P/N SMC-100. Stepper Motor Controller Operation manual

Transcription

1 P/N Stepper Motor Controller Operation manual Manual Version 1 Revision A March 17, 1993

2 2 TABLE OF CONTENTS INTRODUCTION...3 FAMILIARIZATION AND SETUP...4 MANUAL OPERATION...5 Overview...5 User Interface...6 Input of Motor Parameters Motor Selection...8 Working Modes: SERIAL INTERFACE OPERATION...11 Cable Description...11 RS-232 Command Formats...12 Serial Port Setup on Your Computer...12 Diagram 1: List of Commands...13 STEP MOTOR MODULES (HARDWARE DESCRIPTION)...14 Overview...14 Pin-Description of the Power Module;...14 Pin-Description of the TTL-Module...15 JUMPER-SETTINGS CABLE DIAGRAMS ( TO SPECTROMETER)

3 3 INTRODUCTION This manual is designed to train you in the operation of your new Step Motor Controller and to serve as a reference for its use. The has been designed to control the step motor drives of modern grating spectrometers. Because of its flexibility however, it can also be used to operate other types of step motor driven equipment. By the addition of extra step motor modules inside the, up to three separate motors can be controlled. The can automatically start moving at a user set minimum speed, ramp up to a maximum speed and then ramp back down at the end of movement. Optional backlash correction is built-in to the internal software. Movements, once programmed, can be delayed until an external trigger input is received. The can be operated manually from the front keypad or remotely by commands sent over an RS-232 cable. Princeton Instruments sells software packages designed to operate the via an RS-232 line. BEFORE OPERATING YOUR : 1. Be sure that the line voltage setting and fuse match your local line voltage before plugging in the instrument. 2. Confirm that the jumper settings in your unit are appropriate for your spectrometer (see "Jumpers"). 3. Be aware that, due to the internal design of some spectrometers, a limit switch can be damaged if the motor is moved past the limit position. Be sure to stay within the normal operating limits.

4 4 FAMILIARIZATION AND SETUP Before switching on your, become familiar with the front panel controls and back panel connections listed below. Then connect the to the spectrograph using the cable supplied. If you plan to operate the from a computer, connect the two with a serial data cable. Next, confirm that the line voltage setting and fuse correspond to your local line voltage. If they do not, change them before plugging in your. Next, turn on the. The power light will come on. The software version and release date will appear on the front panel LCD display. Rotating the VIEW control will change the angle of view of the LCD display. Try rotating the knobs to optimize the contrast of the display from what you expect will be your normal viewing angle. Press the "E" (ENTER) key to start the internal software. If you plan to operate the from an external computer via the RS-232 link, it is now ready to be used. Note that, even when operating via the RS-232 link, the HALT and RESET keys, described later, can still be used from the front panel. Front Panel - LC Display with view angle adjustment - 16-key board - HALT button (see manual) - RESET button (see manual) Rear Panel: - AC input, 120V/240V selector and fuse - RS 232 serial port (25 pin female) - Trigger-in connector for starting SCAN (see manual) - 1 to 3 step motor modules (15 pin) E VIEW HALT RESET POWER ON. 0 ± C

5 5 MANUAL OPERATION Overview After turning on your, you must initiate its parameters for each of the motors you wish to control. After you turn on the system and it displays the current internal software version number and release date, press ENTER to begin operation. The system will prompt you for initialization parameters for each of three possible motors. The first parameter for each motor is whether you want to use that motor. If you select "No" (press the up arrow key until "No" appears and then confirm that choice by pressing ENTER) the system will skip the rest of the parameters and move on to the next motor's parameters, again starting with Yes or No. The parameters are described in detail below. Once all of the motors' parameters have been initialized, four working modes become available: SLEW, SCAN, MANUAL and DISPLAY. The user can move from mode to mode by pressing the up or down arrow keys until the desired mode is displayed. The individual modes are described in detail below. During operation, the user can change from one motor to another by pressing the up and down arrow keys followed by ENTER, in response to the "motor:n" prompt. This is also described in detail below.

6 6 USER INTERFACE When operating your manually (from the front panel keypad) there are two possibilities for input. If a cursor ( [] ) is visible at the end of the display field, you must type in a number with the keys 0 to 9. This may be an integer value or a number with a decimal point. The number of digits is automatically restricted. The whole input can be deleted with "Cancel". "Enter" finishes the input or accepts a default already displayed. If there is no cursor on the display, you have some different input possibilities which can be scrolled by the arrows ( ). After the desired selection is displayed, it can be selected with "Enter". What to do with wrong inputs: Numbers which are entered are automatically checked against lower and upper limits. If a value is beyond the admissible range, the current limit will be displayed: LO : 1 (e.g. lower limit = 1) HI : (e.g. upper limit = 30000) This error message is visible until any other key is hit. After this the correct value is requested again. The limit exceeded is displayed as new default value. INPUT OF MOTOR PARAMETERS After an is turned on and the ENTER key is pressed, the parameters for all three motors are requested. This includes parameters for a possible wavelength calibration. All three motors can be operated independently of each other. Exchange of motors is possible. For each of the 3 motors the following inputs must be given: a) MOTOR 1: YES Selecting the motor (YES/NO) is done by using the arrow keys followed by ENTER. YES: The indicated motor is selected. The parameters are requested subsequently. NO: This motor is not selected and, for this reason, cannot be controlled later. The remaining input for this motor is skipped.

7 7 b) CNT: 0.00 [] Type the current counter position for the respective motor. The input is made in floating-point format. c) ST/UN: 4000 [] Type the transmission ratio (gear) between steps and display units in the form of integer values (in steps/unit). Example: 200 steps/unit for HR-320 spectrometer. d) DSPUN: COUNTER Selection of display and input unit by arrows ( ). (This is not a numerical input. Choose either "counter" or nm" by using the arrow keys and then ENTER). Counter: NM: 1:1 display to counter, only the transmission ratio is taken into consideration. Inputs e) to g) for calibration are skipped. Display in wavelength, nanometer. For this a calibration of the system is made in e) to g). e) RFGRAT: 1200 [] Specification of the reference grating for which the counter position can be interpreted as wavelength values. Input in lines/mm as integer values. In this case, 1200 L/mm. Range: 10 to f) CUGRAT: 2400 [] Specification of the current grating. Input in lines/mm as integer values. In this example, 2400 L/mm Range: 10 to g) NM: [] Specification of the current wavelength position. Input as floating point number in nanometers (nm). In this example, nm. h) MAXSPD:4000 [] Specification of the maximum speed for the selected motor. This is the speed reached in the SLEW-working mode (position) at the end of the acceleration ramp. Input in the form of integer values in steps/sec. In this example 4000 steps/sec.

8 8 i) MINSPD:100 [] Specification of starting minimum speed for the selected motor. This is the speed the motor will start in SLEW-mode. This value is also the upper limit for the selection of the constant speed in SCAN-mode. j) BACKL: YES By using the arrow keys ( ) backlash operation in SLEW-mode can be switched on or off (YES/NO). If YES: The motor will be moved a little over the target position (only at backward movement) and will reach the exact target moving forward. Thus, the target is always approached from the same direction and mechanical play is reduced. k) BSTEPS: 500 Enter number of backsteps to be taken when BACKLASH is active. All parameters entered up to this point are automatically stored and will remain so as long as the is powered unless RESET is used. HALT If the stored parameters need to be changed, it is possible to repeat the parameter input by pressing the key "HALT". The values already put in, however, are stored and appear as default values. The HALT key is always active and thus can also be used for breaking off an input not wanted or for immediate motor stop. RESET The key "RESET" reverses the into power-up state. All values of earlier inputs are deleted and replaced by default values from the EPROM. The current counter position is lost. MOTOR SELECTION When the display shows: MOTOR:n, the arrow keys ( ) are used to change n to any of the selected motors. Motors not selected when parameters were entered after power-on or after reset, will be skipped. Pressing "Enter" enables control of the chosen motor.

9 9 WORKING MODES: MODE: SLEW The working mode for the current motor can be changed by the arrow keys ( ). At present the following 4 modes are possible: SLEW, SCAN, MANUAL and DISPLAY. a) SLEW b) SCAN The SLEW mode makes it possible to position the step motor. The motor is operated starting with the minimum speed (MINSPD), accelerating to the maximum speed MAXSPD, slowing down to MINSPD again (ramping). As a default, the current position is displayed and the target position can now be entered - according to the display unit you chose before: counter position or wavelength. CNT : NM : The input must be made in the form of floating-point values. After terminating the input by pressing "Enter", the motor approaches the position desired. As a result, the actual position will be shown. POS : NM The actual position can vary from the target value if one of the limit switches of the monochromator has been reached or if the key "HALT" has been hit. During SCAN operation, the motor can be controlled by optional speed. Therefore, besides the target position, the scan-speed must be entered, also. SPEED : 30 The input is made with integer values in steps/sec. The upper limit is fixed by the parameter MINSPD as no ramp is run during acceleration and deceleration. The next display is: TRIGGER : YES Use the arrow keys ( ) to select (YES/NO). Enable the trigger by pressing "Enter".

10 10 Depending on the chosen mode, the SMC prompts: - "Waiting for Trigger" when TRIGGER "YES" was chosen. In this mode you can start the SCAN by applying a TTL Low Level to the rear panel trigger input. - "Waiting for Enter" when TRIGGER "NO" was chosen. In this mode, you can start the SCAN by pressing "Enter". The target position will be approached with a constant speed (SCAN SPEED). After finishing the movement, the current position is displayed. c) MANUAL During MANUAL operation the current motor position is always displayed. MAN : NM The motor can be controlled directly with the arrow keys ( ). The display is automatically updated. Pressing the ( ) keys for a short time results in a short scan (small number of steps). Pressing for a longer time will result in a corresponding longer scan. Note: MANUAL operation is even possible when a limit switch is active. Therefore, it can be used to move the motor out of the limit range. CAUTION: Due to the internal design of some spectrometers, a limit switch can be damaged if the motor is moved past the limit position. Be sure to stay within normal operating limits. d) DISPLAY: If only the current position of a motor is requested this can be done in DISPLAY-mode. Leave the mode with any key.

11 11 SERIAL INTERFACE OPERATION The RS232 interface can be operated with the cable supplied. Cable -IBM/AT IBM PC/AT D-SUB 25 D-SUB 9 Male Contacts Female Contacts GND 1 < Shield R.L. SIG DETECT 8 < < 1 RXD 3 < < 2 TXD 2 < < 3 DTR 20< < 4 GND 7 < < 5 DSR 6 < < 6 RTS 4 < < 7 CTS 5 < < 8 RING INDICAT 22 < < 9

12 12 RS-232 COMMAND FORMATS Besides manual operation, remote control operation can be performed via a serial interface (RS232C). The appropriate commands are listed in the diagram No. 1. Every command consists of up to six bytes. The first byte indicates the number of bytes following. Byte 2 is the command byte describing the mode to be selected. Bytes 3-6 depend on the command parameter set (see diagram 1). The parameters have to be sent as binary data (not ASCII-coded!). The most significant byte (MSB) is transferred first and the least significant byte (LSB) last. The will acknowledge each command by sending a status byte. This byte will be zero if the command was accepted. In this case, up to 4 more bytes will be returned (see list of commands). If the status byte is not equal to 0, the device is busy (e.g., a motor running). In this case, the command is ignored and must be retransmitted again by the host computer. SERIAL PORT SETUP ON YOUR COMPUTER The serial port should be initialized as follows: 9600 Baud 8 Bit No Parity The command (in PC-DOS) reads as follows: MODE COM 1 : 9600, n, 8, 1

13 13 DIAGRAM 1 List of commands for serial control of the : First Byte Command Description Second Byte (No. of Parameter Bytes) Parameter Direction Parameter Description 1 Select motor 1 Send Motor No Set maxspeed 2 Send Steps/sec 1-10,000 3 Setminspeed 2 Send Steps/sec 1-10,000 4 Set counter 4 Send Steps Set stop position 4 Send Steps Set backlash 1 Send 7 Lock keyboard 1 Send 0 = No backlash -1 = Backlash 0 = Not locked -1 = locked 8 Read counter 4 Receive Steps Ask Status

14 14 STEP MOTOR MODULES (HARDWARE DESCRIPTION) Overview The is shipped with up to 3 step motor modules. Each module is a circuit card with a back panel connector. There are two kinds of such modules: 1. The Power Module with on-board power stage to drive 4-phase step motors directly. 2. The TTL-Module for use with external power stages requiring TTL-signals for step, direction, etc. Pin-Description of the Power Module; D-Sub 15 (female) Pin Signal Input/Output 1 Motor Phase # 1 (0) 3 Motor Phase # 2 (0) 5 Motor Phase # 3 (0) 7 Motor Phase # 4 (0) 9 Motor Power 24 V (0) 11 Reserved (0) 13 Limit Switch 1 (0) 14 Limit Switch 2 ( ) 15 GND ( )

15 15 Pin-Description of the TTL-Module D-SUB 15 (male) Pin Signal Input/Output 1 Clk Motor Step Impulse 0 2 Dir Motor turning direction (Default Hi = Forward) 3 En Enable Motor (Default Lo = Enable) 4 Shut Reserved for future use 10 Lim Limit Switch 0 11 Lim Limit Switch 7, 8 n.c. 9 GND 0 0 0

16 16 JUMPER-SETTINGS The only jumpers which need to be set in your are on the step motor module(s). There are two groups of jumpers: those dedicated to specific functions and those dedicated to specific motors. These are described below. The jumpers are pairs or trios of pins in the board which can be connected using small "shorting blocks" provided on the board. Jumper J3 A- B Voltage controlled B - C Current controlled (default) This is labeled "ICTR" on the diagram below. Jumper J4 A - B Fullstep B - C Halfstep (default) This is labeled "HALF" on the diagram below. Note: Jumper J3 and Jumper J4 Power Module only. Jumper J5 Jumper J6 Jumper J7 Jumper J8 A - B For future use B - C (default) This is labeled "SHUTTER" on the diagram below A - B For future use B - C (default) This is labeled "ENABLE" on the diagram below. A - B Direction inverted (default) B - C Direction This is labeled "DIR" on the diagram below. A - B Clock inverted B - C Clock (default) This is labeled "CLK" on the diagram below. We recommend that the default always be used. R6 D - SUB 1 5 p o l 470 ICTR R5 1K T 1 J 2 I C 5 5 K R 7 D1 D2 D3 D4 D5 D6 D7 D8 R 1 HALF W R8 I C 2 IC4 L K 1N5401 8x R R W 2 0 W R4 47K R 9 22K C L S O NF R N K CLK DIR ENABLE SHUTTER LIMH LIML CLK DIR ENABLE SHUTTER LIMH LIML CLK DIR ENABLE SHUTTER ENABLE SHUTTER LIMH LIML CLK DIR I C L S O L S O 8 I C 1 M 1 M 2 M 3 Power Module

17 17 The following jumpers select which power module responds to which logical motor number. Thus, depending on these settings, the motor board in the top slot could be motor #1, #2 or #3. Jumperblock M1 (Power Module only) The power module works as module #1 when Jumpers 1-6 of block M1 are set on A-B. Jumperblock M2 (Power Module only) The power module works as module #2 when Jumpers 1-6 of block M2 are set on A-B. Jumperblock M3 (Power Module only) The power module works as module #3 when Jumpers 1-6 of block M3 are set on A-B. Note: The power module will only work correctly when only one of the Jumper blocks M1-M3 is shorted. The TTL module should not be jumped at M1-M3. Only Jumpers J5-J8 are to be set (see jumper settings). J 1 M 3 M L S O 4 LIMH ENABLE SHUTTER LIMH LIML CLK DIR ENABLE SHUTTER 7 4 L S O 8 LIMH LIML CLK DIR ENABLE SHUTTER DIR LIML CLK I C 1 CLK DIR ENABLE SHUTTER I C 3 D - SUB 1 5 p o l Spectroscopy Instruments SMC - Power module Rev. 1.0 Ba u t e i l J 2 R N K M L S O 8 I C 2 TTL Module

18 18 CABLE DIAGRAMS ( TO SPECTROMETER) CABLE: MOTOR DRIVE Princeton Spectrometer Instruments Model: Part Number: HR 320/ HR 250 DSUB 15 DSUB 9 Male Contacts Female Contacts φ1 1 < < 9 φ2 3 < < 8 φ3 5 < < 7 φ4 7 < < 6 +24V 9 < < 1 < 2 11 < LIM 1 13 < < 3 14 < GND 15 < < 5 SHIELD

19 19 CABLE DIAGRAMS ( TO SPECTROMETER) CABLE: MOTOR DRIVE Princeton Instruments Spectrometer Part Number: Model: U1000 D-SUB 15 D-SUB 9 Male Contacts Female Contacts +24V 9 < < 1 < 2 LIM 1 13 < < 3 LIM 2 14 < < 4 GND 15 < < 5 SHIELD φ1 1 < < 6 φ2 3 < < 7 φ3 5 < < 8 φ4 7 < < 9

20 20 CABLE DIAGRAMS ( TO SPECTROMETER) CABLE: MOTOR DRIVE Princeton Instruments Spectrometer Part Number: Model: Acton Research 744 D-SUB 15 Male Contacts 16 Pin AMP Female Contacts φ1 1 < < 1 φ3 5 < < 2 +24V 9 < < 3 < < 4 φ2 3 < < 5 φ4 7 < < 6 GND < < < 13 SHIELD LIM 1 13 < < 12 LIM 2 14 < < 14

21 21 CABLE DIAGRAMS ( TO SPECTROMETER) CABLE MOTOR DRIVE Princeton Instruments Spectrometer Part Number: Model: SPEX MSD 1404, 1877D D-SUB 15 D-SUB 25 Female Contacts Male Contacts CLOCK 1 > > 11 DIR 2 > > 10 SHUTTER 4 > > NC GND 9 > > 21, 25 SHIELD LIMIT 1 10 > > 12 LIMIT 2 11 > > 13

22 22 CABLE DIAGRAMS ( TO SPECTROMETER) CABLE MOTOR DRIVE Princeton Instruments Spectrometer Part Number: Model: SPEX LSD 340S, 1877 D-SUB 15 D-SUB 9 Female Contacts Male Contacts CLOCK 1 > > 3 DIR 2 > > 2 SHUTTER 4 > > NC GND 9 > > 6, 7, 8 SHIELD LIMIT 1 10 > > 4 LIMIT 2 11 > > 5

23 Warranty This equipment is warranted to be free from defects of material and workmanship. It is sold subject to the mutual agreement that the liability of Princeton Instruments, Inc., is limited to replacing defective parts and/or repairing malfunctioning equipment at its factory, provided the equipment is returned, transportation prepaid, within twelve (12) months of its factory ship date. The purchaser agrees that Princeton Instruments, Inc. shall assume no liability for consequential damages resulting from its use or from packaging of shipments returned to the factory. Components which are damaged by misuse are not warranted. Units which have been modified by a customer are not warranted. UV coatings are not covered by this warranty. Equipment Repairs It is recommended that units requiring service in the United States be returned to the factory located in Trenton, New Jersey. Before instrumentation is returned for service, please consult a service engineer at the factory. In many cases, the problem may be cleared up over the telephone. If the unit needs to be returned, the service engineer will ask for a detailed explanation of the problems encountered and a purchase order to cover any charges. You will then receive a Returned Materials Authorization (RMA) number. Place this number on the package so the returned equipment is easily identified when received at the factory. You must also include with the equipment a letter addressed to the Test Manager explaining the symptoms or problems encountered. Without this document, repair turnaround time will be considerably longer. If the unit is under warranty, the customer is only responsible for the transportation charges to Princeton Instruments. Princeton Instruments is responsible for the return transportation charges. If the unit is out of warranty, the customer is responsible for all transportation charges (including duty fees, when applicable) as well as all charges incurred to perform the repairs. International customers should contact your local manufacturers representative or distributor for repair information. Software Upgrades Software upgrades are available for a nominal fee. Contact the factory for more information concerning specific software packages.