Standa 8SMC5-USB, User Manual

Page 1: ...hm for BLDC engine control 3 Main features 1 Supported motor types 2 Motor limiters 3 Limit switches 4 Automatic Home position calibration 5 Operation with encoders 6 Revolution sensor 7 Steps loss detection 8 Power control 9 Critical parameters 10 Saving the parameters in the controller flash memory 11 User defined position units 4 Safe operation 5 Additional features 1 Operating modes indication...

Page 2: ...llation 1 Installation on Windows 1 Installation on Windows XP 2 Installation on Windows 7 3 Installation on Windows 8 2 Installation on Linux 3 Installation on MacOS 6 Programming 1 Programming guide 1 Working with controller in Labview 2 Working with controller in Matlab 2 Communication protocol specification 3 8SMC1 USBhF software compatibility 4 Libximc library timeouts 5 XILab scripts 7 Files...

Page 3: ...ctuator 3 8CMA20 Compact Motorized Actuator 4 8CMA28 Motorized Linear Actuator 5 8CMA16DC Motorized Linear Actuator 5 Motorized Goniometers 1 8MG00 Motorized Goniometers 2 8MG99 Motorized Goniometer 6 Mirror Mounts 1 8MTOM2 Motorized Two Axis Translation Optical Mount 2 8MUP21 Motorized Optical Mount 3 8MBM24 Motorized Mirror Mounts 4 8MMA60 Motorized Mirror Mounts 5 8MBM57 Large Aperture Motorize...

Page 4: ...1 About 1 General information 2 Benefits 3 Table of specifications 4 Specifications Page 4 345 Page 4 345 ...

Page 5: ...tor on the controller board is the same as one used by Standa company and it fits to all the Standa stages USB connector provides easy communication and work with computer Several controllers can be connected to one computer either via USB ports or through a special backplane supplied with multiaxis systems The controller is fully compatible with the majority of operating systems e g Windows Mac O...

Page 6: ...on sensor the external signal or their combination the zero calibration is performed by a single command Stand alone Would you like to work in the stand alone mode Just go ahead An external joystick a keypad or their combination is supported Energy conserving Programmable current reduction in the motor windings in the hold mode with 1 accuracy Silent Smooth movement at lower speeds and no extra no...

Page 7: ...lash compensation mode automatic home position calibration mode Step modes full step 1 2 1 4 1 8 1 16 1 32 1 64 1 128 1 256 Rotation speed up to 35 000 full steps per second Speed profile trapezoidal Position counter 40 bit Feedback Single ended and differential quadrature encoder optional Limit switches 2 Feedback bandwidth 200 kHz for single ended and 5MHz for differential encoder Note The contr...

Page 8: ...ditional features available via motor connector Processing the signals from one or two limit switches software configurable The Standa stages recognition and automatic downloading of the configuration file right from the stage if the last one supports this feature The step loss detection and position recovery using either a revolution sensor or a quadrature encoder if the stage supports this featu...

Page 9: ... to the number of connected axes Programming the controller All the software supplied with controller is compatible with Windows 8 Windows 7 Windows Vista Windows XP SP3 Linux Mac OS X including 64 bit versions Controllers are supplied with cross platform library and examples which allow rapid development using C C NET Delphi Visual Basic gcc Xcode Matlab Java and LabVIEW The XILab user interface ...

Page 10: ...rom the grounding circuit is used ground the controller board via special grounding terminal look at the picture below Non compliance with these rules may lead to the decrease in controller stability and noise resistance Top view of the controller board A grounding terminal marked with the red square Typical connection diagram for a controller board systems in box Controller 8SMC5 USB PC Power sup...

Page 11: ... 5A Controller board IMPORTANT It is strictly forbidden to touch the controller board without any antistatic equipment We recommend you to use antistatic wrist strap IMPORTANT It is strictly forbidden to connect positive wire of power supply to the controller board when ground wire is not connected It is strictly forbidden to connect or disconnect power cable when the power supply is on the contro...

Page 12: ...le of a motor connection connection of stepper motor Nanotec ST5918L3008 B with encoder CUI INC AMT112S V to 8SMC5 USB controller It is described how to make your own cable guided by the specification on the engine and explanation of the specification is given Manual profile setting setting of working profile for XiLab Overview of the main features Calculation of the nominal current setting of amp...

Page 13: ...mming software package from the software chapter System requirements Note There are only brief requirements in this chapter For detailed information please read the Specifications chapter For successful installation you will need PC with USB port A standard PC with USB port Make sure that your PC has all of the current Windows updates installed It will help you to maintain software compatibility I...

Page 14: ...y unit must provide the current enough for sustainable rotation of the motor Please pay attention on the manual supplied with your controller The more strict power voltage limitation is possible depending on the controller model Please check the connection of external power supply unit to the controller carefully If controller is supplied inside the metal case the case must be grounded If controll...

Page 15: ...rs for it If the automatic driver installation has failed please select No not this time in the window being opened and press Next button Select Install from a list or specific location Advanced in the next window and press Next again Browse the software disk supplied with controller and find the inf file there or in the XiLab install path driver folder and wait until installation is completed Go ...

Page 16: ...d C Program Files XILab profiles folder The values applicable for your positioner will automatically fill all the fields of Settings menu If the necessary file isn t found please refer to the Configuration files chapter If there is still no solution please leave your request at our customer service website Page 16 345 Page 16 345 ...

Page 17: ...in the central row of XILab main window control buttons The positioner has to start moving Use the central soft stop button to stop the rotation Please pay attention to the power supply parameters of the controller in the Power section The power voltage working current and temperature of the controller can be set there If Xilab main window is shaded red when the movement was supposed to start that...

Page 18: ...C5 USB from your own application you may do so by using libximc library Programming guide 8SMC5 has several examples in C C Delphi Java VB net Matlab LabView programming languages If all you need is to automate a small number of control steps then instead of a standalone program you may find it easier to use Xilab scripting language Page 18 345 Page 18 345 ...

Page 19: ...f encoder outputs to 5V power voltage using the resistors may be required at high rotation speeds in order to provide the maximum signal transmission speed see Operation with encoders Note Only firmwares 4 1 0 and older support BLDC Example Consider the connection of the two phase stepper motor Nanotec ST5918L3008 B with encoder CUI INC AMT112S V to controller 8SMC5 USB Preparation To get started ...

Page 20: ...rious characteristics for the motor We will connect the windings in series red frame on the picture To do this wires having two colors BLK WHT and GRN WHT as well as RED WHT and BLU WHT must be connected to each other in pairs Next you need to put in accordance A not A B not B pins of controller to contacts of motor windings ST5918L3008 B black green red blue One winding is a connection of A and n...

Page 21: ... 10 B 8 Encoder B 11 Z 12 Revolution sensor input 12 5V 6 Output 5V 100 mA 5 GND 4 Logical ground 7 Motor pin D SUB pin A BLK phase А 4 not A GRN phase not А 3 B RED phase B 2 not B BLU phase not B 1 Solder the above contacts to D SUB male connector The wires from the motor and encoder in a heat shrink tube Note the presence of small heat shrinkable tubes for wires going to the motor windings BLK ...

Page 22: ...Now you can connect it to 8SMC5 USB Description and profile settings are given in the next chapter Manual profile setting Page 22 345 Page 22 345 ...

Page 23: ... case of serial winding connection Being in the Settings window open Stepper motor tab There are such parameters as rotational speed acceleration driving mode etc seeSettings of kinematics stepper motor for additional information In Motor parameters Nominal current field you should specify the value of the phase current not exceeding 2 1 A Basic parameters setting In the Working speed field we wil...

Page 24: ...ndicators are off in the main window of XiLab In the case of incorrect settings change their polarity Borders Pushed position indicators should go out Shutdown mode is activated on both of limit switches Stop at right border and Stop at left border are marked in Borders tab Mark the flag detecting improper connection of limit switches Border misset detection in Borders tab Tab with limit switches ...

Page 25: ... right limit switch then in order to move stage away to the left you should type negative value in Standoff field Start the automatic calibration by clicking Go home in the main window of XiLab The result of it is a movement of the positioner to the specified limit switch with a relatively low speed and the shift away from him to the value specified in the field Standoff After completion of the ca...

Page 26: ...ossible to eliminate this ambiguity To do this mark Play compensation in Stepper motor and type number greater than play value The sign of this setting determines the direction of moving to the position Positive sign means move from the left while negative from the right In Antiplay speed field set the speed of compensation movement This value should be low 50 s sec is enough in order to avoid dri...

Page 27: ...ries the resistance will increase where Rb the resistance of the series connected windings in the bipolar control mode The motor controllers control algorithm is capable of operating in a microstepping mode and maintains the current so that the first winding current varies in function in the other winding current varies in function where Ia current amplitude Thermal power released two windings at ...

Page 28: ...resence corresponding flag ENGINE_CURRENT_AS_RMS in the EngineFlags engine_settings structure When setting the nominal current in XILab should properly specify how the current is interpreted Motor controllers in this case will provide the maximum torque without overheating the engine For all Standa motorized positioners prepared configuration files that contain the specified nominal current as rms...

Page 29: ... solutions Here is a list of common problems and possible solutions that we offer to our users Your case may be the same mentioned below then you will quickly find a solution otherwise send your questions with a detailed description of the problem to tech support Ask a question Send an e mail 8smc4 standa lt Controller is not found in XiLab Solution Comment to the diagram 8SMC5 USB B9 1 one axis s...

Page 30: ...Linux Page 30 345 Page 30 345 ...

Page 31: ...ist but when you try to open it an error can t open device occurs due to the lack of permissions to the device To solve this problem create a file etc udev rules d 31 ximc rules and add the next line into it SUBSYSTEM usb ATTR idVendor 067b MODE 0666 idVendor identifier can be found by executing lsusb command Mac OS Page 31 345 Page 31 345 ...

Page 32: ...ent configuration to file To do this in the Settings window of XiLab click Save to file see XiLab settings choose path where you want to save the settings Then send this file in technical support with detailed description of the problem Incorrect configuration of limit switches as result the stage rests the limit switch This can usually be seen by the indicator lights in XiLab The main reason for ...

Page 33: ...ith description of the problem Mechanical jamming There are two ways to deal with jamming Turn the motorized stage by hands if it is possible Increase the winding current 2 3 times for a short time about 5 10 seconds and send movement command to the stage in the right direction at the low speed about 50 100 s sec will be enough A few seconds after rotation press stop button small black square unti...

Page 34: ...oders 6 Revolution sensor 7 Steps loss detection 8 Power control 9 Critical parameters 10 Saving the parameters in the controller flash memory 11 User defined position units 8SMC5 4 Safe operation 5 Additional features 1 Operating modes indication 2 Operations with magnetic brake 3 Joystick control 4 Left Right buttons control 5 TTL synchronization 6 Design of multi axis system 7 General purpose d...

Page 35: ...4 1 Appearance and connectors 8SMC5 USB controllers are available in 3 different versions 1 Controller board 2 One axis system 3 Two axes system Page 35 345 Page 35 345 ...

Page 36: ... The view from stage cable side Rear view on the controller The view from DIN and USB b connectors side Bottom view on the controller The view from backplane connectors side IMPORTANT If you are mounting the radiator to the power part by yourself please make sure that there is no contact between heat conducting surfaces and conductive elements of the unit Such contact may damage the power circuit ...

Page 37: ...etc 8 2nd limit switch 9 1st limit switch 10 Encoder channel A 11 Encoder channel B 12 Revolution sensor input 13 Inverted Encoder channel A 14 Inverted Encoder channel B 15 Inverted revolution sensor input Note Only firmwares 4 1 0 and older support BLDC Note Outputs 1 3 and 2 4 must be connected together for proper DC motor function if the nominal current of the motor is higher than 3A Warning P...

Page 38: ... connector 1 and 2 axes system Controllers in metal case connect via USB type B connector USB A USB B cable USB type B connector Output pin table Pin Name Wire color Description 1 VCC Red 5 VDC 2 D White Data 3 D Green Data 4 GND Black Ground Warning Use verified USB cables only Damaged or low quality USB cable may cause improper controller operation including motor rotation errors and errors of d...

Page 39: ...put 3 3V logic 11 Reserved 12 Synchronization input 3 3V logic 13 An output for magnetic brake control 3 3V logic 14 Not used 15 BUT_R an external Right button 16 5V output 17 BUT_L an external Left button 18 Digital GND for 3 3V and 5V Note No additional connection or pull up to ground power supply is required for idle pins Just don t use them IMPORTANT A maximum designed operating voltage for Jo...

Page 40: ...DC motor 3 Not phase A of SM or DC of the motor or phase C on BLDC motor 4 Phase A of SM or DC of the motor or phase A on BLDC motor 5 500mA for 8SMC5 stabilized output for encoder power supply 6 One wire interface for positioner identification for Standa hardware only 7 Logic ground for limit switches encoder etc 8 2nd limit switch 9 1st limit switch 10 Encoder channel A 11 Encoder channel B 12 R...

Page 41: ...PORTANT Hot swapping or unreliable connection of the power supply connector MF 4MRA may damage the PC and or the controller For more details please refer to Safety instructions Data connector 1 and 2 axes system Controllers in metal case connect via USB type B connector USB A USB B cable USB type B connector Output pin table Pin Name Wire color Description 1 VCC Red 5 VDC 2 D White Data 3 D Green ...

Page 42: ...ion output 8 RX_1 serial port input 9 NC not used 10 NC not used 11 NC not used 12 NC not used 13 DIR_1 Direction signal for the external driver 14 GND ground 15 5V 16 BRAKE_1 brake control output 17 CLK_1 Clock signal for the external driver 18 TX_1 serial port output 19 NC not used 20 NC not used 21 NC not used 22 GND ground 23 PBRK_1 Magnetic brake output 24 5V 25 IO_1 input output pin 26 POT_1...

Page 43: ...25 30 8 12 6 8 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Dimensions and numbers of the pins in DSub connector front view Pins functionality 1 Not phase B of SM or DC of the motor 2 Phase B of SM or DC of the motor or phase B on BLDC motor 3 Not phase A of SM or DC of the motor or phase C on BLDC motor 4 Phase A of SM or DC of the motor or phase A on BLDC motor 5 500mA for 8SMC5 stabilized output for enc...

Page 44: ...uctions IMPORTANT Hot swapping or unreliable connection of the power supply connector MF 4MRA may damage the PC and or the controller For more details please refer to Safety instructions Data connector 1 and 2 axes system Controllers in metal case connect via USB type B connector USB A USB B cable USB type B connector Output pin table Pin Name Wire color Description 1 VCC Red 5 VDC 2 D White Data ...

Page 45: ...ut axis 2 Note If the connector belongs to a single axis model then pins 2 4 9 are not used Note Unused pins of the internal connector do not require any additional connection or pullup pulldown Simply do not use them IMPORTANT Analog Joy Pot inputs are designed to work with LESS THAN 3V voltage Do not apply higher voltages including 3 3V to these inputs as it can break all analog controller input...

Page 46: ...g input axis 2 12 IO_2 input output pin axis 2 13 DIR_1 Direction signal for the external driver axis 1 14 GND ground 15 5V 16 BRAKE_1 brake control output axis 1 17 CLK_1 Clock signal for the external driver axis 1 18 TX_1 serial port output axis 1 19 DIR_2 Direction signal for the external driver axis 20 BRAKE_2 brake control output axis 2 21 PBRK_2 Magnetic brake output axis 2 22 GND ground 23 ...

Page 47: ... for predefined point 3 Predefined displacement mode 4 Acceleration mode 5 Backlash compensation 6 Rotation reversal 7 Recommendations for accurate rotation 8 PID algorithm for DC engine control 9 Stop motion modes 10 PID algorithm for BLDC engine control Page 47 345 Page 47 345 ...

Page 48: ...lue may be defined in full steps and microsteps per second for DC motors the speed is defined in revolutions per minute RPM The speed for special motion modes e g for backlash compensation or automatic zero position calibration is different from the general rotation speed and is set separately The controller allows limitation of the maximum speed if appropriate parameter is defined by user In that...

Page 49: ...he starting command is received by the controller it either switches on the acceleration mode if the appropriate option is on or immediately starts rotating the shaft of the motor with user defined speed After the predefined point is reached the rotation stops deceleration may be activated if the appropriate option is on The destination point is set in XILab main window The destination point may b...

Page 50: ... sent during the rotation to the position MOVE MOVR SSTP STOP LOFT then the displacement interval adds to destination position and the controller re adjusts for the new destination point while the motor is rotating If this command comes during the rotation for certain direction then the displacement value adds to previous destination position and the motion automatically re adjusts for the new pos...

Page 51: ...gular speed profile Turning the acceleration mode on and off as well as setting of acceleration and deceleration value is possible using XiLab software see the Settings of kinematics Stepper motor section or by set_move_settings command described in Programming guide The Acceleration value is adjusted independently from the Deceleration value and there is a reason for it Usually due to friction ef...

Page 52: ...pproach from the left side whereas the minus means the approach from the right side The controller indicates if the backlash compensation is active using MOVE_STATE_ANTIPLAY flag in the state structure which is also displayed in XILab main window A forced backlash compensation by using the LOFT command may be performed if there is no confidence that the actual position is backlash free While carry...

Page 53: ... XiLab menu Switching this feature on will change the current coordinate sign thus left and right terms will get interchanged For example the first movement during the Home position calibration will perform physically to the opposite direction the Left and Right commands in XILab main window will interchange etc Warning Reverse is a setting that affects the whole controller operation if changed Th...

Page 54: ...ection with DC motor stage displacement results to slowing down of reaching the required coordinate or speed The following recommendations will help you to accelerate this process and to make it more stable The profile corresponding to the stage being used is normally uploaded to controller and is used by it Please upload the profile from the Configuration files chapter if you aren t confident tha...

Page 55: ...or voltage Particular properties of the algorithm PID regulator coefficients User set values are normalized to keep optimal PID regulator coefficients in 0 65535 range Let s consider the effects different components have for better understanding We will assume the supply voltage is constant and equal to the motor nominal voltage With this assumption PWM fill factor will be equal to 1 in the follow...

Page 56: ... position by gradually increasing One should stop increasing this coefficient when either quality of position reaching degrades substantially or noise levels increase Slip at the target position will remain regardless 12 Adjust up or down to decrease oscillations at the target position 13 After one adjusts one should check the speed maintenance quality and noise levels If these parameters are unsa...

Page 57: ...ire additional adjustment of the optical line after a sudden stop Warning When the controller is configured to trigger a stop on the left right limit switch it always occurs immediately when the stage reaches the limit switch This should be avoided Stop with deceleration Stop with deceleration is initiated by the command SSTP A smooth stop occurs with deceleration Deceleration if it is not disable...

Page 58: ...fects different PID components Kp Ki Kd have are same for BLDC and DC motors See PID algorithm for DC engine control PID regulator manual tuning We provide a special XiLab extension for the manual adjustment of the PID regulator coefficients The time dependence of the speed of the BLDC engine and the speed retention error is shown in a special window see the screenshot below The PID regulator tuni...

Page 59: ...the positioner emits a loud sound when driving it may be necessary to reduce the Kd coefficient or all the coefficients proportionally 5 The integral coefficient Kif is responsible for getting into the target position it is convenient to use the command Shift on for testing 6 To fine tune the coefficients use the Oscilloscope window where the speed retention error is displayed for used motion para...

Page 60: ...witches 4 Automatic Home position calibration 5 Operation with encoders 6 Revolution sensor 7 Steps loss detection 8 Power control 9 Critical parameters 10 Saving the parameters in the controller flash memory 11 User defined position units 8SMC5 Page 60 345 Page 60 345 ...

Page 61: ...nd actual software operating with small multiples of the step division values On the other hand operations with the largest step division value provides the most smooth and silent rotation at the smaller speed values The number of steps per revolution is the another direct parameter of the stepper motor This setting does not affect the rotation but is used in slipping control block or with motors ...

Page 62: ...ly read PID algorithm for BLDC engine control before you start working with it IMPORTANT Like DC motors wrong PID regulator settings current and encoder settings might lead to stage failure Engine selection criteria Pulse width modulation PWM is a widely used way to control winding s current in different motor types It leads to current oscillations at PWM switching frequency so called current ripp...

Page 63: ...bilization current Overheat definition After first two steps point can be plotted at the graph Now we should define the region which corresponds to overheat degree For example the region between 1 1 and 1 2 corresponds overheat value between and There is DCE1524 overheat calculation example 25 6 us 5 1 Ohm 70 uH 1 86 Now we can draw vertical line corresponds this value look at graph and find out o...

Page 64: ...ominal current In general they may be different because of motor cooling features and operating conditions Also one should not mix up maximum current and starting current with stationary motor shaft IMPORTANT Changing maximum motor voltage might disrupt PID regulator For more information see PID algorithm for DC engine control IMPORTANT Maximum motor voltage may exceed nominal voltage usually by 1...

Page 65: ...t switch is active if the actual position is less than the left margin value and the right one is active if the actual position is greater than the right margin value The operation time is about one millisecond Warning The programmable motion range limitation is reliable only if there is no direct setting of the new position by ZERO or SPOS commands or if there is no steps loss or encoder malfunct...

Page 66: ...tion detection should be turned on in corresponding XiLab software menu Start the movement to any direction until the limit switch shuts the movement down If there was right side movement but the left limit switch became active or viсe versa the limit switches should be interchanged see the Motion range and limit switches chapter If the improper actuation of the limit switch is detected and if the...

Page 67: ...should happen at the limit switch the calibration program is not crashed Fine calibration After the first displacement the controller position is defined However some additional rotation may probably get turned on before the movement to Home position is performed It provides fine Home position calibration that may reach 1 256 of the step for stages with stepper motors or 1 encoder count for stages...

Page 68: ...tion launch the script and wait until it s finished As a result the movement will be in the same position and all the following calls of homing function will move it there Make sure to save the settings to controller s nonvolatile memory Page 68 345 Page 68 345 ...

Page 69: ... controller can read up to 800 000 encoder counts per second Controller s features There are two operating modes with encoder available for the controller the encoder is used as the main position sensor this is the main operating mode for DC motors and the optional one for stepper motors slippage backlash or steps loss detection the recommended mode for joint operations with stepper motors in case...

Page 70: ...rovide good characteristics while passing from higher logic level to lower However the pass from logic 0 to logic 1 is more graduate It passes through the RC circuit formed by pull up resistor and cable capacitance This is the most important thing if the cable is long If the internal pull up is not sufficient the pull up resistor with r 1 5kΩ may be added for every 5V to each output in order to im...

Page 71: ...sc The sensor is open if there is no interrupter between the LED and the sensor the logic zero is transmitted to optocoupler s output whereas the logic one is transmitted if the light source is closed by the interrupter By default the lower logic level is interpreted by the controller as the active mode of the revolution sensor The controller s input is pulled to logic one level thus the disconnec...

Page 72: ...s If this option is enabled and the steps loss is detected the controller stops the movement adjust the step position on the basis of the encoder data and try to start the movement again The flag of the control position error The position control error flag is set when the desynchronization of the steps and the encoder position is detected and it will be unset automatically when the position becom...

Page 73: ... The position control of the revolution sensor can t detect the shaft rotation at the zero speed i e if the motor is shut down and the shaft is rotated manually it won t be detected Page 73 345 Page 73 345 ...

Page 74: ...owerOff timeout value after the poweroff has already happened then windings will get powered on and a PowerOff function will activate after the new delay Timeout countdowns cancel after each movement start Jerk free function Sometimes smooth motor winding current changes are required to reduce vibrations of a mechanical system That s why a Jerk free option is provided which allows one to set curre...

Page 75: ...ts temperature indirectly indicates the overheating of the power part of the board The overheating threshold range from 40ºC to 75ºC is sensible Flags ALARM_ON_DRIVER_OVERHEATING means entering the Alarm mode if the driver s critical temperature over 125ºC is exceeded The power driver indicates if its temperature is approaching the critical value If the driver is still working then the further hea...

Page 76: ...ameters of the controller related to Device configuration section of XiLab settings menu Either Save to flash button of XiLab program or command_save_settings function are used for it see the Programming guide chapter All the configuration parameters can get restored to controller s RAM from the non volatile memory not only when the power is turned on but also by clicking the Restore from flash bu...

Page 77: ...sue movement commands and read controller position in these user units It applies both to XiLab interface and to usage in custom programs or scripts Speed and acceleration are also set in units derived from user defined ones for example mm s Zero position adjustment can be done the same way in user defined units as in encoder counts or step motor steps You can enable user defined units in XiLab on...

Page 78: ...and to set correct maximum speed for the given stage For more detailed information see chapter Motor limiters Critical Parameters Controller tracks voltages and currents which appear in its circuits and can react on their suspicious values This reaction blocks the engine and prevents any further movement until the source of the problem is eliminated Due to this it is possible to track winding wind...

Page 79: ...4 Left Right buttons control 5 TTL synchronization 6 Design of multi axis system 7 General purpose digital input output 8 General purpose analog input 9 External driver control interface 10 Serial port 11 Saving the position in controller s FRAM memory 12 The Standa stages detection Page 79 345 Page 79 345 ...

Page 80: ...t switches Multifunctional 20 pin BPC connector is provided with limit switches activity indication High logic level appears on the corresponding output in the moment of limit switch activity Active state is determined from limits switches settings see Motion range and limit switches Connection diagram Note In case of additional LEDs they should be designed for 4 mA operational current There is no...

Page 81: ...ntroller board One axis and two axis systems LEDs on the front panel of controllers in the box one axis and two axis systems are indicators for power status and limit switches therefore a connection diagram is not required Page 81 345 Page 81 345 ...

Page 82: ... value For example a large increase of brake activation delay when the brake is already active will lead to brake deactivation and countdown to the new delay value It is also possible to turn on or off magnetic brake itself or winding power function Type TTL Active condition brake is released 0 3 V Passive condition brake is not powered 0 V Operational current no more than 4 mA Output electric par...

Page 83: ...Connection of magnetic brake to one axis or two axis systems Page 83 345 Page 83 345 ...

Page 84: ...um speed is changed from Max speed i 1 to Max speed i Controller starts with i 0 There are 10 values in the speed array If both integer and fractional parts of Max speed x are equal to zero then it isn t possible to switch to this speed from Max speed x 1 This is made so that a user can limit speed array size An attempt to get out of array bounds will also lead to nothing Controller has contact de...

Page 85: ... board via BPC connector One axis and two axis systems Joystick connector is available only in two axis system A connection diagram is shown below Connection of joystick to the two axis system via D SUB 9 pin connector Page 85 345 Page 85 345 ...

Page 86: ... same result Controller obeys its movement settings with the exception of target speed For example when changing its speed from MaxSpeed i to MaxSpeed i i controller will either accelerate with set acceleration value or change its speed instantly if acceleration is disabled The default state is set according to the voltage levels of the buttons table 4 5 4 1 The state of each button can be softwar...

Page 87: ...Scheme of buttons connection to the HDB 26 connector Page 87 345 Page 87 345 ...

Page 88: ...ion in important in multiaxis systems because it allows one to start movement on several axes simultaneously To do this all axes are prepared to start the movement all slave axes are set to start moving on input synchronization pulse one master axis is set to output a synchronization pulse on the start of the movement Master axis output is connected to slave axes input In this setup any movement o...

Page 89: ...to a situation as if Predefined displacement mode command has taken place which takes its Position and Speed from syncin settings If syncin settings are changed during the time the movement takes place it will not change current movement parameters Movement parameters will change on the next front on syncronization input This designed deliberately to allow one to set up next shift parameters in mu...

Page 90: ...ill moving then the end position will be offset by two times the shift distance from the start if a third pulse is received then by three times etc Clutter time Clutter time Moving time Moving time Motion starts Motion stops One time movement with double shift length because second syncin pulse came in before the end of the movement Page 90 345 Page 90 345 ...

Page 91: ... not lead to the start of the movement even if the transition happened into the active state Sync out Output synchronization is used to control external devices tied to controller movement events Sync out pulse can be emitted on start and or stop of the movement and or on each shift on the preset distance ImpulseTime setting defines the length of sync pulse either in microseconds or in distance un...

Page 92: ...nt with acceleration and generate on shift mode pulse length measured in microseconds Note Periodic syncout pulse generation imitates revolution sensor with reducing gear Coordinates which trigger syncout pulse generation are counted from zero position and not from the position the controller is in at the start of the movement For example if synchronization output is set up to generate pulses ever...

Page 93: ... diagram Controller board Controller board contains two TTL channels of synchronization on the BPC connector Scheme of connection to the synchronization channels for the controller board One axis and two axis systems Synchronization signals on the one axis and two axis systems are located on the HDB 26 connector Scheme of connection to the synchronization channels for the one axis system Scheme of...

Page 94: ... of the following Connect power to the backplane Connect external devices Connect master controller to the USB Note Additional 5 V power supply requirements output current no less than 250 mA per axis 400 mA per axis for full functionality Multiaxis connection diagram implies connecting power supply to pins 1 and 2 of the BPC connector and connecting data lines D D from the USB hub to pins 15 and ...

Page 95: ...he voltage level The controller uses a software debounce the input Initiating the action takes place only when the active state of the input buttons lasted for more than 3 ms WARNING When you turn on or reboot the controller at the input voltage level of the input is present which is considered to be active the controller interprets it as a signal to trigger any of the actions Note Digital input h...

Page 96: ...wo box versions only two axis system has the digital input output Corresponding contacts output on the HDB 26 connector Scheme of connection to digital input output for two axis system Page 96 345 Page 96 345 ...

Page 97: ... 3 V range If this voltage is exceeded errors in analog input and other controller subsystems are possible This may also damage the controller or connected motor Signal voltage 0 3 V Scanning frequency 1 kHz Table Input parameters Connection diagram Controller board For the controller board analog input contact is located on the BPC connector Scheme of connection to analog input for the controller...

Page 98: ...ING Clock signal frequency in the given controller is limited by 78 kHz That s why to reach necessary speed one might need to reduce step division Foe example if rotation speed of 4000 steps per seconds is needed it is necessary to use 1 8 step division or less Type TTL Logical zero level 0 V Logical one level 3 3 V Output parameters of external driver control Connection diagram WARNING Outputs fo...

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Page 100: ... connect to the controller via UART one should first connect to it via USB and set required speed parity and stop bits and then save settings to non volatile memory Standard settings are listed in Communication protocol specification use them if you cannot connect Logic type TTL 3 3V Maximum data transfer speed 921 kbit Nominal output current 5 mA Output and input parameters Connection diagram WAR...

Page 101: ...Recommended scheme of connection to serial port pins for two axis system Page 101 345 Page 101 345 ...

Page 102: ... motor position logical position and encoder value This will work if during the time controller was off the motor shaft was not rotated by external means Note For this function to work one should wait at least 0 5 seconds after the stop before cutting the power Position is saved even if the controller was powered off during movement however in this case its saved position will not be exact and a n...

Page 103: ...al memory chip is connected However if this flag is set then settings from positioner memory will be loaded every time a positioner with memory chip is connected and every time the controller is powered on That is why if you need to change some settings you need to clear this flag change required settings and save them to controller flash memory Note There is a simple rule for this flag preferred ...

Page 104: ...4 6 Secondary features 1 Zero position adjustment 2 User defined position adjustment 3 Controller status 4 USB connection autorecovery Page 104 345 Page 104 345 ...

Page 105: ...t movement command is not affected If controller was moving to some physical position when logical position was reset to zero by this command then the movement will still end in that physical position For example if the controller moved towards logical position 1000 and set zero position command was sent when it was passing 200 then logical position counter will be decremented by 200 and movement ...

Page 106: ...is command If only one of these counters is needed one should use ignore flags to filter required fields This command is different from set zero command in that it doesn t set target position used by MOVE and MOVR commands to zero During movement and stopping its behavior is the same If you issue SPOS command during movement the controller will end in the same physical position it would move to if...

Page 107: ...voltage insufficient to reach nominal current in the windings Last status frequently appears with high rotation speeds because for higher step switching speed one needs higher voltage to ensure current rise in motor winding inductance Insufficient voltage does not mean the motor won t move it will merely emit excess noise and its torque will drop see Power control Encoder status EncSts contains in...

Page 108: ... is removed by itself depending on critical parameters settings Flag which means that USB voltage exceeded acceptable value The flag is removed by itlsef depending on critical parameters settings Flag which means that USB voltage is under acceptable value The flag is removed by itself depending on critical parameters settings Flag which means that current drawn from the USB exceeded acceptable val...

Page 109: ... the computer side the time between the reconnections changes exponentially see Table 1 Restart number timeout ms 0 after communication is lost 500 1 483 2 622 3 802 4 1034 5 1333 6 1718 The status of the unit can be determined by LED flashing frequency In the case controller is in reconnection mode the LED will flash with a frequency of 10 Hz see Operating_modes_indication Warning Because of the ...

Page 110: ...ngs of kinematics DC motor 14 Settings of PID control loops 15 About controller 16 Settings of kinematics BLDC motor 4 XILab application settings 1 XILab general settings 2 General motor settings 3 Attenuator settings 4 Cyclical motion settings 5 Log settings 6 Charts general settings 7 Charts customization 8 User units settings 9 About the application 5 Positioner specifications 1 Positioner name...

Page 111: ...ustomized control program development XiLab supports multiaxial mode and multidimensional control scripts It is possible to output the data about controller and motor status in form of charts and save them to a file or export tabular data for external processing The software is compatible with Windows XP SP3 Windows Vista Windows 7 MacOS X and Linux operating systems Depending on the OS of your co...

Page 112: ...f the XILab application 1 XILab Start window 2 XILab Main window in single axis control mode 3 XILab Main window in multi axis control mode 4 Application Settings 5 Charts 6 Scripts 7 XiLab Log Page 112 345 Page 112 345 ...

Page 113: ...the XILab Main window in multi axis control mode window will be opened You could repeat the search by clicking the Rescan button or exit the program by clicking Exit If the Open last button is active it means that all the controllers that had been opened in the previous run of XILab were found Clicking the Open last button will then open the last saved configuration XILab can work with virtual XIM...

Page 114: ... the libximc library opens XIMC devices in the exclusive access mode when you start subsequent copies of XILab application only free controllers will be found and available for selection Page 114 345 Page 114 345 ...

Page 115: ...t to the target point Target position for motion commands Attenuator Control Unit Controller and motor status Controller Power Supply Motor status Program status Group of application control buttons Status bar 5 2 2 XILab Main window in single axis control mode XILab Main Window in General Motor mode Page 115 345 Page 115 345 ...

Page 116: ...Unit In the central part of the block there is an indicator of the current position Below it in case the encoder is enabled is located an encoder position indicator In the closed loop mode see Operation with encoders section the main and the secondary indicators swap their places Below is the Control unit containing the elements of motor motion control Let us examine them in greater detail Movemen...

Page 117: ...he border do not alter the target position Attenuator Control Unit Attenuator Control Unit At the top of the attenuator control block a Transmittance window and a Calibrate button are located Transmittance window contains a control to select desired transmittance coefficient Calibrate button does manual calibration or location of the initial position of the attenuator first it initiates one revolu...

Page 118: ...tate If the color of the indicator USB current turns red it shows that the USB current supply exceeds the acceptable value which is defined in the Critical board ratings In this case the controller switches to Alarm state It is possible to quit the Alarm state after terminating of the events that caused Alarm provided that the flag Sticky Alarm is not set If the flag Sticky Alarm is on use the Sto...

Page 119: ...s motion and stops a script if it is running Save log button saves the contents of the log to a file in CSV format opens a file selection dialog window Clear log button clears the contents of the log Exit button performs safe shutdown see Correct shutdown Status bar Status bar contains current controller status indicators From left to right these are 7 flags L Left button state R Right button stat...

Page 120: ...he bottom right part of the window there is a group of buttons for application control as a whole Let us consider these groups in more detail Motion control block Motion control block In the Current position column indicators of the current position in steps or calibrated units see below for the axes X Y and Z from left to right are located The Move to button performs movement to the coordinate gi...

Page 121: ...button soft stop command is sent When you press and hold the keyboard buttons Right Left Up Down PageUp or PageDown when the joystick block has input focus the axis X Y or Z respectively starts to move in the direction of increasing or decreasing coordinate The movement stops with deceleration when you release the button soft stop command is sent On receiving input focus the widget background colo...

Page 122: ...trollers The STOP button sends an emergency stop command to each controller resets their Alarm statuses clears their command buffers for synchronous motion and stops a script if one is running The Log button opens a window with log information Here you can find diagnostic information errors warnings informational messages from XiLab libximc and script sources The Scripts button opens a scripting w...

Page 123: ...r Command the last command of the controller that was executed or is being executed Power the state of the motor power supply The buttons Settings X Y Z open the configurations of a controller which corresponds to this axis see Application Settings Below the indicator blocks Common settings и Exit buttons are located The Common settings button opens a dialog window with general settings Here you c...

Page 124: ...econds of X and Y axis controller motion will be displayed as a trajectory in 2D space overlaid on the virtual joystick window Common logging settings are completely identical to single axis version logging settings Here you can configure logging detail None for no logging Error to only log errors Error Warning to log errors and warnings Error Warning Info to log errors warnings and informational ...

Page 125: ...roller and are used to control the XILab itself The third group Stage confuguration contains information about the parameters of the stage and is read from its ROM chip Description of Restore from flash and Save to flash buttons is located in the Saving the parameters in the controller flash memory All application settings from the first two groups can be saved to an external file when you click S...

Page 126: ...ing The Apply button saves the settings without closing the window The Reset button resets all setting changes that were made since the Apply button was pressed or after opening the Settings if the Apply button was not pressed Note Only Device configuration settings can be saved into the flash memory of the controller Page 126 345 Page 126 345 ...

Page 127: ...rrent is current consumption of the power section USB voltage is voltage on the USB USB current is current consumption by USB Winding A current in the case of stepper motor the current in winding A in the case of a brushless motor the current in the first winding and in the case of DC motor the current in its only winding Winding B current in the case of stepper motor the current in the winding B ...

Page 128: ...clears the stored data and the Charts window Start starts recording the data and displaying charts If the option Break data update when motor stopped in Program configuration Graph setup Common is turned on no data recording and charts auto scrolling will occur when the motor is stopped Stop stops data reading Save stores chart data to a file Load loads chart data from a previously saved file Expo...

Page 129: ...pt is not running Save opens a file save dialog prompting the user pick a file to save current script text to Inactive if the script is running Load opens a file load dialog prompting the user to pick a file to load into the script window Inactive if the script is running Warning If you load a file all unsaved changes will be lost XILab loads last saved script text into the Scripting window on sta...

Page 130: ...preter Log has 4 columns date and time of record the source and the message text Messages have a logging level indicating message importance error warning and informational message Error messages are red warnings are yellow and informational messages are green You can set a filter on displayed messages on the Log settings page in the Settings window Page 130 345 Page 130 345 ...

Page 131: ...ome position settings 6 Synchronization settings 7 Brake settings 8 Position control 9 Settings of external control devices 10 UART settings 11 General purpose input output settings 12 Motor type settings 13 Settings of kinematics DC motor 14 Settings of PID control loops 15 About controller 16 Settings of kinematics BLDC motor Page 131 345 Page 131 345 ...

Page 132: ...or winding reverse polarity Move with max speed if this flag is checked motor ignores the preset speed and rotates at the maximum speed limit Limit speed with max speed if this flag is checked the controller limits maximum speed to the value specified in the Max nominal speed field For example if the speed exceeds the rated value controller will reduce output action until the speed come back to th...

Page 133: ...he left Backlash compensation speed speed of backlash compensation When the backlash compensation mode Backlash compensation is on the stage approaches the point from the right or from the left with a preset speed determined in the number of steps per second Acceleration enables the motion in acceleration mode the numerical value of the field is the acceleration of movement Deceleration movement d...

Page 134: ...tches and set up both Limit switch 1 and Limit switch 2 Pushed position sets the limit switch condition when it is reached open or closed Border sets the limit switch position on the left or on the right of the stage working range Check the Stop at left border and or Stop at right border for a forced stop of motor when the border is reached In this case the controller will ignore any commands of m...

Page 135: ...is checked the low voltage supply protection is active Then Low voltage off and below values of input voltage turns the controller into Alarm state The group Misc includes all other critical parameters settings Switch off power driver on overheat 125 C this parameter enables the Alarm state in case of power driver overheat Switch off power driver on H bridge alert this parameter enables the Alarm ...

Page 136: ...tion activation It is measured in milliseconds Value range 0 65535 ms Power off when stop it activates the function that deenergized the motor windings after switching to the STOP state Power off delay parameter determines the delay in seconds between switching to the STOP mode and motor power off Value range 0 65535 Jerk free activates the current smoothing function to eliminate the motor vibrati...

Page 137: ...ovement in a given direction 1st move direction at 1st move speed The speed is usually set low enough to keep the next signal Motor stops depending on the stop after value upon getting a sync input signal signal from RPM sensor or reaching of the limit switch If the flag Use second phase of homing is checked the homing algorithm rotates the motor in a predetermined 2nd move direction left or right...

Page 138: ...ed to use when moving Sync out The Synchronization Output can be used as a General purpose Output signal Enabled if the flag is checked the sync output functions according to the next settings If the flag is unchecked the output value is fixed and equal to the Fixed state Invert if the flag is checked the zero logic level is set to active Pulse width specifies the duration of the output signal in ...

Page 139: ...itching off the brake and motion readiness ms All motion commands will be executed only after this time Time between motor stop and brake on time between stopping the motor and turning on the brake ms Time between brake on and motor power off time between turning on the brake and motor power off ms Value range is from 0 to 65535 ms Motor power off enabled flag means that when magnetic brake is pow...

Page 140: ...eps exceeds the specified number of steps the SLIP error flag is set Further actions depend on the Error action setting If Alarm on errors is active then the controller will enter Alarm state If Correct errors is active then the controller will try to correct slip error see Steps loss detection If Ignore errors is active then the controller will do nothing Inverted revolution sensor if the flag is...

Page 141: ...nd High end determine the lower border the middle and the upper border of joystick range respectively Hence the joystick ADC normalized value equal to or less than Low end corresponds to the maximum joystick deflection towards lower values Exp factor exponential nonlinearity parameter See Joystick control Dead zone dead zone of joystick deviation from the center position Minimum step of variation ...

Page 142: ...on blocks contain button settings Pushed Position determines the state pressed or released button which is considered the motion signal by the controller Open released button is considered to be a motion command Close depressed button is considered to be a motion command Click settings block lets one to set up button click behaviour A rapid press of a button is interpreted as a click Max click tim...

Page 143: ... in the range from 9600 bit s to 921600 bit s Use parity bit use of parity bit Parity type Types of parity Even this bit type is set when total number of bits is odd Odd this bit type is set when total number of bits is even Space parity bit is always 0 Mark parity bit is always 1 Stop bits number of stop bits 1 or 2 Page 143 345 Page 143 345 ...

Page 144: ...controller action settings by the input pulse is active Do nothing do nothing Stop on input run STOP command Power off on input run PWOF Movr on input run MOVR Home on input run HOME Alarm on input enter ALARM state If ExtIO configured for output mode the choice of the output state depending on the controller status is active Out always off always in inactive state Out always on always in active s...

Page 145: ...ignals see External driver control interface Warning Driver type or motor type change is a critical operation that should not be performed while motor rotates To implement the change correctly the motor winding should be de energized and turned off after that motor type can be changed and motor of another type can be connected The same applies to changing of integrated driver to external one and v...

Page 146: ... checked motor ignores the preset speed and rotates at the maximum speed limit Limit speed with max speed if this flag is checked the controller limits the maximum speed to the number of steps per second specified in the Max nominal speed field Max nominal speed Max voltage Max current are motor nominal parameters If they are active and applicable for given type of motor the controller limits thes...

Page 147: ...from the right If it is below zero the stage always approaches the point from the left Backlash compensation speed speed of backlash compensation When the backlash compensation mode Backlash compensation is on the stage approaches the point from the right or from the left with a preset speed determined in the number of steps per second Acceleration enables the motion in acceleration mode the numer...

Page 148: ...nts can vary in 0 65535 range for DC motors Fractional PID coefficients on right are only for BLDC motor supported in firmware 4 1 x and older Warning Do not change the settings of PID controllers if you are not sure you know what you are doing Configuration commands are described in the Communication protocol specification PID tuning is described in detail in the PID algorithm for DC engine contr...

Page 149: ...rmware to update to selected version An appropriate firmware file will be downloaded from the internet and loaded into the controller This feature requires an active internet connection The Autoupdate button automatically updates firmware from the internet to the latest available version Friendly name an arbitrary user defined name for the controller If this string is not empty then it will replac...

Page 150: ...rmation about the device the manufacturer device ID device type The data are read from the internal memory of the controller All of this data is reported to the XILab application when the device is connected Page 150 345 Page 150 345 ...

Page 151: ...e with max speed if this flag is checked motor ignores the preset speed and rotates at the maximum speed limit Limit speed with max speed if this flag is checked the controller limits the maximum speed to the number of steps per second specified in the Max nominal speed field Max nominal speed Max voltage Max current are motor nominal parameters If they are active and applicable for given type of ...

Page 152: ...cified number is above zero the stage always approaches the point from the right If it is below zero the stage always approaches the point from the left Backlash compensation speed speed of backlash compensation When the backlash compensation mode Backlash compensation is on the stage approaches the point from the right or from the left with a preset speed determined in the number of steps per sec...

Page 153: ... XILab general settings 2 General motor settings 3 Attenuator settings 4 Cyclical motion settings 5 Log settings 6 Charts general settings 7 Charts customization 8 User units settings 9 About the application Page 153 345 Page 153 345 ...

Page 154: ...rs which is the best approximation to the specified transparency are also available Attenuator interface settings are located on the Attenuator settings page Device detection settings group includes XIMC device detection settings If Probe devices option is checked at the start application tries to identify controllers by sending them commands GETI and GSER I f Enumerate non XIMC devices option is ...

Page 155: ...nabled on startup XILab will send data to all COM ports If the PC has multiple Bluetooth COM ports due to the nature of Bluetooth operation the queries will be conducted sequentially and connection attempts may take from a few to tens of seconds each Page 155 345 Page 155 345 ...

Page 156: ...f the left and right bounds of the slider respectively If Watch over ltimits is checked then upon moving out of the slider range the scale shifts to display the current position However he total distance displayed on the slider remains unchanged This option is not used by default It is useful when you know the stage motion range but do not know the relation of that position to the values displayed...

Page 157: ...ng light through one or several optical filters This tab becomes active when an Attenuator skin type is selected in Program configuration tab Attenuator type group contains radio buttons which allow one to choose one or two wheel configuration of the attenuator Depending on the choice here one or two Wheel groups become available They should be filled with attenuator filters transparency values on...

Page 158: ...button in the main window and deactivated by Stop button in the main window Cyclic motion mode settings Border to border cyclical motion between the borders configured in the Motion range and limit switches The motion begins towards the left edge Point to point cyclical motion between points specified in the Point to point setup group The stage moves to the left point stops then moves to the right...

Page 159: ...ges Error Warning Info for each source XILab application libximc library and Scripts module If the Enable log autosave checkbox is checked then the log is saved into file Directory where the log file will be saved is set below Log file is flushed to the disk every 5 seconds File has a name of type xilab_log_YYYY MM DD csv where YYYY MM and DD are current year month and day respectively Data is sto...

Page 160: ...chart data update interval Break data update when motor stopped stops drawing charts when the motor stops This option provides the possibility to use the chart space more rationally removing the areas when there is no motor motion Autostart charts on window open starts displaying chart data automatically on window open If you wish to start charts update manually then uncheck this option Page 160 3...

Page 161: ...s scale adjustment Position curve setup group changes curve parameters It includes the Line width Color and Line style Scaling group changes curve display range on the vertical axis by setting values in Scale min and Scale max Checked Autoscale flag results in auto scaling of the scale limits in accordance with the change limits of the variable on the axis Y In this case the parameters Scale min a...

Page 162: ...t display instead of steps in case of stepper motor or encoder counts in case of DC motor User units replace steps counts only in the main XILab window and do not affect any of the Settings pages Ratio conversion of controller steps to position units set as a ratio of two integer values x steps y user units Values x y and unit name string are set by user Precision displayed precision Get from EEPR...

Page 163: ... prompt to delete all custom configuration files created by XiLab Files to be deleted are located in XiLab configuration directory These files are settings ini which stores common program settings SNnnn cfg which store per controller settings V_nnn which store virtual controller internal states scratch txt which stores last run script Here nnn means any number Pressing OK in this dialog will delet...

Page 164: ...tions 1 Positioner name 2 Positioner general characteristics 3 Motor characteristics 4 Encoder specifications 5 Hall sensor characteristics 6 Reducing gear specifications 7 Accessories specifications Page 164 345 Page 164 345 ...

Page 165: ...5 5 1 Positioner name Stage configuration Positioner name in the Application Settings Positioner name window This block contains the positioner name defined by user Page 165 345 Page 165 345 ...

Page 166: ...facturer the manufacturer name Part number the catalog number Lead screw pitch lead screw pitch Units stage movement measurement units mm degrees steps Max speed the maximum speed Travel range range of motion Supply voltage acceptable supply voltage range Max current consumption the maximum current consumption Horizontal load capacity the maximum horizontal load on the stage Page 166 345 Page 166 ...

Page 167: ...Vertical load capacity the maximum vertical load on the stage Page 167 345 Page 167 345 ...

Page 168: ...figuration Motor in the Application Settings Motor characteristics window This section contains motor information Manufacturer motor manufacturer Part number catalog number Motor type motor type stepper DC or BLDC Page 168 345 Page 168 345 ...

Page 169: ...ctive resistance of the winding Winding inductance inductance of the winding Rotor inertia rotor inertia Stall torque zero speed torque Detent torque hold torque with unpowered windings Torque constant torque constant Speed constant speed constant Speed torque gradient speed torque constant Mechanical time constant motor time constant Max speed maximum allowed speed Max current maximum allowed win...

Page 170: ...alog number Max operating frequency the maximum operating frequency Supply voltage acceptable supply voltage range Max current consumption the maximum current consumption Pulses per revolution pulses per single motor shaft revolution Output differential or single ended output Output type electric output type push pull or open drain Index channel indicates if additional index channel is present Pag...

Page 171: ...Revolution sensor indicates if revolution sensor is present Rev sensor active is high if enabled then active revolution sensor state is logical 1 else it is logical 0 Page 171 345 Page 171 345 ...

Page 172: ... information about hall sensor Manufacturer sensor manufacturer name Part number the catalog number Max operating frequency the maximum operating frequency Supply voltage acceptable supply voltage range Max current consumption the maximum current consumption Pulses per revolution pulses per single motor shaft revolution Page 172 345 Page 172 345 ...

Page 173: ...educing gear Manufacturer the manufacturer name Part number the catalog number Reduction gear transmission ratio Max continious torgue maximum torque at the gear input Max input speed the maximum speed at the gear input Output backlash gear output backlash Equivalent input inertia equivalent input inertia of the gear Efficiency Gear efficiency Page 173 345 Page 173 345 ...

Page 174: ...rake magnetic brake section Information magnetic brake manufacturer and part number Rated voltage nominal magnetic brake voltage Rated current nominal magnetic brake current Torque hold torque Available indicates if magnetic brake is available Powered hold magnetic brake is in hold mode on power on if this option is enabled Temperature sensor temperature sensor section Page 174 345 Page 174 345 ...

Page 175: ...perature sensor is available Limit switches limit switches section SW1 available indicates if SW1 limit switch is available SW2 available indicates if SW2 limit switch is available SW1 low is active indicates if SW1 limit switch active state is low SW2 low is active indicates if SW2 limit switch active state is low Limit switches shorted if enabled then limit switches are shorted Page 175 345 Page...

Page 176: ...mand to the controller and after the stop is complete the application sends command of power off If execution of the soft stop command was interrupted by an event like a motion command from the joystick or signal of TTL synchronization or if while sending of soft stop command or command of power off to the controller the library returned an error the exit will be canceled In this case you need to ...

Page 177: ...dapter via 5V 2A connector and wait for a minute to finish Linux boot on the onboard computer Launch XiLab and make the following At first start XiLab opens controller detection window with no devices found Add virtual XIMC controller by increasing the number of Virtual Devices in the bottom part of window and click Rescan Then choose Virtual XIMC SN1 and click Open selected XiLab main window with...

Page 178: ...le axis mode or in multi axis mode if more than one axis was chosen For additional information please refer to Getting started with XiLab software and XILab application User s guide Note Once the device IP address has been found it should be understood that moving the device to another location may lead to a change in its IP Page 178 345 Page 178 345 ...

Page 179: ...e same board responds in a broadcast requests You can find a new device by two different ways Disconnect other axes find the device on the network connect all again Press Scan for local XIMC servers button until you find sought for device Page 179 345 Page 179 345 ...

Page 180: ... XILab installation 1 Installation on Windows 1 Installation on Windows XP 2 Installation on Windows 7 3 Installation on Windows 8 2 Installation on Linux 3 Installation on MacOS Page 180 345 Page 180 345 ...

Page 181: ...5 8 1 Installation on Windows 1 Installation on Windows XP 2 Installation on Windows 7 3 Installation on Windows 8 Page 181 345 Page 181 345 ...

Page 182: ...sion_name exe It automatically detects whether it is running on 32 bit or 64 bit version of Windows and installs the appropriate version of XiLab Note Only Windows XP SP3 is supported Please update your Windows XP to the latest service pack Run the installer and follow the on screen instructions Page 182 345 Page 182 345 ...

Page 183: ... the necessary software including drivers packages and programs will be installed automatically After the installation is complete the XiLab application will be started by default Page 183 345 Page 183 345 ...

Page 184: ...g a USB A mini USB B cable LED indicator on the controller board will start to flash New Hardware Wizard will start after the first controller is connected to the computer Wait until Windows detects the new device and installs the drivers for it If the driver was not automatically installed select No not this time and click Next in the pop up window Page 184 345 Page 184 345 ...

Page 185: ...t or specific location Advanced and click Next Select the inf file on the disk with the software supplied with the controller or in the program directory by default the path is C Program Files XiLab driver and click Next Page 185 345 Page 185 345 ...

Page 186: ...Click Next Click Continue anyway Page 186 345 Page 186 345 ...

Page 187: ...Finish Driver installation is complete Click Retry or run the Xilab application again if it was closed The system will detect the connected controller and open the main Xilab window Page 187 345 Page 187 345 ...

Page 188: ...Page 188 345 Page 188 345 ...

Page 189: ...r computer The installer file name is xilab version_name exe It automatically detects whether it is running on 32 bit or 64 bit version of Windows and installs the appropriate version of XiLab Run the installer and follow the on screen instructions Page 189 345 Page 189 345 ...

Page 190: ...Page 190 345 Page 190 345 ...

Page 191: ...fault Connect the stage to the controller Connect regulated power supply to the controller Ground the controller or the power supply unit Connect the controller to the computer using a USB A mini USB B cable LED indicator on the controller board will start to flash New Hardware Wizard will start after the first controller is connected to the computer Page 191 345 Page 191 345 ...

Page 192: ...and installs the drivers for it After the driver is successfully installed click Retry or run the Xilab application again if it was closed The system will detect the connected controller and open the main Xilab window Page 192 345 Page 192 345 ...

Page 193: ...Page 193 345 Page 193 345 ...

Page 194: ...n_name exe It automatically detects whether it is running on 32 bit or 64 bit version of Windows and installs the appropriate version of XiLab Run the installer and follow the on screen instructions All the necessary software including drivers packages and programs will be installed automatically Page 194 345 Page 194 345 ...

Page 195: ...ing a USB A mini USB B cable LED indicator on the controller board will start to flash New Hardware Wizard will start after the first controller is connected to the computer Wait until Windows detects the new device and installs the drivers for it After the driver is successfully installed click Retry or run the Xilab application again if it was closed The system will detect the connected controll...

Page 196: ...lab png Icon usr share xilab scripts directory scripts usr share xilab profiles directory with profiles usr share xilab xilabdefault cfg file with the default settings Debian Ubuntu Installing in graphical mode Click on the file libximc6_x y z 1_i386 deb for 32 bit versions of Linux or libximc6_x y z 1_amd64 deb for 64 bit versions of Linux Installation window will appear Click the Install package...

Page 197: ...stems Example gdebi home user Downloads libximc6 2 0 2 1_amd64 deb gdebi home user Downloads xilab 1 8 12 1_amd64 deb Xilab application requires X server graphic mode for operation RedHat OpenSUSE The text installer Execute the following commands as super user root zypper install FILEPATH libximc6 LIBVERSION 1 ARCH rpm zypper install FILEPATH xilab VERSION 1 ARCH rpm where FILEPATH is the path to ...

Page 198: ... file with the installer archive to your computer The archive with the installation program is named xilab version_number osx64 tar gz Unpack the archive by a mouse click Make right button click on installer pkg Page 198 345 Page 198 345 ...

Page 199: ...Choose Open Choose Open Select Continue in the main window of the installer Page 199 345 Page 199 345 ...

Page 200: ...Now select Install Enter the password Wait until the installation is complete Page 200 345 Page 200 345 ...

Page 201: ...Select the XILab application in the Programs block Start it Page 201 345 Page 201 345 ...

Page 202: ...ng guide 1 Working with controller in Labview 2 Working with controller in Matlab 2 Communication protocol specification 3 8SMC1 USBhF software compatibility 4 Libximc library timeouts 5 XILab scripts Page 202 345 Page 202 345 ...

Page 203: ...sion number It is located in ximc 2 X X ximc doc en libximc7 en pdf Also the programming guide can be downloaded from this link Development kit can be downloaded on Software page Programming guide is Doxygen based Working with controller in Labview Working with controller in Matlab Page 203 345 Page 203 345 ...

Page 204: ...ock contains a numeric field with current position left right and soft stop buttons controls to move to specified coordinate and shift on specified offset To the right of this block you can find HOME ZERO STOP and Exit buttons which perform homing zero current controller position perform fast stop and exit the example respectively The rightmost block is a Move settings dialog which demonstrates ho...

Page 205: ...rameters of this function To call any libximc function one should first enumerate devices by using device_enumerate then pick any device from the list and open it using open_device function then pass resulting handle to desired libximc function After you re finished using the device it should be closed with close_device function Page 205 345 Page 205 345 ...

Page 206: ...t open specified device Device handle is passed to all functions which read data from the controller write data to the controller or send commands to the controller together with appropriate parameters if necessary by function prototype Ximc simple example vi calls command_left command_wait_for_stop and command_stop as an example After you stop using the controller you need to close its handle by ...

Page 207: ...c development kit Copy ximc h win64 libximc dll win64 bindy dll win64 xiwrapper dll win64 wrappers matlab libximc_thunk_pcwin64 dll and win64 wrappers matlab ximc m to examples testmatlab if you are using 64 bit Matlab environment or copy ximc h win32 libximc dll win32 bindy dll win32 xiwrapper dll and win32 wrappers matlab ximcm h if you are using 32 bit one Connect the controller to the PC and r...

Page 208: ...pper dll dynamic link libraries and its header ximc h and additional to libximc_thunk_pcwin64 dll and ximc m files if you are using 64 bin environment Use loadlibrary Matlab function once to load libximc library then use calllib Matlab function to call desired libximc function You will find a list of libximc functions and their input and output parameters in the Programming guide Page 208 345 Page...

Page 209: ...nd GENT Command SPWR Command GPWR Command SSEC Command GSEC Command SEDS Command GEDS Command SPID Command GPID Command SSNI Command GSNI Command SSNO Command GSNO Command SEIO Command GEIO Command SBRK Command GBRK Command SCTL Command GCTL Command SJOY Command GJOY Command SCTP Command GCTP Command SURT Command GURT Command SCAL Command GCAL Command SNMF Command GNMF Command SNVM Command GNVM Gr...

Page 210: ...mmand GSTS Command SMTI Command GMTI Command SMTS Command GMTS Command SENI Command GENI Command SENS Command GENS Command SHSI Command GHSI Command SHSS Command GHSS Command SGRI Command GGRI Command SGRS Command GGRS Command SACC Command GACC Bootloader commands Command GBLV Command IRND Command GUID Command CHMT Controller error response types ERRC ERRD ERRV Protocol description Controller can ...

Page 211: ...lation CRC is calculated for data only 4 byte command identifier is not included CRC algorithm in C is as follows unsigned short CRC16 INT8U pbuf unsigned short n unsigned short crc i j carry_flag a crc 0xffff for i 0 i n i crc crc pbuf i for j 0 j 8 j a crc carry_flag a 0x0001 crc crc 1 if carry_flag 1 crc crc 0xa001 return crc This function receives a pointer to the data array pbuf and data leng...

Page 212: ...ro byte from the controller PC is ready to transmit next command code The rest of zero bytes in transit will be ignored because they will be received before controller response This completes the zero byte synchronization procedure Library side error processing Nearly every library function has a return status of type result_t After sending command to the controller library reads incoming bytes un...

Page 213: ...6U IPS The number of encoder counts per shaft revolution Range 1 655535 The field is obsolete it is recommended to write 0 to IPS and use the extended CountsPerTurn field You may need to update the controller firmware to the latest version INT8U FeedbackType Type of feedback 0x01 FEEDBACK_ENCODER Feedback by encoder 0x03 FEEDBACK_ENCODERHALL Feedback by Hall detector 0x04 FEEDBACK_EMF Feedback by ...

Page 214: ...RSE Reverce count position on the Hall sensor 0xC0 FEEDBACK_ENC_TYPE_BITS Bits of the encoder type 0x00 FEEDBACK_ENC_TYPE_AUTO Auto detect encoder type 0x40 FEEDBACK_ENC_TYPE_SINGLE_ENDED Single ended encoder 0x80 FEEDBACK_ENC_TYPE_DIFFERENTIAL Differential encoder INT16U HallSPR The number of hall steps per revolution INT8S HallShift Phase shift between output signal on BLDC engine and hall senso...

Page 215: ...econd movement the first half turn 0x030 HOME_STOP_FIRST_BITS Bits of the first stop selector 0x010 HOME_STOP_FIRST_REV First motion stops by revolution sensor 0x020 HOME_STOP_FIRST_SYN First motion stops by synchronization input 0x030 HOME_STOP_FIRST_LIM First motion stops by limit switch 0x0C0 HOME_STOP_SECOND_BITS Bits of the second stop selector 0x040 HOME_STOP_SECOND_REV Second motion stops b...

Page 216: ...ECOND_BITS Bits of the second stop selector 0x040 HOME_STOP_SECOND_REV Second motion stops by revolution sensor 0x080 HOME_STOP_SECOND_SYN Second motion stops by synchronization input 0x0C0 HOME_STOP_SECOND_LIM Second motion stops by limit switch 0x100 HOME_USE_FAST Use the fast algorithm of calibration to the home position if set otherwise the traditional algorithm INT8U Reserved 9 Reserved 9 byt...

Page 217: ... motor or RPM s DC Range 1 65535 INT16U Decel Motor shaft deceleration steps s 2 stepper motor or RPM s DC Range 1 65535 INT32U AntiplaySpeed Speed in antiplay mode full steps s stepper motor or RPM Range 0 100000 INT8U uAntiplaySpeed Speed in antiplay mode 1 256 microsteps s Used with stepper motor only INT8U Reserved 10 Reserved 10 bytes INT16U CRC Checksum Description Read command setup movemen...

Page 218: ...reach the predetermined position accurately on low speed 0x10 ENGINE_ACCEL_ON Acceleration enable flag If it set motion begins with acceleration and ends with deceleration 0x20 ENGINE_LIMIT_VOLT Maximum motor voltage limit enable flag is only used with DC motor 0x40 ENGINE_LIMIT_CURR Maximum motor current limit enable flag is only used with DC motor 0x80 ENGINE_LIMIT_RPM Maximum motor speed limit ...

Page 219: ...ed 0x08 ENGINE_ANTIPLAY Play compensation flag If it set engine makes backlash play compensation procedure and reach the predetermined position accurately on low speed 0x10 ENGINE_ACCEL_ON Acceleration enable flag If it set motion begins with acceleration and ends with deceleration 0x20 ENGINE_LIMIT_VOLT Maximum motor voltage limit enable flag is only used with DC motor 0x40 ENGINE_LIMIT_CURR Maxi...

Page 220: ...type_settings_t entype_settings Command code CMD gent or 0x746E6567 Request 4 bytes INT32U CMD Command Answer 14 bytes INT32U CMD Command answer INT8U EngineType Engine type 0x00 ENGINE_TYPE_NONE A value that shouldn t be used 0x01 ENGINE_TYPE_DC DC motor 0x02 ENGINE_TYPE_2DC 2 DC motors 0x03 ENGINE_TYPE_STEP Step motor 0x04 ENGINE_TYPE_TEST Duty cycle are fixed Used only manufacturer 0x05 ENGINE_...

Page 221: ...wer_settings_t power_settings Command code CMD gpwr or 0x72777067 Request 4 bytes INT32U CMD Command Answer 20 bytes INT32U CMD Command answer INT8U HoldCurrent Current in holding regime percent of nominal Range 0 100 INT16U CurrReductDelay Time in ms from going to STOP state to reducting current INT16U PowerOffDelay Time in s from going to STOP state to turning power off INT16U CurrentSetTime Tim...

Page 222: ...Description Set protection settings Command GSEC result_t get_secure_settings device_t id secure_settings_t secure_settings Command code CMD gsec or 0x63657367 Request 4 bytes INT32U CMD Command Answer 28 bytes INT32U CMD Command answer INT16U LowUpwrOff Lower voltage limit to turn off the motor tens of mV INT16U CriticalIpwr Maximum motor current which triggers ALARM state in mA INT16U CriticalUp...

Page 223: ...irst limit switch on the right side if set otherwise on the left side 0x02 ENDER_SW1_ACTIVE_LOW 1 Limit switch connnected to pin SW1 is triggered by a low level on pin 0x04 ENDER_SW2_ACTIVE_LOW 1 Limit switch connnected to pin SW2 is triggered by a low level on pin INT32S LeftBorder Left border position used if BORDER_IS_ENCODER flag is set INT16S uLeftBorder Left border position in 1 256 microste...

Page 224: ...rosteps Used with stepper motor only Range 255 255 INT8U Reserved 6 Reserved 6 bytes INT16U CRC Checksum Description Read border and limit switches settings Command SPID result_t set_pid_settings device_t id const pid_settings_t pid_settings Command code CMD spid or 0x64697073 Request 48 bytes INT32U CMD Command INT16U KpU Proportional gain for voltage PID routine INT16U KiU Integral gain for volt...

Page 225: ... if this flag is set 0x02 SYNCIN_INVERT Trigger on falling edge if flag is set on rising edge otherwise 0x04 SYNCIN_GOTOPOSITION The engine is go to position specified in Position and uPosition if this flag is set And it is shift on the Position and uPosition if this flag is unset INT16U ClutterTime Input synchronization pulse dead time mks INT32S Position Desired position or shift whole steps INT...

Page 226: ...ag otherwise 0x02 SYNCOUT_STATE When output state is fixed by negative SYNCOUT_ENABLED flag the pin state is in accordance with this flag state 0x04 SYNCOUT_INVERT Low level is active if set and high level is active otherwise 0x08 SYNCOUT_IN_STEPS Use motor steps encoder pulses instead of milliseconds for output pulse generation if the flag is set 0x10 SYNCOUT_ONSTART Generate synchronization puls...

Page 227: ...INT16U SyncOutPulseSteps This value specifies duration of output pulse It is measured microseconds when SYNCOUT_IN_STEPS flag is cleared or in encoder pulses or motor steps when SYNCOUT_IN_STEPS is set INT16U SyncOutPeriod This value specifies number of encoder pulses or steps between two output synchronization pulses when SYNCOUT_ONPERIOD is set INT32U Accuracy This is the neighborhood around the...

Page 228: ...active state 0xF0 EXTIO_SETUP_MODE_OUT_BITS Bits of the output behaviour selection 0x00 EXTIO_SETUP_MODE_OUT_OFF EXTIO pin always set in inactive state 0x10 EXTIO_SETUP_MODE_OUT_ON EXTIO pin always set in active state 0x20 EXTIO_SETUP_MODE_OUT_MOVING EXTIO pin stays active during moving state 0x30 EXTIO_SETUP_MODE_OUT_ALARM EXTIO pin stays active during Alarm state 0x40 EXTIO_SETUP_MODE_OUT_MOTOR_...

Page 229: ...UP_MODE_OUT_MOVING EXTIO pin stays active during moving state 0x30 EXTIO_SETUP_MODE_OUT_ALARM EXTIO pin stays active during Alarm state 0x40 EXTIO_SETUP_MODE_OUT_MOTOR_ON EXTIO pin stays active when windings are powered 0x50 EXTIO_SETUP_MODE_OUT_MOTOR_FOUND EXTIO pin stays active when motor is connected first winding INT8U Reserved 10 Reserved 10 bytes INT16U CRC Checksum Description Read EXTIO se...

Page 230: ...Command INT32U MaxSpeed 10 Array of speeds full step using with joystick and button control Range 0 100000 INT8U uMaxSpeed 10 Array of speeds 1 256 microstep using with joystick and button control INT16U Timeout 9 timeout i is time in ms after that max_speed i 1 is applying It is using with buttons control only INT16U MaxClickTime Maximum click time Prior to the expiration of this time the first s...

Page 231: ...INT16U Flags Flags 0x03 CONTROL_MODE_BITS Bits to control engine by joystick or buttons 0x00 CONTROL_MODE_OFF Control is disabled 0x01 CONTROL_MODE_JOY Control by joystick 0x02 CONTROL_MODE_LR Control by left right buttons 0x04 CONTROL_BTN_LEFT_PUSHED_OPEN Pushed left button corresponds to open contact if this flag is set 0x08 CONTROL_BTN_RIGHT_PUSHED_OPEN Pushed right button corresponds to open c...

Page 232: ...e command SCTL If next speed in list is zero both integer and microstep parts the button press is ignored First speed in list shouldn t be zero The DeadZone ranges are illustrated on the following picture The relationship between the deviation and the rate is exponential allowing no switching speed combine high mobility and accuracy The following picture illustrates this The nonlinearity parameter...

Page 233: ...or if this flag is set otherwise it is based on encoder 0x04 CTP_ALARM_ON_ERROR Set ALARM on mismatch if flag set 0x08 REV_SENS_INV Sensor is active when it 0 and invert makes active level 1 That is if you do not invert it is normal logic 0 is the activation 0x10 CTP_ERROR_CORRECTION Correct errors which appear when slippage if the flag is set It works only with the encoder Incompatible with flag ...

Page 234: ...he current position of the encoder Further at each step of the position encoder is converted into steps and if the difference is greater CTPMinError a flag STATE_CTP_ERROR When controlling the step motor with speed sensor CTP_BASE 1 the position is controlled by him The active edge of input clock controller stores the current value of steps Further at each turn checks how many steps shifted When a...

Page 235: ... Command FLT32 CSS1_A Scaling factor for the analogue measurements of the winding A current FLT32 CSS1_B Shift factor for the analogue measurements of the winding A current FLT32 CSS2_A Scaling factor for the analogue measurements of the winding B current FLT32 CSS2_B Shift factor for the analogue measurements of the winding B current FLT32 FullCurrent_A Scaling factor for the analogue measurement...

Page 236: ...R ControllerName 16 User conroller name Can be set by user for his her convinience Max string length 16 chars INT8U CtrlFlags Internal controller settings 0x01 EEPROM_PRECEDENCE If the flag is set settings from external EEPROM override controller settings INT8U Reserved 7 Reserved 7 bytes INT16U CRC Checksum Answer 4 bytes INT32U CMD Command answer Description Write user controller name and flags ...

Page 237: ...32U UserData 7 User data Can be set by user for his her convinience Each element of the array stores only 32 bits of user data This is important on systems where an int type contains more than 4 bytes For example that all amd64 systems INT8U Reserved 2 Reserved 2 bytes INT16U CRC Checksum Description Read userdata from FRAM Group of commands movement control Command STOP result_t command_stop devi...

Page 238: ...mmand Answer 4 bytes INT32U CMD Command answer Description Immediately power off motor regardless its state Shouldn t be used during motion as the motor could be power on again automatically to continue movement The command is designed for manual motor power off When automatic power off after stop is required use power management system Command MOVE result_t command_move device_t id int Position i...

Page 239: ... maximum speed acceleration and deceleration function 1 moves the motor according to the speed FastHome uFastHome and flag HOME_DIR_FAST until limit switch if the flag is set HOME_STOP_ENDS until the signal from the input synchronization if the flag HOME_STOP_SYNC as accurately as possible is important to catch the moment of operation limit switch or until the signal is received from the speed sen...

Page 240: ...tops with deceleration speed Group of commands set the current position Command GPOS result_t get_position device_t id get_position_t the_get_position Command code CMD gpos or 0x736F7067 Request 4 bytes INT32U CMD Command Answer 26 bytes INT32U CMD Command answer INT32S Position The position of the whole steps in the engine INT16S uPosition Microstep position is only used with stepper motors INT64...

Page 241: ... in which the traffic moves by the move command and movr zero for all cases except for movement to the target position In the latter case set the zero current position and the target position counted so that the absolute position of the destination is the same That is if we were at 400 and moved to 500 then the command Zero makes the current position of 0 and the position of the destination 100 Do...

Page 242: ...ers or 0x73726572 Request 4 bytes INT32U CMD Command Answer 4 bytes INT32U CMD Command answer Description Read important settings calibration coefficients and etc from controller s flash memory to controller s RAM replacing previous data in controller s RAM Command EESV result_t command_eesave_settings device_t id Command code CMD eesv or 0x76736565 Request 4 bytes INT32U CMD Command Answer 4 byte...

Page 243: ...STOP Command stop 0x06 MVCMD_HOME Command home 0x07 MVCMD_LOFT Command loft 0x08 MVCMD_SSTP Command soft stop 0x40 MVCMD_ERROR Finish state 1 move command have finished with an error 0 move command have finished correctly This flags is actual when MVCMD_RUNNING signals movement finish 0x80 MVCMD_RUNNING Move command state 0 move command have finished 1 move command is being executed INT8U PWRSts P...

Page 244: ...Flags of security 0x000040 STATE_ALARM Controller is in alarm state indicating that something dangerous had happened Most commands are ignored in this state To reset the flag a STOP command must be issued 0x000080 STATE_CTP_ERROR Control position error is only used with stepper motor 0x000100 STATE_POWER_OVERHEAT Power driver overheat 0x000200 STATE_CONTROLLER_OVERHEAT Controller overheat 0x000400...

Page 245: ...in 0x4000 STATE_ENC_B State of encoder B pin INT8U CmdBufFreeSpace This field shows the amount of free cells buffer synchronization chain INT8U Reserved 4 Reserved 4 bytes INT16U CRC Checksum Description Return device state Useful function that fills structure with snapshot of controller state including speed position and boolean flags Command STMS result_t command_start_measurements device_t id C...

Page 246: ...t in the first coil and in the case of a single DC INT16S WindingCurrentB In the case step motor the current in the coil B brushless if the current in the second coil and in the case of DC is not used INT16S WindingCurrentC In the case of a brushless the current in the third winding in the case step motor and DC is not used INT16U Pot Analog input value in ten thousandths Range 0 10000 INT16U Joy ...

Page 247: ...ytes INT32U CMD Command answer INT8U Major Firmware major version number INT8U Minor Firmware minor version number INT16U Release Firmware release version number INT16U CRC Checksum Description Read controller s firmware version Command UPDF result_t service_command_updf device_t id Command code CMD updf or 0x66647075 Request 4 bytes INT32U CMD Command Answer 4 bytes INT32U CMD Command answer Desc...

Page 248: ... CRC Checksum Answer 4 bytes INT32U CMD Command answer Description Write device serial number and hardware version to controller s flash memory Along with the new serial number and hardware version a Key is transmitted The SN and hardware version are changed and saved when keys match Can be used by manufacturer only Command RDAN result_t get_analog_data device_t id analog_data_t analog_data Comman...

Page 249: ...ge Voltage on pin 2 winding B calibrated data INT16S SupVoltage Voltage on the top of MOSFET full bridge calibrated data INT16S ACurrent Winding A current calibrated data INT16S BCurrent Winding B current calibrated data INT16S FullCurrent Full current calibrated data INT16S Temp Temperature calibrated data INT16S Joy Joystick calibrated data Range 0 10000 INT16S Pot Analog input calibrated data R...

Page 250: ...age_name Command code CMD snme or 0x656D6E73 Request 30 bytes INT32U CMD Command CHAR PositionerName 16 User positioner name Can be set by user for his her convinience Max string length 16 chars INT8U Reserved 8 Reserved 8 bytes INT16U CRC Checksum Answer 4 bytes INT32U CMD Command answer Description Write user stage name from EEPROM Command GNME result_t get_stage_name device_t id stage_name_t st...

Page 251: ...ng length 24 chars INT8U Reserved 24 Reserved 24 bytes INT16U CRC Checksum Description Read stage information from EEPROM Command SSTS result_t set_stage_settings device_t id const stage_settings_t stage_settings Command code CMD ssts or 0x73747373 Request 70 bytes INT32U CMD Command FLT32 LeadScrewPitch Lead screw pitch mm Data type float CHAR Units 8 Units for MaxSpeed and TravelRange fields of ...

Page 252: ...mption Max current consumption A Data type float FLT32 HorizontalLoadCapacity Horizontal load capacity kg Data type float FLT32 VerticalLoadCapacity Vertical load capacity kg Data type float INT8U Reserved 24 Reserved 24 bytes INT16U CRC Checksum Description Read stage settings from EEPROM Command SMTI result_t set_motor_information device_t id const motor_information_t motor_information Command c...

Page 253: ...Number 24 Series and PartNumber Max string length 24 chars INT8U Reserved 24 Reserved 24 bytes INT16U CRC Checksum Description Read motor information from EEPROM Command SMTS result_t set_motor_settings device_t id const motor_settings_t motor_settings Command code CMD smts or 0x73746D73 Request 112 bytes Page 253 345 Page 253 345 ...

Page 254: ...motionless rotor for other types of engines mN m Data type float FLT32 DetentTorque Holding torque position with un powered coils mN m Data type float FLT32 TorqueConstant Torque constant which determines the aspect ratio of maximum moment of force from the rotor current flowing in the coil mN m A Used mainly for DC motors Data type float FLT32 SpeedConstant Velocity constant which determines the ...

Page 255: ...t FLT32 DetentTorque Holding torque position with un powered coils mN m Data type float FLT32 TorqueConstant Torque constant which determines the aspect ratio of maximum moment of force from the rotor current flowing in the coil mN m A Used mainly for DC motors Data type float FLT32 SpeedConstant Velocity constant which determines the value or amplitude of the induced voltage on the motion of DC o...

Page 256: ...oltage V Data type float FLT32 SupplyVoltageMax Maximum supply voltage V Data type float FLT32 MaxCurrentConsumption Max current consumption mA Data type float INT32U PPR The number of counts per revolution INT32U EncoderSettings Encoder settings flags 0x001 ENCSET_DIFFERENTIAL_OUTPUT If flag is set the encoder has differential output else single ended output 0x004 ENCSET_PUSHPULL_OUTPUT If flag i...

Page 257: ...it 0x040 ENCSET_REVOLUTIONSENSOR_PRESENT If flag is set the encoder has revolution sensor else encoder hasn t it 0x100 ENCSET_REVOLUTIONSENSOR_ACTIVE_HIGH If flag is set the revolution sensor active state is high logic state else active state is low logic state INT8U Reserved 24 Reserved 24 bytes INT16U CRC Checksum Description Read encoder settings from EEPROM Command SHSI result_t set_hallsensor...

Page 258: ...ounts per revolution INT8U Reserved 24 Reserved 24 bytes INT16U CRC Checksum Answer 4 bytes INT32U CMD Command answer Description Set hall sensor settings to EEPROM Can be used by manufacturer only Command GHSS result_t get_hallsensor_settings device_t id hallsensor_settings_t hallsensor_settings Command code CMD ghss or 0x73736867 Request 4 bytes INT32U CMD Command Answer 50 bytes INT32U CMD Comm...

Page 259: ...ksum Description Read gear information from EEPROM Command SGRS result_t set_gear_settings device_t id const gear_settings_t gear_settings Command code CMD sgrs or 0x73726773 Request 58 bytes INT32U CMD Command FLT32 ReductionIn Input reduction coefficient Output ReductionOut ReductionIn Input Data type float FLT32 ReductionOut Output reduction coefficient Output ReductionOut ReductionIn Input Dat...

Page 260: ...ue Max continuous torque N m Data type float FLT32 RatedInputSpeed Max speed on the input shaft rpm Data type float FLT32 MaxOutputBacklash Output backlash of the reduction gear degree Data type float FLT32 InputInertia Equivalent input gear inertia g cm2 Data type float FLT32 Efficiency Reduction gear efficiency Data type float INT8U Reserved 24 Reserved 24 bytes INT16U CRC Checksum Description R...

Page 261: ..._BITS Bits of the temperature sensor type 0x00 TS_TYPE_UNKNOWN Unknow type of sensor 0x01 TS_TYPE_THERMOCOUPLE Thermocouple 0x02 TS_TYPE_SEMICONDUCTOR The semiconductor temperature sensor 0x08 TS_AVAILABLE If flag is set the temperature sensor is available INT32U LimitSwitchesSettings Flags of limit switches settings 0x01 LS_ON_SW1_AVAILABLE If flag is set the limit switch connnected to pin SW1 is...

Page 262: ...TYPE_THERMOCOUPLE Thermocouple 0x02 TS_TYPE_SEMICONDUCTOR The semiconductor temperature sensor 0x08 TS_AVAILABLE If flag is set the temperature sensor is available INT32U LimitSwitchesSettings Flags of limit switches settings 0x01 LS_ON_SW1_AVAILABLE If flag is set the limit switch connnected to pin SW1 is available 0x02 LS_ON_SW2_AVAILABLE If flag is set the limit switch connnected to pin SW2 is ...

Page 263: ...nique ID 1 INT32U UniqueID2 Unique ID 2 INT32U UniqueID3 Unique ID 3 INT8U Reserved 18 Reserved 18 bytes INT16U CRC Checksum Description This value is unique to each individual die but is not a random value This unique device identifier can be used to initiate secure boot processes or as a serial number for USB or other end applications Command CHMT result_t command_change_motor device_t id const ...

Page 264: ...wers with errd if the CRC of the data section computed by the controller doesn t match the received CRC field and sets the correspoding bit in status data structure ERRV Answer 4 bytes Code errv or 0x76727265 INT32U errv Value error Description Controller answers with errv if any of the values in the command are out of acceptable range and can not be applied Inacceptable value is replaced by a rou...

Page 265: ...esetRT SyncOUTR EncoderEn EncoderInv ResBEnc ResEnc flags in USMC_Mode are always set to false SyncINOp flag is always set to true USMC_SetMode 7 5 7 Uses all functions used by USMC_GetMode and their set_ equivalents Ignores RotTeEn RotTrOp ResetRT SyncOUTR SyncINOp EncoderEn flags USMC_GetParameters 7 5 8 Uses libximc get_secure_settings get_engine_settings get_move_settings get_feedback_settings...

Page 266: ...es to avoid erroneous timeouts Condition Name Time in milliseconds Enumeration timeout Happens if device type cannot be determined ENUMERATE_TIMEOUT_TIME 100 Port open timeout Happens if library cannot open port DEFAULT_TIMEOUT_TIME 5000 Wait time when no data is received from device DEFAULT_TIMEOUT_TIME 5000 Wait time on device open RESET_TIME 2 50 Wait time from controller reset to device reappe...

Page 267: ...may be grouped into a block using braces Variable declaration var varialble declaration list Variables are declared using var keyword Empty statement Semicolon denotes an empty instruction It is not required to end a line with a semicolon Conditional execution if condition instruction else instruction Conditional execution is done using if else keywords If a condition is true then if block instruc...

Page 268: ... boolean export interface static byte extends long super char final native synchronized class float package throws const goto private transient debugger implements protected volatile double import public Functions Functions are objects in ECMAScript Functions like any other objects can be stored in variables objects and arrays can be passed as arguments to other functions and can be returned by fu...

Page 269: ...nd all libximc library functions see Programming guide Also all constant values from the communication protocol are defined and can be used in scripts Usage example XILab log Logging is done by calling log string text int loglevel function This function adds the text line to the XILab log If the second loglevel parameter is passed the message receives the appropriate logging level and is displayed...

Page 270: ... on success and false on failure Use symbol as path separator this works on all systems Windows Linux Mac 1 Seeking beyond the end of a file If the position is beyond the end of a file then seek shall not immediately extend the file If a write is performed at this position then the file shall be extended The content of the file between the previous end of file and the newly written data is UNDEFIN...

Page 271: ...function and modify required fields set settings type 1 var m get_move_settings m Speed 100 set_move_settings m 2 create an Object and set all of its properties that are present as members of the data structure case sensitive set settings type 2 var m new Object m Speed 100 m uSpeed 0 m Accel 300 m Decel 500 m AntiplaySpeed 10 m uAntiplaySpeed 0 set_move_settings m Please note that in the first ca...

Page 272: ...ar f new_file move_and_sleep csv Choose a file name and path this script uses a file from exam ples in the installation directory f open Open a file while str f read 4096 Read file contents string by string assuming each string is less than 4 KiB long var ar str split Split the string into substrings with comma as a separator the result is an array of strings x ar 0 Variable assignment ms ar 1 Var...

Page 273: ...the mask log to_binary gpio gpio state log to_binary result AND operation on state and mask gives result if result log At least one limit switch is on else log Both limit switches are off Binary representation function function to_binary i bits 32 x i 0 coerce to unsigned in case we need to print negative ints str x toString 2 the binary representation string return repeat 0 bits str slice bits pa...

Page 274: ...7 Files 1 Configuration files 2 Software Page 274 345 Page 274 345 ...

Page 275: ...n files 1 Translation Stages 2 Rotation Stages 3 Vertical Translation Stages 4 Screws and Actuators 5 Motorized Goniometers 6 Mirror Mounts 7 Motorized Attenuators 8 Motorized Iris Diaphragms Page 275 345 Page 275 345 ...

Page 276: ...torized Translation Stage 8MT173 Motorized Translation Stages 8MT173DC Motorized Translation Stages 8MT50 Motorized Translation Stages 8MT30 Narrow Motorized Translation Stages 8MT175 Motorized Translation Stages 8MT177 Motorized Translation Stage 8MT184 Motorized Translation Stage 8MT193 Motorized Translation Stage Page 276 345 Page 276 345 ...

Page 277: ...8MT200 Motorized Translation Stages 8MTF Motorized XY Scanning Stage 8MTF2 Motorized Fiber Coupling Stage 8MTFV Motorized Translation Stage 8MT60 Motorized Translation Stage Page 277 345 Page 277 345 ...

Page 278: ...r Encoder Brake Accessories Peripherals Attenuator Controller XILab 8MT160 300 300 mm 8MT160 300 cfg 8MT160 4247R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT160 300 MEn1 300 mm 8MT160 300 MEn1 cfg 8MT160 4247R HEDM5500R NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 278 345 Page 278 345 ...

Page 279: ...T295 5 740 5918 R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT295X 840 10 840 mm 8MT295X 840 10 cfg 8MT295 10 5918 R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT295X 1040 5 1040 mm 8MT295X 1040 5 cfg 8MT295 5 1040 5918 R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT295Z 340 2 5 340 mm 8MT295Z 340 2 5 cfg 8MT295 2 5 5918 R NoEnc BRAKE AB41 NoAcc Buttons NoAtten Xi...

Page 280: ...c NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT195X 1040 10 1040 mm 8MT195X 1040 10 cfg 8MT195 10 5918 R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT195Z 240 2 5 DC 240 mm 8MT195Z 240 2 5 DC cfg 8MT195 2 5 Maxon 370355 HEDL9140 BRAKE AB41 NoAcc Buttons NoAtten XismusbDef XIDef 8MT195Z 240 2 5 240 mm 8MT195Z 240 2 5 cfg 8MT195 2 5 5918 R NoEnc BRAKE AB41 NoAcc Buttons NoAtten Xismu...

Page 281: ...ttons NoAtten XismusbDef XIDef 8MT167 25LS MEn1 25 mm 8MT167 25LS MEn1 cfg 8MT167LS 28R HEDM5500R NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT167M 25BS1 25 mm 8MT167M 25BS1 cfg 8MT167BS 28R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT167M 25LS 25 mm 8MT167M 25LS cfg 8MT167LS 28R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT167S 25BS1 25 mm 8MT167S 25BS1 cfg 8MT167BS 28...

Page 282: ...S RevS NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT173 20 E4 20 mm 8MT173 20 E4 cfg 8MT173 28R RevS NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT173 20 MEn1 20 mm 8MT173 20 MEn1 cfg 8MT173 28R HEDM5500R NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT173 25 25 mm 8MT173 25 cfg 8MT173 28R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT173 25 MEn1 25 mm 8MT173 25 MEn1 cfg 8MT17...

Page 283: ... R NoBrake NoAcc Buttons NoAtten XismusbDef XIDefDC 8MT173 20DCE2 20 mm 8MT173 20DCE2 cfg 8MT173 DCE2 Maxon 118512 R EncMRtypeS R NoBrake NoAcc Buttons NoAtten XismusbDef XIDefDC 8MT173 25DCE2 25 mm 8MT173 25DCE2 cfg 8MT173 DCE2 Maxon 118512 R EncMRtypeS R NoBrake NoAcc Buttons NoAtten XismusbDef XIDefDC 8MT173 30DCE2 30 mm 8MT173 30DCE2 cfg 8MT173 DCE2 Maxon 118512 R EncMRtypeS R NoBrake NoAcc Bu...

Page 284: ...f 8MT50 150XY 150 mm 8MT50 150XY cfg 8MT50 4247R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT50 150XYZ 150 mm 8MT50 150XYZ cfg 8MT50 4247R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT50 200BS1 200 mm 8MT50 200BS1 cfg 8MT50 4247R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT50 200BS1 MEn1 200 mm 8MT50 200BS1 MEn1 cfg 8MT50 4247R HEDM5500R NoBrake NoAcc Buttons NoA...

Page 285: ...T30 50 MEn1 50 mm 8MT30 50 MEn1 cfg 8MT30 28R HEDM5500R NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT30 50DCE 50 mm 8MT30 50DCE cfg 8MT30DC Maxon 339152 R EncMRtypeML R NoBrake NoAcc Buttons NoAtten XismusbDef XIDefDC 8MT30V 50 VSS42 50 mm 8MT30V 50 VSS42 cfg 8MT30V VSS42 R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT30V 50DCE 50 mm 8MT30V 50DCE cfg 8MT30VDC FAULHABER 1524T006SR I...

Page 286: ...f 8MT175 200 200 mm 8MT175 200 cfg 8MT175 4247R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT175 200 MEn1 200 mm 8MT175 200 MEn1 cfg 8MT175 4247R HEDM5500R NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT175 50 50 mm 8MT175 50 cfg 8MT175 4247R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT175 50 MEn1 50 mm 8MT175 50 MEn1 cfg 8MT175 4247R HEDM5500R NoBrake NoAcc Buttons NoAtt...

Page 287: ...smusbDef XIDef 8MT177 100XY 100 mm 8MT177 100XY cfg 8MT177 4247R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT177 100XYZ 100 mm 8MT177 100XYZ cfg 8MT177 4247R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT177 100 28 100 mm 8MT177 100 28 cfg 8MT177 28R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT177 100 28XY 100 mm 8MT177 100 28XY cfg 8MT177 28R NoEnc NoBrake NoAcc ...

Page 288: ...f 8MT184 13DC 13 mm 8MT184 13DC cfg 8MT184DC FAULHABER 1524T006SR IE2 256 NoBrake NoAcc Buttons NoAtten XismusbDef XIDefDC 8MT184 13XY 13 mm 8MT184 13XY cfg 8MT184 20 Rev NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT184 13XYZ 13 mm 8MT184 13XYZ cfg 8MT184 20 Rev NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT184V 13DC 13 mm 8MT184V 13DC cfg 8MT184DCV FAULHABER 1524T006SR IE2 16...

Page 289: ... Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8MT193 100 100 mm 8MT193 100 cfg 8MT193 4247R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT193 100 E4 DS 100 mm 8MT193 100 E4 DS cfg 8MT193 4247R RevS NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 289 345 Page 289 345 ...

Page 290: ... 2018 Part number Travel range Units Profile Positioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8MT200 100 100 mm 8MT200 100 cfg 8MT200 4247R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 290 345 Page 290 345 ...

Page 291: ...tenuator Controller XILab 8MTF 102LS05 102 mm 8MTF 102LS05 cfg 8MTF 102 28R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MTF 75LS05 75 mm 8MTF 75LS05 cfg 8MTF 75 28R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MTF 75LS1 75 mm 8MTF 75LS1 cfg 8MTF 75 2 28R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 291 345 Page 291 345 ...

Page 292: ... 15 March 2018 Part number Travel range Units Profile Positioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8MTF2 2 mm 8MTF2 cfg 8MTF2 28 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 292 345 Page 292 345 ...

Page 293: ...t number Travel range Units Profile Positioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8MTFV 75_40LS05 42 3 40 mm 8MTFV 75_40LS05 42 3 cfg 8MTFV D423 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 293 345 Page 293 345 ...

Page 294: ...ioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8MT60 200 200 mm 8MT60 200 cfg 8MT60 4247R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MT60V 200 200 mm 8MT60V 200 cfg 8MT60V VSS42 R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 294 345 Page 294 345 ...

Page 295: ...s 8MR174 Motorized Rotation Stage 8MR190 Motorized Rotation Stage 8MR191 Motorized Rotation Stage 8MRB250 Large Motorized Rotation Stage 8MRU Universal Motorized Rotation Stages 8MPR16 1 Motorized Polarizer Rotator 8MRH240 Large High Capacity Rotary Stage Page 295 345 Page 295 345 ...

Page 296: ...cfg 8MR151 28 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MR151 30 E4 360 deg 8MR151 30 E4 cfg 8MR151 28 RevS NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MR151 30 MEn1 360 deg 8MR151 30 MEn1 cfg 8MR151 28 HEDM5500 NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MR151E 1 360 deg 8MR151E 1 cfg 8MR151 28 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MR151E 30 360 deg...

Page 297: ...2018 Part number Travel range Units Profile Positioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8MR170 190 6 deg 8MR170 190 cfg 8MR170 28 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot Page 297 345 Page 297 345 ...

Page 298: ...28S E3 360 deg 8MR174 11 28S E3 cfg 8MR174 28S RevS NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MR174 11 28 MEn1 360 deg 8MR174 11 28 MEn1 cfg 8MR174 28 HEDM5500R NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MR174E 11 20 360 deg 8MR174E 11 20 cfg 8MR174 20 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MR174E 11 28 360 deg 8MR174E 11 28 cfg 8MR174 28 NoEnc NoBrake NoAcc Butt...

Page 299: ...E3 cfg 8MR190 28 RevS NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MR190 2 28 E3 360 deg 8MR190 2 28 E3 cfg 8MR190 28 RevS NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MR190E 2 4233 360 deg 8MR190E 2 4233 cfg 8MR190 4233 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MR190E 2 4247 360 deg 8MR190E 2 4247 cfg 8MR190 4247R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot ...

Page 300: ...musbDef XIDefRot 8MR191 4233 360 deg 8MR191 4233 cfg 8MR191 4233 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MR191 4247 360 deg 8MR191 4247 cfg 8MR191 4247 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MR191 ZSS43 360 deg 8MR191 ZSS43 cfg 8MR191 ZSS43 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MR191E 1 28 360 deg 8MR191E 1 28 cfg 8MR191 28 NoEnc NoBrake NoAcc ...

Page 301: ...s NoAtten XismusbDef XIDefRot 8MR191V VSS42 360 deg 8MR191V VSS42 cfg 8MR191V VSS42 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MR191EV 1 VSS42 360 deg 8MR191EV 1 VSS42 cfg 8MR191V VSS42 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MR191EV 30 VSS42 360 deg 8MR191EV 30 VSS42 cfg 8MR191V VSS42 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MR191EV VSS42 360 deg 8MR...

Page 302: ...ab 8MRB240 152 59 360 deg 8MRB240 152 59 cfg 8MRB240 5918 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MRB240 152 59D 360 deg 8MRB240 152 59D cfg 8MRB240 5918 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MRB450 350 60 MEn2 360 deg 8MRB450 350 60 MEn2 cfg 8MRB450 6018 WEDL5541 B NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot Page 302 345 Page 302 345 ...

Page 303: ...s Peripherals Attenuator Controller XILab 8MRU 1 360 deg 8MRU 1 cfg 8MRU 28S NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MRU 1TP 360 deg 8MRU 1TP cfg 8MRU 28S NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot 8MRU 1WA 360 deg 8MRU 1WA cfg 8MRU 28S NoEnc NoBrake NoAcc Buttons WA XismusbDef XIDefRot Page 303 345 Page 303 345 ...

Page 304: ... number Travel range Units Profile Positioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8MPR16 1 F 360 deg 8MPR16 1 F cfg 8MPR16 FAULHABER AM1020 V 3 16 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot Page 304 345 Page 304 345 ...

Page 305: ...h 2018 Part number Travel range Units Profile Positioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8MRH240 60 360 deg 8MRH240 60 cfg 8MRH240 5918 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDefRot Page 305 345 Page 305 345 ...

Page 306: ...nslation Stages 8MVT100 Vertical Translation Stage 8MVT120 Vertical Translation Stage 8MVT188 Vertical Translation Stage 8MVT40 Vertical Translation Stage 8MVT70 Vertical Translation Stage Page 306 345 Page 306 345 ...

Page 307: ... Part number Travel range Units Profile Positioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8MVT100 25 1 26 mm 8MVT100 25 1 cfg 8MVT100 4118L1804R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 307 345 Page 307 345 ...

Page 308: ...er XILab 8MVT120 5 4247 5 mm 8MVT120 5 4247 cfg 8MVT120 5 4247R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MVT120 12 4247 12 7 mm 8MVT120 12 4247 cfg 8MVT120 12 4247R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MVT120 25 4247 25 4 mm 8MVT120 25 4247 cfg 8MVT120 25 4247R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 308 345 Page 308 345 ...

Page 309: ...8 Part number Travel range Units Profile Positioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8MVT188 20 8744052 steps 8MVT188 20 cfg 8MVT188 5918 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 309 345 Page 309 345 ...

Page 310: ...2018 Part number Travel range Units Profile Positioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8MVT40 13 1 13 mm 8MVT40 13 1 cfg 8MVT40 28SR NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 310 345 Page 310 345 ...

Page 311: ...8 Part number Travel range Units Profile Positioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8MVT70 13 1 13 mm 8MVT70 13 1 cfg 8MVT70 4118S1404R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 311 345 Page 311 345 ...

Page 312: ...Screws and Actuators 8MS00 Motorized Screws 8CMA06 Motorized Actuator 8CMA20 Compact Motorized Actuator 8CMA28 Motorized Linear Actuator 8CMA16DC Motorized Linear Actuator Page 312 345 Page 312 345 ...

Page 313: ... 28R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MS00 25 25 mm 8MS00 25 cfg 8MS00 25 4233 R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MS00 25 28 25 mm 8MS00 25 28 cfg 8MS00 25 28R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MS00V 10 VSS43 10 mm 8MS00V 10 VSS43 cfg 8MS00V 10 VSS43 R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MS00V 25 VSS43 25 mm 8MS00V 25 ...

Page 314: ...troller XILab 8CMA06 13_10 13 mm 8CMA06 13_10 cfg 8CMA06 13 20 Rev NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8CMA06 13_15 13 mm 8CMA06 13_15 cfg 8CMA06 13 20 Rev NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8CMA06 25_15 25 mm 8CMA06 25_15 cfg 8CMA06 25 20 Rev NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 314 345 Page 314 345 ...

Page 315: ...2018 Part number Travel range Units Profile Positioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8CMA20 8_15 8 mm 8CMA20 8_15 cfg 8CMA20 20 Rev NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 315 345 Page 315 345 ...

Page 316: ...h 2018 Part number Travel range Units Profile Positioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8CMA28 10 10 mm 8CMA28 10 cfg 8CMA28 28R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 316 345 Page 316 345 ...

Page 317: ...oBrake NoAcc Buttons NoAtten XismusbDef XIDefDC 8CMA16DC 25_15 25 mm 8CMA16DC 25_15 cfg 8CMA16DC FAULHABER 1524T006SR IE2 256 NoBrake NoAcc Buttons NoAtten XismusbDef XIDefDC 8CMA16DCV 13_15 13 mm 8CMA16DCV 13_15 cfg 8CMA16DCV FAULHABER 1524T006SR IE2 16 NoBrake NoAcc Buttons NoAtten XismusbDef XIDefDC 8CMA16DCV 25_15 25 mm 8CMA16DCV 25_15 cfg 8CMA16DCV FAULHABER 1524T006SR IE2 16 NoBrake NoAcc Bu...

Page 318: ...Motorized Goniometers 8MG00 Motorized Goniometers 8MG99 Motorized Goniometer Page 318 345 Page 318 345 ...

Page 319: ...fg 8MG00 50 4233 R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MG00 80 0 5 deg 8MG00 80 cfg 8MG00 80 4233 R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MG00V 50 0 5 deg 8MG00V 50 cfg 8MG00 50 VSS42 R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MG00V 80 0 5 deg 8MG00V 80 cfg 8MG00 80 VSS42 R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 319 345 Page 319 345...

Page 320: ...g 8MG99 50 4233 R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MG99 80 0 5 deg 8MG99 80 cfg 8MG99 80 4233 R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MG99V 50 0 5 deg 8MG99V 50 cfg 8MG99 50 VSS42 R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MG99V 80 0 5 deg 8MG99V 80 cfg 8MG99 80 VSS42 R NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 320 345 Page 320 345 ...

Page 321: ...is Translation Optical Mount 8MUP21 Motorized Optical Mount 8MBM24 Motorized Mirror Mounts 8MMA60 Motorized Mirror Mounts 8MBM57 Large Aperture Motorized Mirror Mount 8MKVDOM Motorized Vertical drive optical mount Page 321 345 Page 321 345 ...

Page 322: ...date 15 March 2018 Part number Travel range Units Profile Positioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8MTOM2 1 4 mm 8MTOM2 1 cfg 8MTOM2 20 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 322 345 Page 322 345 ...

Page 323: ... 2018 Part number Travel range Units Profile Positioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8MUP21 2 4 mm 8MUP21 2 cfg 8MUP21 20 Rev NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 323 345 Page 323 345 ...

Page 324: ...Attenuator Controller XILab 8MBM24 1 2 4 mm 8MBM24 1 2 cfg 8MBM24 20 Rev NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MBM24 2 2 4 mm 8MBM24 2 2 cfg 8MBM24 20 Rev NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MBM24 3 2 4 mm 8MBM24 3 2 cfg 8MBM24 20 Rev NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 324 345 Page 324 345 ...

Page 325: ...herals Attenuator Controller XILab 8MMA60 1 5 deg 8MMA60 1 cfg 8MMA60 4233 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MMA60 2 5 deg 8MMA60 2 cfg 8MMA60 4233 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MMA60 40 5 deg 8MMA60 40 cfg 8MMA60 4233 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 325 345 Page 325 345 ...

Page 326: ...8MBM57 2 5 deg 8MBM57 2 cfg 8MBM57 28 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MBM57 3 5 deg 8MBM57 3 cfg 8MBM57 28 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MBM57 4 5 deg 8MBM57 4 cfg 8MBM57 28 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MBM57 6 5 deg 8MBM57 6 cfg 8MBM57 28 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 326 345 Page 326 345 ...

Page 327: ...rofile Positioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 8MKVDOM 1 6 mm 8MKVDOM 1 cfg 8MKVDOM 20 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MKVDOM 2 6 mm 8MKVDOM 2 cfg 8MKVDOM 28 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 327 345 Page 327 345 ...

Page 328: ...Motorized Attenuators 10MCWA168 Motorised Closed Variable Wheel Attenuator 10MWA168 Motorized Variable Wheel Attenuator Page 328 345 Page 328 345 ...

Page 329: ... Positioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 10MCWA168 1 360 deg 10MCWA168 1 cfg 10MCWA168 4247 RevS NoBrake NoAcc Buttons WA168 XismusbDef XIDef 10MCWA168 20 360 deg 10MCWA168 20 cfg 10MCWA168 4247 RevS NoBrake NoAcc Buttons WA168 XismusbDef XIDef Page 329 345 Page 329 345 ...

Page 330: ...tioner Motor Encoder Brake Accessories Peripherals Attenuator Controller XILab 10MWA168 1 360 deg 10MWA168 1 cfg 10MWA168 4247ROT NoEnc NoBrake NoAcc Buttons WA168 XismusbDef XIDef 10MWA168 20 360 deg 10MWA168 20 cfg 10MWA168 4247ROT NoEnc NoBrake NoAcc Buttons WA168 XismusbDef XIDef Page 330 345 Page 330 345 ...

Page 331: ...Motorized Iris Diaphragms 8MID98 Motorized Iris Diaphragm Page 331 345 Page 331 345 ...

Page 332: ...s Attenuator Controller XILab 8MID98 4 90 93 mm 8MID98 4 90 cfg 8MID98 4 90 28 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MID98 4 H 94 mm 8MID98 4 H cfg 8MID98 28 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef 8MID98 4 N 94 mm 8MID98 4 N cfg 8MID98 28 NoEnc NoBrake NoAcc Buttons NoAtten XismusbDef XIDef Page 332 345 Page 332 345 ...

Page 333: ...tions 1 Download firmware file 2 Start XILab 3 It is recommended to make a backup of your XILab configuration file before firmware update 4 Open Settings Device configuration About device press Update button select new firmware file press Open 5 XILab might stop responding for a while Please wait while firmware is being uploaded it should take about 10 15 seconds 6 If settings have changed then lo...

Page 334: ...d Download Download Download 1 12 13 Download Download Download Download Download Download 1 12 10 Download Download Download Download Download Download 1 12 8 Download Download Download Download Download Download 1 11 12 Download Download Download Download Download Download 1 11 10 Download Download Download Download Download 1 10 14 Download Download Download Download Download 1 10 11 Download D...

Page 335: ... 12 0 Download for Labview 8 0 2 3 2 Download 2 3 1 Download 2 3 0 Download Download for Labview 12 0 Download for Labview 8 6 Download 2 2 2 Download Download for Labview 12 0 Download 2 2 1 Download Download for Labview 12 0 Download 2 2 0 Download 2 0 5 Download Officially supported Labview 12 0 other versions are re saving with compatibility for earlier versions not tested The build instructio...

Page 336: ...col version XILab libximc firmware 16 3 1 8 28 1 8 30 2 0 5 3 8 3 3 8 4 16 6 1 9 11 1 9 18 2 2 1 2 2 2 3 8 7 3 8 11 16 6 1 10 6 1 10 14 2 3 0 2 3 2 3 8 7 3 8 11 16 8 1 11 10 1 11 12 2 5 0 3 9 5 3 9 8 16 8 1 12 7 1 12 8 2 8 0 3 9 5 3 9 8 16 10 1 12 10 2 8 4 2 8 5 3 9 9 16 10 1 12 13 2 8 7 3 9 10 3 9 11 16 11 1 12 14 2 8 8 2 8 9 3 9 12 16 12 1 12 15 2 8 10 3 9 14 16 12 1 12 18 2 8 10 2 8 12 3 9 14 3...

Page 337: ...Version Linux x32 Linux x64 Mac OS Windows Java 0 1 0 Download Download Download Download Download REVEALER changelog View Page 337 345 Page 337 345 ...

Page 338: ...8 Related products 1 Ethernet adapter Page 338 345 Page 338 345 ...

Page 339: ...8 1 Control via Ethernet 1 Overview 2 Administration Page 339 345 Page 339 345 ...

Page 340: ...llers 1 TANGO control system interface 2 XiLab and libximc oriented XIMC interface Moreover 8SMC4 USB Eth1 is equipped with embedded web based administration interface which enables the end user to conveniently control the device and monitor its state The appearance of the system from different perspectives all necessary connectors in current version are marked with bold Front view Left to right p...

Page 341: ...220V socket should be available Ethernet cable USB cable 1 The vendor code was changed in 2017 earlier this product had the vendor code 8SMC4 USB Eth Page 341 345 Page 341 345 ...

Page 342: ...0 1 0 jar file to launch the utility Otherwise it means that you don t have JRE installed and have two options 1 Download our ready made packages for your operating system containing the Revealer utility and all the stuff necessary to make it work In this case you just need to launch Revealer executable 2 Install JRE A good candidate is Oracle JRE which you can install following the official instr...

Page 343: ...l services panel contains a list of all currently available motion control services Clicking on services title opens an appropriate settings panel or none if service has no alterable settings Clicking Apply button in settings panel will persist settings in database and restart corresponding service Note Motion control services are mutually exclusive only one can be active at any given moment Start...

Page 344: ... to substitute the device names with yours Windows family OS 1 Download Win32 Disk Imager official site and start it 2 Specify autoinstaller image path in Image File field 3 Select your MicroSD drive in Device list 4 Press Write button and wait till progressbar completes 5 Insert the microSD card with the image into your 8SMC4 USB Eth1 and turn it on or reboot 6 Wait approximately 10 minutes to le...

Page 345: ... Power off the device Press and hold FEL button it s near LAN and USB OTG connectors While still holding the button connect USB OTG to your PC and then release the button 6 You might need to explicitly install driver for the device on Windows family OS 1 Navigate to the Device Manager 2 Locate Unknown Device and right click on it 3 In the context menu press Update driver software 7 Specify Phoenix...