
    
    Feed-Forward Loops
    192
    
    Figure 6.3-5 - Trapezoidal Velocity Profile
    192
    
    Figure 6.3-6 - PID Loop with Feed-Forward
    192
  - Motion Profiles
    193
    
    Figure 6.3-7- Tachometer-Driven PIDF Loop
    193
    
    Move
    193
    
    Figure 6.4-1- Trapezoidal Motion Profile
    194
    
    Figure 6.4-2 - Position and Acceleration Profiles
    194
    
    Jog
    194
    
    Figure 6.4-3 - Origin Switch and Encoder Index Pulse
    195
    
    Home Search
    195
    
    Figure 6.4-4 - Slow-Speed Origin Switch Search
    196
    
    Figure 6.4-5 - High/Low-Speed Origin Switch Search
    196
    
    Figure 6.4-6 - Origin Search from Opposite Direction
    196
  - Encoders
    197
  - Figure 6.5-1 - Encoder Quadrature Output
    197
  - Figure 6.5-2- Optical Encoder Scale
    198
  - Figure 6.5-3 - Optical Encoder Read Head
    198
  - Figure 6.5-4 - Single-Channel Optical Encoder Scale and Read Head Assembly
    198
  - Figure 6.5-5 - Two-Channel Optical Encoder Scale and Read Head Assembly
    199
  - Motors
    200
    
    Figure 6.6-1 - Stepper Motor Operation
    200
    
    Figure 6.6-2 - Four-Phase Stepper Motor
    200
    
    Stepper Motors
    200
    
    Figure 6.6-3 - Phase Timing Diagram
    201
    
    Figure 6.6-4 - Energizing Two Phases Simultaneously
    201
    
    Figure 6.6-5 - Timing Diagram, Half-Stepping Motor
    202
    
    Figure 6.6-6 - Energizing Two Phases with Different Intensities
    202
    
    Figure 6.6-7 - Timing Diagram, Continuous Motion (Ideal)
    202
    
    Figure 6.6-8 - Timing Diagram, Mini-Stepping
    202
    
    Figure 6.6-10 - External Force Applied
    203
    
    Figure 6.6-11 - Unstable Point
    203
    
    Figure 6.6-9 - Single Phase Energization
    203
    
    Figure 6.6-12 - Torque and Tooth Alignment
    204
    
    DC Motors
    205
    
    Figure 6.6-13 - DC Motor
    205
  - Drivers
    206
    
    Stepper Motor Drivers
    206
    
    Figure 6.7-1 - Simple Stepper Motor Driver
    207
    
    Figure 6.7-2 - Current Build-Up in Phase
    207
    
    Figure 6.7-3 - Effect of a Short on Time on Current
    207
    
    DC Motor Drivers
    208
    
    Figure 6.7-4 - Motor Pulse with High Voltage Chopper
    208
    
    Figure 6.7-5 - DC Motor Voltage Amplifier
    208
    
    Figure 6.7-6 - DC Motor Current Driver
    209
    
    Figure 6.7-7 - DC Motor Velocity Feedback Driver
    209
    
    Figure 6.7-8 - DC Motor Tachometer Gain and Compensation
    210
- Section 7 - Servo Tuning
  
  211
  - Tuning Principles
    211
  - Tuning Procedures
    211
    
    Correcting Axis Oscillation
    212
    
    Correcting Following Error
    212
    
    Hardware and Software Requirements
    212
    
    Points to Remember
    214
    
    Table 7.2-1 - Servo Parameter Functions
    215
- Section 8 - Optional Equipment
  
  217
  - ESP6000 Controller Card
    217
    
    Table 8-1 - Optional Equipment
    217
    
    Terminal Block Board
    217
    
    Table 8.1-1 - Terminal Block Board Functions
    218
    
    Analog I/O Cable
    219
    
    Table 8.1-2 - Analog I/O Cable Connections
    219
    
    Digital I/O Cable
    220
    
    Table 8.1-3 - Digital I/O Cable Connections
    220
    
    Auxiliary I/O Cable
    221
    
    Table 8.1-4 - Auxiliary I/O Connections
    221
    
    Driver Interface (100-100 Pin) Cable
    222
    
    Motor/Driver (100-68 Pin) Cable
    222
  - Unidrive6000
    223
    
    Motor Driver Card
    223
    
    Rack-Mount Ears
    225
- Section 9 - Advanced Capabilities
  
  227
  - Motion Control Software Overview
    227
    
    Configuration
    227
    
    Control API
    227
    
    Introduction
    227
    
    System Initialization
    227
    
    Axis Control
    228
    
    Trajectory Control Process
    228
  - Data Acquisition Overview
    228
  - Table 9.2-1 - Acquisition Array
    229
  - PCI Bus Overview
    230
  - Table 9.2-2 - Data Acquisition Commands
    230
  - Table 9.3-1 - PCI Design Goals
    231
- Appendix A Error Messages
  
  233
- Appendix B - Trouble-Shooting and Maintenance
  
  239
  - Trouble-Shooting Guide
    239
  - Table B.1-1 - Trouble-Shooting Guide
    240
  - Fuse Replacement
    241
    
    Replacing Fuses on the Unidrive Rear Power Line Panel
    241
    
    Replacing Fuses on the Unidrive Motor Power Supply Board
    242
  - Cleaning
    245
- Appendix C - Connector Pin Assignments
  
  247
- Appendix D - Binary Conversion Table ␣
  
  279
- Appendix E System Upgrades
  
  279
  - ESP6000 Controller Card
    279
    
    Installing New Software
    279
    
    Installing New Firmware
    282
- Appendix Fesp Configuration Logic
  
  285
- Appendix G Factory Service
  
  287
  - Table G-1-Technical Customer Support Contacts
    287
  - Service Form
    289

Newport Categories

Controller Measuring Instruments Receiver Industrial Equipment

Power Supply

More Newport Manuals

Newport UNIDRIVE6000 Manuals

Newport UNIDRIVE6000 User Manual (291 pages)

Table of Contents

Table of Contents

Section 1 - Introduction

Section 2 - System Setup

Section 3 - Quick Start

Section 4 - Windows Utilities

Section 5 - Programming

Commands

Esp_Set_Motor_Type(Long Axis, Long Mtype)

Motion

Esp_Move_Absolute(Long Axis, Double Position)

Esp_Set_Traj_Mode(Long Axis, Long Mode)

Motion-Related

Esp_Enable_Motor(Long Axis)

Data Acquisition

Esp_Get_Error_Num(Int Error, Int Servotick)

Section 6 - Motion Control Tutorial

Section 7 - Servo Tuning

Section 8 - Optional Equipment

Section 9 - Advanced Capabilities

Appendix A Error Messages

Appendix B - Trouble-Shooting and Maintenance

Appendix C - Connector Pin Assignments

Appendix D - Binary Conversion Table ␣

Appendix E System Upgrades

Appendix Fesp Configuration Logic

Appendix G Factory Service

Related Products

Newport Categories

Newport UNIDRIVE6000 Manuals

Newport UNIDRIVE6000 User Manual (291 pages)

Table of Contents

Table of Contents

Section 1 - Introduction

Section 2 - System Setup

Section 3 - Quick Start

Section 4 - Windows Utilities

Section 5 - Programming

Commands

Esp_Set_Motor_Type(Long Axis, Long Mtype)

Motion

Esp_Move_Absolute(Long Axis, Double Position)

Esp_Set_Traj_Mode(Long Axis, Long Mode)

Motion-Related

Esp_Enable_Motor(Long Axis)

Data Acquisition

Esp_Get_Error_Num(Int *Error, Int *Servotick)

Section 6 - Motion Control Tutorial

Section 7 - Servo Tuning

Section 8 - Optional Equipment

Section 9 - Advanced Capabilities

Appendix A Error Messages

Appendix B - Trouble-Shooting and Maintenance

Appendix C - Connector Pin Assignments

Appendix D - Binary Conversion Table ␣

Appendix E System Upgrades

Appendix Fesp Configuration Logic

Appendix G Factory Service

Related Products

Newport Categories

Esp_Get_Error_Num(Int Error, Int Servotick)