BBD203 - Benchtop Brushless DC Motor Controllers Manual

BBD202BrushlesUser Gu and BBD203s DC Servo Controllerside2ContentsChapter 1 For Your Safety ............................................................................. 41.1 Safety Information .................................................................................. 41.2 General Warnings .................................................................................. 4Chapter 2 Overview and Setup ..................................................................... 52.1 Introduction ............................................................................................. 52.2 APT PC Software Overview ................................................................... 72.2.1 Intro2.2.2 APT2.2.3 APT2.2.4 APT2.2.5 SoftChapter 3 Getting3.1 Insta3.2 Mech3.2.1 Sitin3.2.2 Env3.3 Elect3.3.1 Con3.4 Fuse3.4.1 Rea3.5 Fron3.6 Conn3.7 Verif3.7.1 InitiaChapter 4 Operat4.1 Introd4.2 Using4.3 Hom4.4 Movi4.5 Chan4.6 Jogg4.7 Grap4.8 Settin4.9 Using4.10 Exter4.11 CreaContinued...HA0273T Rev C Nov 2012 duction ......................................................................................................... 7User Utility ................................................................................................... 8 Config Utility ............................................................................................... 9 Server (ActiveX Controls) ........................................................................... 9ware Upgrades ........................................................................................... 11 Started ............................................................................ 12lling APT Software ........................................................................ 12anical Installation ......................................................................... 13g ................................................................................................................ 13ironmental Conditions ................................................................................ 13rical Installation ............................................................................. 14necting To The Supply ............................................................................... 14s .................................................................................................... 14r Panel Connections .................................................................................. 15t Panel Controls and Indicators .................................................... 16ecting The Hardware and Powering Up ....................................... 17ying Software Operation ............................................................... 18l Setup ....................................................................................................... 18ion - Tutorial ................................................................... 19uction 1........................................................................................... 9 the APT User Utility .................................................................... 20ing Motors ..................................................................................... 21ng to an Absolute Position ............................................................ 22ging Motor Parameters ................................................................ 23ing ................................................................................................. 24hical Control Of Motor Positions (Point and Move) ...................... 25g Move Sequences ..................................................................... 27 A Joystick Console ..................................................................... 30nal Triggering ............................................................................... 31ting a Simulated Configuration Using APT Config ........................ 312- and 3--Channel Brushless DC Servo ControllerChapter 5 Software Reference .................................................................... 355.1 Introduction ........................................................................................... 355.2 GUI Panel ............................................................................................. 355.3 Settings Panel ...................................................................................... 375.3.1 Moves/Jogs tab ................................................................................................ 375.3.2 Stage/Axis tab .................................................................................................. 415.3.3 Advanced - Control Loop SettingsTab ............................................................. 445.3.4 Advanced - Misc. Tab ...................................................................................... 485.4 Troubleshooting and Restoring Default Parameters ............................ 54AppendicesAppendix A RearRear Panel MOTORRear Panel FEEDBARear Panel USER IORear Panel AUX I/ORear Panel HANDSRear Panel INTERCAppendix B UsinAppendix C PrevSafety Testing .......Fuses .....................Cleaning ................Appendix D SpecSpecifications .......Appendix E MotoAppendix F ReguDeclarations Of ConWaste Electrical andAppendix G Thor3 Panel Connector Pinout Details .................................... 56 DRIVE Connectors ...................................................................... 56CK Connector .............................................................................. 56 Connector .................................................................................. 57 Connector .................................................................................... 60ET/RS232 Connector .................................................................... 63ONNECT Connector .................................................................... 64g the RS232 or Virtual Comm Port ................................. 65entive Maintenance ......................................................... 68....................................................................................................... 68....................................................................................................... 68....................................................................................................... 68ifications and Associated Parts .................................... 69........................................................................................................ 69r Control Method Summary ........................................... 70latory ................................................................................ 74formity .......................................................................................... 74 Electronic Equipment (WEEE) Directive ..................................... 75labs Worldwide Contacts ............................................... 794Chapter 1 For Your Safety1.1 Safety InformationFor the continuing safety of the operators of this equipment, and the protection of theequipment itself, the operator should take note of the Warnings, Cautions and Notesthroughout this handbook and, where visible, on the product itself.The following safety symbols may be used throughout the handbook and on theequipment itself.1.2 General WarGiveGiClarIf this equipmprotectionSpillage of fluidoccur, clean upningsShock Warningn when there is a risk of injury from electrical shock.WarningGiven when there is a risk of injury to users.Cautionven when there is a risk of damage to the product.Noteification of an instruction or additional information.Warningsent is used in a manner not specified by the manufacturer, the provided by the equipment may be impaired. In particular, excessive moisture may impair operation., such as sample solutions, should be avoided. If spillage does immediately using absorbant tissue. Do not allow spilled fluid to enter the internal mechanism.2- and 3--Channel Brushless DC Servo ControllerChapter 2 Overview and Setup2.1 IntroductionThe BBD series Brushless DC Motor Controllers are ideal for motion controlapplications demanding high speed (100s of mm/s) and high encoder resolution(<100 nm) operation. These new controllers offer up to three channels of high-precision motion control in a wide range of applications, and in particular inmicroscopy samscanning stage.bandwidth high-driving a range ocoil current. Integrated into tprogramming intmotion control aallowing the optnew programmiadded..Fig. 2.1 AP5ple manipulation when used along with our MLS203 dual axis Designed using latest digital and analog techniques and with high-power servo control circuitry, these new controllers are capable off rotary and linear brushless 3-phase DC motors of up to 5 Amp peakhe apt family of products, it offers Thorlabs standard control anderface, allowing easy integration into the customer’s own automatedpplications. These units are cable of being reprogrammed in-field,ion of upgrading the units with future firmware releases as soon asng interfaces (such as microscopy standard command sets) areT Three Channel Brushless DC Servo Motor Controller (BBD203)6Chapter 2Operation of the BBD series brushless DC motor unit is fully configurable(parameterized) with key settings (e.g. PID settings, min and max position values, andlimit switch operation) exposed through the associated graphical interface panels. PID control loop values can be adjusted for a particular application, minimum andmaximum position values can be entered to suit different stages as required, and limitswitch configuration is accommodated through a flexible set of limit switch logicsettings. Moreover, relative and absolute moves can be initiated with move profilesset using velocity profile parameters. Similarly, home sequences have a full set ofassociated parameters that can be adjusted for a particular stage or actuator. Forsimplicity of opeeach of the Thindividually for uFor conveniencethrough direct inposition can be ivalue (see the tuand parameters for automated alIn the remaindeinitial understandall operating moHA0273T Rev C Nov 2012 ration, the apt™ software incorporates pre-configured settings fororlabs stages and actuators, while still exposing all parametersse with other DC motor driven systems. and ease of use, adjustment of many key parameters is possibleteraction with the graphical panel. For example a move to the nextnitiated by clicking directly on the position display and entering a newtorial in Chapter for further details). Furthermore, all such settingsare also accessible through the ActiveX® programmable interfacesignment sequences. r of this handbook, the Tutorial section (Chapter ) provides a gooding on using the unit, and the reference sections (Chapter 5) coversdes and parameters in detail.2- and 3--Channel Brushless DC Servo Controller2.2 APT PC Software Overview2.2.1 IntroductionAs a member of the APT range of controllers, the BBD202 and BBD203 DC motorcontrollers share many of the associated software benefits. This includes USBconnectivity (allowing multiple units to be used together on a single PC), fully featuredGraphical User Interface (GUI) panels, and extensive software function libraries forcustom application development.The APT software suite supplied with all APT controllers, including the BBD202 andBBD203 DC Servo controllers, provides a flexible and powerful PC based controlsystem both foautomate its opeFor users, the Autilities allow fullof-box’ operatioutilities are built APT server) whias generation oflogging of all syserver ‘engine’ thautomated positis described in mAsideActiveX®, a Winto quickly develohardware units. include Visual Band many otherenvironments suActiveX controlsinterface and a type of APT hasoftware develop7r users of the equipment, and software programmers aiming toration.PTUser (see Section 2.2.2.) and APTConfig (see Section 2.2.3.) control of all settings and operating modes enabling complete ‘out-n without the need to develop any further custom software. Bothon top of a sophisticated, multi-threaded ActiveX ‘engine’ (called thech provides all of the necessary APT system software services such GUI panels, communications handling for multiple USB units, andstem activity to assist in hardware trouble shooting. It is this APTat is used by software developers to allow the creation of advancedioning applications very rapidly and with great ease. The APT serverore detail in Section 2.2.4.dows®-based, language-independent technology, allows a userp custom applications that automate the control of APT systemDevelopment environments supported by ActiveX® technologyasic®, LabView™, Borland C++ Builder, Visual C++, Delphi™,s. ActiveX® technology is also supported by .NET developmentch as Visual Basic.NET and Visual C#.NET. are a specific form of ActiveX technology that provide both a userprogramming interface. An ActiveX control is supplied for eachrdware unit to provide specific controller functionality to theer. See Section 2.2.4. for further details.8Chapter 22.2.2 APTUser UtilityThe APTUser application allows the user to interact with a number of APT hardwarecontrol units connected to the host PC. This program displays multiple graphicalinstrument panels to allow multiple APT units to be controlled simultaneously.All basic operatimotor moves) caloaded to allow m For many usersto operate the software. For thcontroller (e.g. tothe rich functionapplication. Use of the APT Uonline help file, aHA0273T Rev C Nov 2012 ng parameters can be altered and, similarly, all operations (such asn be initiated. Settings and parameter changes can be saved andultiple operating configurations to be created and easily applied., the APTUser application provides all of the functionality necessaryAPT hardware without the need to develop any further customose who do need to further customise and automate usage of the implement a positioning algorithm), this application illustrates howality provided by the APT ActiveX server is exposed by a clientser utility is covered in the PC tutorial (Chapter ) and in the APTUserccessed via the F1 key when using the APTUser utility.2- and 3--Channel Brushless DC Servo Controller2.2.3 APT Config UtilityThere are many system parameters and configuration settings associated with theoperation of the APT Server. Most can be directly accessed using the variousgraphical panels, however there are several system wide settings that can be made'off-line' before running the APT software. These settings have global effect; such asswitching between simulator and real operating mode, and associating third partymechanical stages to specific motor actuators. If a BBD series stage-associatedcontroller.The APTConfig wide settings anoverview of APTonline help supp2.2.4 APT ServActiveX Controlsgraphical user iavailable for Winfunctionality. Fomanipulate imagcomponents sucWith the APT syalso reflect the sand BBD203 DCare often referre9controller is used with the MLS203 microscopy scanning stage, all settings are made automatically when the stage is connected to theutility is provided as a convenient means for making these systemd adjustments for third party brushless DC motor driven stages. AnConfig is provided in Section 2.2.3. Full details are contained in thelied with the utility.er (ActiveX Controls) are re-usable compiled software components that supply both anterface and a programmable interface. Many such Controls aredows applications development, providing a large range of re-usabler example, there are Controls available that can be used toe files, connect to the internet or simply provide user interfaceh as buttons and list boxes. stem, ActiveX Controls are deployed to allow direct control over (andtatus of) the range of electronic controller units, including the BBD202 motor controllers. Software applications that use ActiveX Controlsd to as 'client applications'. Based on ActiveX interfacing technology,10Chapter 2an ActiveX Control is a language independent software component. ConsequentlyActiveX Controls can be incorporated into a wide range of software developmentenvironments for use by client application developers. Development environmentssupported include Visual Basic, Labview, Visual C++, C++ Builder, HPVEE, Matlab,VB.NET, C#.NET and, via VBA, Microsoft Office applications such as Excel and Word.Consider the ActiveX Control supplied for one channel of the BBD203 APT BrushlessDC Servo Controller unit. This Control prounit to be manuacalled methods)automated by a cstate of the conUpdates to the making softwareinstructs the assis reflected autowithout the needHA0273T Rev C Nov 2012 vides a complete user graphical instrument panel to allow the motorlly operated, as well as a complete set of software functions (often to allow all parameters to be set and motor operations to belient application. The instrument panel reflects the current operatingtroller unit to which it is associated (e.g. such as motor position).panel take place automatically when a user (client) application is calls into the same Control. For example, if a client applicationociated DC motor Control to move a motor, the progress of that movematically by changing position readouts on the graphical interface, for further programming intervention.2- and 3--Channel Brushless DC Servo ControllerThe APT ActiveX Controls collection provides a rich set of graphical user panels andprogrammable interfaces allowing users and client application developers to interactseamlessly with the APT hardware. Each of the APT controllers has an associatedActiveX Control and these are described fully in system online help or the handbooksassociated with the controllers. Note that the APTUser and APTConfig utilities takeadvantage of and are built on top of the powerful functionality provided by the APTActiveX Server (as shown in Fig. 2.2).Refer to the maprogrammers gucollection. Additisupplied with evsamples and ccontrollers.2.2.5 SoftwareThorlabs operateupgrades as necDetailed instrucCD ROM.11Fig. 2.2 System Architecture Diagramin APT Software online help file, APTServer.hlp, for a completeide and reference material on using the APT ActiveX Controlsonal software developer support is provided by the APT Support CDery APT controller. This CD contains a complete range of tutorialoding hints and tips, together with handbooks for all the APT Upgrades a policy of continuous product development and may issue softwareessary. tions on installing upgrades are included on the APT Software12Chapter 3 Getting Started3.1 Installing APT SoftwareDO NOT CONN1) Insert the CD2) The CD shou‘autorun.exe3) A Welcome dstrongly advi4) Once you aSoftware’ hy5) Follow the oinformation.NoteWhen operating via a PC, direct user interaction with the unit is accomplished through intuitive graphical user interface panels (GUIs), which expose all key operating parameters and modes. The user can select multiple panel views displaying different information about a particular hagraphicaSome PCs msoftware, andin any doubtIf you experien+ECT THE CONTROLLER TO YOUR PC YET into your PC.ld run automatically. If your CD does not start, double click the file’, found on the Software CD.ialogue screen is displayed. Before installing the software, you aresed to read the Installation Guide. Click the associated link.re familiar with the installation procedure, click the ‘Install APTperlink displayed on the Welcome dialogue screen.n-screen instructions - see the Installation Guide supplied for morerdware unit. The multitasking architecture ensures that the l control panels always remain live, showing all current hardware activity.Cautionay have been configured to restrict the users ability to load on these systems the software may not install/run. If you are about your rights to install/run software, please consult your system administrator before attempting to install.ce any problems when installing software, contact Thorlabs on 44 (0)1353 654440 and ask for Technical Support.2- and 3--Channel Brushless DC Servo Controller3.2 Mechanical Installation3.2.1 SitingThe unit is designed to be mounted free standing on a shelf, benchtop or similarsurface.3.2.2 EnvironmLocationMaximum altitudTemperature ranMaximum HumidTo ensure reliabexcessive moistuIf the unit has beit must be alloweCautionWhen siting the unit, it should be positioned so as not to impede the operation of the rear panel power supply switch. Ensure that proper airflow is maintained to the rear of the unit.Operation ou13ental ConditionsIndoor use onlye 2000 mge 5oC to 40oCity Less than 80% RH (non-condensing) at 31°Cle operation the unit should not be exposed to corrosive agents orre, heat or dust.en stored at a low temperature or in an environment of high humidity,d to reach ambient conditions before being powered up.Warningtside the following environmental limits may adversely affect operator safety.14Chapter 33.3 Electrical Installation3.3.1 Connecting To The Supply3.4 FusesTwo T 3.15A/25for the live feed When replacing 1) Switch off thcover.2) Always replaShock WarningThe unit must be connected only to an earthed fused supply of 110 to 230V.Use only power supply cables supplied by Thorlabs, other cables may not be rated to the same current. The unit is shipped with appropriate power cables for use in the UK, Europe and the USA. When shipped to other territories thFuseF1F2HA0273T Rev C Nov 2012 0V a.c. antisurge ceramic fuses are located on the back panel, oneand one for the neutral as follows:fuses:e power and disconnect the power cord before removing the fusece broken fuses with a fuse of the same rating and type.e appropriate power plug must be fitted by the user. Cable identification is as follows:Brown LiveBlue NeutralGreen/Yellow Earth/GroundRating Type Fused LineT 3.15A ceramic; antisurge Live feedT 3.15A ceramic; antisurge Neutral feed2- and 3--Channel Brushless DC Servo Controller3.4.1 Rear Panel ConnectionsCH ID - For chanMOTOR DRIVEactuators - see FEEDBACK - PSection A.2.USER I/O - Thefor external contUSB - USB portHANDSET IN - PINTERCONNECTRIG IN – For FTRIG OUT – ForAUX I/O - The Aconvenience, a nneed for extra Pprogrammable lexternal devicesSection A.4. for The USB cablUSBCH1 ID CH2 ID CH3 ID85 - 264 VAC 47 - 63Hz 250VACH1 FEEDBACKCH1 MOTOR DRIVE CH2 MOTOR DRIVE CH3 MOTOR DRIVECH2 FEEDBACK CH3 FEEDBACK15Fig. 3.1 Rear panel connectionsnel selection when using the MJC001 joystick - see Section 4.9. - Provides all phase current drive connections to the DC motorSection A.1.rovides connection for the position encoder feedback signals - see ‘USER I/O’ connector exposes a number of electrical signals usefulrol and monitoring - see Section A.3. for more details. for system communications. rovides connection for the Thorlabs Joystick, MJC001 - see Section A.5.T - For use in RS232 communications - see Section A.6.uture Use. Future Use.UX I/O connector exposes a number of internal electrical signals. Forumber of logic inputs and outputs are included, thereby negating theC based IO hardware. Using the APT support software, these userogic lines can be deployed in applications requireing control of such a relays, light sources and other auxillairy equipment. - seefurther details.Notee length should be no more than 3 metres unless a powered USB hub is being used. FUSES F1 and F2 T3.15A ANTISURGECERAMICHANDSET IN AUX I/OINTERCONNECT TRIG OUTTRIG INCH1 USER IO CH2 USER IO CH3 USER IO16Chapter 33.5 Front Panel Controls and Indicators Power LED – InEnable button –is lit when the chbe operated manNote. On BBD20channel is addedrepresentative foCHANNEL ENABLE12PowerHA0273T Rev C Nov 2012 Fig. 3.2 Front panel controls and indicatorsdicates that power is applied to the unit. Used to enable/disable channel functionality. The associated LEDannel is enabled. Disabling the channel allows the motor actuator toually. 2 units, the Channel 3 LED is not used. It becomes active if a third later by fitting an additional DC driver card. Contact your Thorlabsr more information.3apt Brushless Servo Controller2- and 3--Channel Brushless DC Servo Controller3.6 Connecting The Hardware and Powering Up1) Install the APT Software - see Section 3.1.2) Connect the stage to the Controller unit.3) Connect the Controller unit to your PC. 4) Connect the WindowsTM drivers for th5) Wait until theinitialisation i6) Run the APThoming is coflashing.7) The stage camove each athe APT serv8) See the Getmanual, for aNoteThe USB cable length should be no more than 3 metres unless a powered USB hub is being used.3-phase brucontroller ddepends on tof the coil hoThe controlleresulting movslight buzzininitialisatio17Controller unit to the power supply and switch ‘ON’.should detect the new hardware. Wait while WindowsTM installs thee new hardware - see the Getting Started guide for more information Channel Enable LEDs stop flashing (~3s). This indicates that phases complete.User utility and click the ‘Home’ button on each GUI panel. Whenmplete, the Channel Enable LEDs on the controller front panel stopn now be moved using the GUI panel, or by sending commands toxis by relative and absolute amounts – see the helpfile supplied wither for more information.ting Started Guide supplied with the controller, or Chapter of this brief tutorial on operation of the unit.Noteshless DC motors are commutated electronically, i.e. the rives the coils with a precisely controller waveform, that he position of the rotor (or, with linear motors, the position using). On power up, the position of the rotor is not known. r establishes this by energising the coils and measuring the ement. This is why on power up, the stage (motor) makes a g noise and moves about slightly for a few seconds. Phase n can only take place if the motor can move unobstructed during this time. 18Chapter 33.7 Verifying Software Operation3.7.1 Initial SetupThe APT Software should be installed (Section 3.1.) and the power up procedureperformed (Section 3.6.) before software operation can be verified.1) Run the APTUser utility and check that the Graphical User Interface (GUI) panelsappear and are active (one panel for each channel of operation).2) Click the ‘Ideis useful in mwith which G3) Click the jog to the controincrement anFollow the tutoriaThe 'APTconfigurationis possible tounits in orderfeature, desigAny numberreal system, wIf using real simulateConfiguratiHA0273T Rev C Nov 2012 Fig. 3.3 Gui panel showing jog and ident buttonsnt’ button. The LED on the front panel of the controller flashes. Thisulti-channel systems for identifying which driver unit is associatedUI.buttons on the GUI panel and check that the motor or axis connectedller moves. The position display for the associated GUI shouldd decrement accordingly.l steps described in Chapter for further verification of operation. Note Config' utility can be used to set up simulated hardware s and place the APT Server into simulator mode. In this way it create any number and type of simulated (virtual) hardware to emulate a set of real hardware. This is a particularly useful ned as an aid to application program development and testing. of 'virtual' control units are combined to build a model of the hich can then be used to test the application software offline.hardware, ensure that Simulator Mode is disabled. If using a d setup, enable Simulator Mode and set up a ‘Simulated on’ - see Section 4.11. or the APTConfig helpfile for detailed instructions.Chapter 4 Operation - Tutorial4.1 IntroductionThe following brief tutorial guides the user through a typical series of moves andparameter adjustments performed using the PC based APT software. It assumes thatthe unit is electrically connected as shown in Section 3.4.1. that the APT Software isalready installed - see Section 3.1. and that the stage being driven is the ThorlabsMLS203 microscThe APTServeperforming a mcustom softwbeing used timplementedmotors before cause an errorunit andThe maximum400 mm/secresult, the operation imWhen the svelocity is limthe controllemoved manuBBD101 conincorrect encin sudden unstagThe BBD copulses. If thicontroller muIf this fault joystick, in thand all ope19opy scanning stage. Warningr includes built in safety features which prevent the user from ove before the actuators being driven have been ‘homed’. If a are application, which operates outside of the APTServer, is o position the actuator, then these safety features will not be . In this case, it is the responsibility of the user to home the performing any further moves. Failure to home the motors will in positional information which could result in damage to the possible injury to personnel operating the equipment.Caution velocity at which the encoder can operate is approximately . Above this speed, encoder pulses may be lost and, as a position readout becomes incorrect. This renders normal possible because phase commutation of the motor is also based on the encoder reading. tage is controlled by the BBD101 controller, the maximum ited to safe values. However, if the output is disabled (with r connected and monitoring the position) and the stage is ally at high speeds, it is possible to exceed this limit. If the troller is subsequently used again to move the stage, the oder reading will cause incorrect operation, often resulting controlled moves. It is therefore important not to move the e excessively quickly when it is moved manually. ntroller has fault monitoring to detect the loss of encoder s fault occurs, an error message will be generated and the st be powered down and re-started so that correct phasing and commutation can be established.occurs when the stage is being controlled via the MJC001 e absence of a PC, the red LED on the joystick console is lit, ration is suspended until the controller is shut down and rebooted.20Chapter 44.2 Using the APT User UtilityThe APT User.exe application allows the user to interact with any number of APThardware control units connected to the PC USB Bus (or simulated via the APTConfigutility). This program allows multiple graphical instrument panels to be displayed sothat multiple APT units can be controlled. All basic operating parameters can be setthrough this program, and all basic operations (such as motor moves) can be initiated.Hardware configurations and parameter settings can be saved to a file, whichsimplifies system set up whenever APT User is run up.1) Run the APTHA0273T Rev C Nov 2012 Fig. 4.1 Typical APT User Screen User program - Start/All Programs/Thorlabs/APT User/APT User.2- and 3--Channel Brushless DC Servo Controller4.3 Homing MotorsThe need for homing comes from the fact that on power up the motor (stage) is at arandom position, so the value of the position counter is meaningless. Homing involvesmoving the motor to a known reference marker and resetting the position counter tothe associated absolute value. This reference marker can be one of the limit switchesor can be provided by some other signal. The MLS series stages use an electronicreference marker and therefore the limit switches are not used for reference. 1) Click the ‘Hohoming is in 2) When hominIf a move is‘Homed’ thethe u21Fig. 4.2 Motor Controller Software GUIme’ button. Notice that the led in the button lights to indicate thatprogress.g is complete, the ‘Homed’ LED is lit as shown above.Note demanded on a particular axis, before the axis has been n a Windows ‘Event Information’ panel is displayed, telling ser that the axis must be homed before operation.22Chapter 44.4 Moving to an Absolute PositionAbsolute moves are measured in real world units (e.g. millimetres), relative to theHome position.1) Click the position display.2) Enter 3.0 into3) Click ‘OK’. Nto the absoluHA0273T Rev C Nov 2012 Fig. 4.3 Absolute Position Popup Window the pop up windowotice that the position display counts up to 3.000 to indicate a movete position 3.00mm.2- and 3--Channel Brushless DC Servo Controller4.5 Changing Motor Parameters1) On the GUI panel, click the ‘Settings’ button (bottom right hand corner of thedisplay) to display the Settings panel.2) Select the M3) In the ‘Moves‘Max. Vel’ - ‘1‘Accn/Dec’ - 4) Click ‘OK’ to 5) Any further mvelocity of 10NoteMoves are performed using a Trapezoidal or S-Curve velocity profile (see Section 5.3.4.). The velocity settings relate to the maximum velocity at which a move is performed, and the acceleration at which the motor speeds up from zero to maximum velocity.23Fig. 4.4 Settings Panel - Move/Jogs Tabove/Jogs tab as shown in Fig. 4.4.’ field, change the parameters as follows:00’‘200’save the settings and close the window.oves initiated on channel 1 will now be performed at a maximum0 mm per second, with an acceleration of 200 mm/sec/sec.24Chapter 44.6 JoggingDuring PC operation, the motor actuators are jogged using the GUI panel arrow keys.There are two jogging modes available, ‘Single Step’ and ‘Continuous’. In ‘SingleStep’ mode, the motor moves by the step size specified in the Step Distanceparameter each time the key is pressed. In ‘Continuous’ mode, the motor actuator willaccelerate and move at the jog velocity while the button is held down.1) On the GUI panel, click the ‘Settings’ button to display the Settings panel.2) Select the M3) In the ‘Jogs’ these param‘Max. Vel’ - ‘5‘Accn/Dec’ - Operating Mo‘Jogging’ - ‘S‘Stopping’ - ‘‘Step Distanc4) Click ‘OK’ to 5) Click the Jogdisplay increHA0273T Rev C Nov 2012 Fig. 4.5 Settings Panel - Move/Jogs Tabove/Jogs tab as shown in Fig. 4.5.field, enter parameters as follows: (see Section 5.3.1. for details ofeters).0’‘50’desingle Step’Profiled’e’ - ‘0.5’save the settings and close the window. Arrows on the GUI panel to jog the motor. Notice that the positionments 0.5 mm every time the button is clicked.2- and 3--Channel Brushless DC Servo Controller4.7 Graphical Control Of Motor Positions (Point and Move)The GUI panel display can be changed to a graphical display, showing the position ofthe motor channel(s). Moves to absolute positions can then be initiated by positioningthe mouse within the display and clicking.To change the panel view to graphical view, right click in the screen and select‘Graphical View’.Consider the disThe right hand dunit type and smaximum positiounits are displayThe left hand dmotor associatethe 'Chan Pos' fiThe vertical divicontroller. For exof an MLS203 s105mm of total tThe graphical paby clicking the bThe channesingle chan25Fig. 4.6 DC Controller GUI Panel - Graphical Viewplay shown above for a DC Motor Drive Card.isplay shows the channel and motor unit parameters; i.e. controllererial number, associated stage and actuator type, minimum andns, current position, units per grid division and cursor position. Alled in real world units, either millimetres or degrees.isplay shows a circle, which represents the current position of thed with the specified controller (absolute position data is displayed ineld).sions relate to the travel of the stage/actuator being driven by theample, the screen shot above shows the parameters for the X-axistage. The graph shows 11 divisions in the X axis, which relates toravel (10 mm per division with the last division being 5 mm).nel has two modes of operation, ‘Jog’ and ‘Move’, which are selecteduttons at the bottom right of the screen.Notel functionality of the BBD203 controller is accessed via a nel GUI panel, one panel for each motor drive card fitted.26Chapter 4Move ModeWhen ‘Move’ is selected, the motors move to an absolute position which correspondsto the position of the cursor within the screen. To specify a move:1) Position the mouse within the window. For reference, the absolute motor positionvalues associated with the mouse position is displayed in the 'Cursor Positionfield. 2) Click the left hand mouse button to initiate the move.Jog ModeWhen ‘Jogging’ button is clickedThe Jog directio(current motor pleft. The Jog SteStopTo stop the movReturning to PaTo return to panHA0273T Rev C Nov 2012 mode is selected, the motors are jogged each time the left mouse.n corresponds to the position of the cursor relative to the circleosition), e.g. if the cursor is to the left of the circle the motor will jogp size is that selected in the Settings panel - see Section 5.3.e at any time, click the ‘Stop’ button.nel Viewel view, right click in the graphical panel and select ‘Panel View’.2- and 3--Channel Brushless DC Servo Controller4.8 Setting Move Sequences This section explains how to set move sequences, allowing several positions to bevisited without user intervention. For details on moving to absolute positions initiated by a mouse click – see Section4.11. 1) From the Motor GUI Panel, select 'Move Sequencer' tab to display the MoveSequencer w2) Right click, in27indow.Fig. 4.7 Move Sequencer Window the move data field to display the pop up menu.Fig. 4.8 Move Sequencer Pop Up Menu28Chapter 43) Select 'New' to display the 'Move Editor' panel.Move data is entDist/Pos: - the dthe position to mDwell Time: - aspecified time betime to wait (in mReturn - if checkwait for the specMin Vel: Acc: aparameters are eThe motor acceVel field. As the there is no oversIn current veHA0273T Rev C Nov 2012 Fig. 4.9 Move Editor Windowered/displayed as follows:istance to move from the current position (if 'Relative' is selected) orove to (if 'Absolute' is selected) (values entered in mm).fter the move is performed, the system can be set to wait for afore performing the next move in the sequence. The Dwell time is theilliseconds).ed, the system will move to the position specified in the Dist/Pos field,ified Dwell time, and then return to the original position.nd Max Vel: - the velocity profile parameters for the move (velocityntered in mm/sec, acceleration in mm/sec/sec).lerates at the rate set in the Acc field up to the speed set in the Maxdestination approaches, the motor decelerates again to ensure thathoot of the position. Notersions of software, the ‘Min Vel’ parameter is locked at zero and cannot be adjusted.2- and 3--Channel Brushless DC Servo Controller4) Enter the required move data into the Move Editor and click OK. The move datais displayed in the main window as shown below.5) Repeat stepcopied, deleselecting the6) To run a singthe pop up m7) To run the encan also be p8) To save data‘Load’ button29Fig. 4.10 Main Window with Move Data 4 as necessary to build a sequence of moves. Move data can beted, cut/pasted and edited by right clicking the data line(s) and appropriate option in the pop up menu (shown below).Fig. 4.11 Pop Up Optionsle line of data, right click the appropriate data and select 'Run' fromenu (shown above). tire sequence, click the 'Run' button (shown below). A Home moveerformed from this panel by clicking the ‘Home’ button.Fig. 4.12 Home and Run Buttons to a file, or load data from a previously saved file, click the ‘Save’ or and browse to the required location.30Chapter 44.9 Using A Joystick ConsoleThe MJC001 joystick console has been designed for microscope users, to provideintuitive, tactile, manual positioning of the stage. The console features a two axisjoystick for XY control. Up to 3 joysticks can be connected to each other, interfacingneatly into a multi-channel control application. Furthermore, if the parameter settingsare persisted to the controller (see Section 5.3.) the controller need not be connectedto a host PC, thereby allowing remote operation.1) Connect the 2) Connect the 3) Switch ON th4) Wait until thecontroller frocomplete.5) Press and hhoming is coIn order to establishwith the correspondjoystick ID switch, loswitches on the rearThe joystick ID switcnext sequential nummust then be set to For example, if the jcontroller must be seNoteThe default pamost applicontroller tsubsequently APT softwaHA0273T Rev C Nov 2012 stage to the Controller unit.joystick console to the HANDSET IN connector of the controller.e controller. red led on the joystick console and the Channel Enable LEDs on thent panel stop flashing (~3s). This indicates that phase initialisation isold the ‘High/Low’ button for 2 seconds to home the stage. Whenmplete, the green LED stops flashing. control over a particular axis, the joystick axes must be associated ing channels of the related controller. This is achieved by setting the cated on the underside of the joystick console, and the channel ident panel of the BBD controller.h assigns the selected number to the X axis of the joystick and the ber to the Y axis. The channel ident switches on the controller unit match these joystick axis numbers.oystick switch is set to '1', then the X axis channel ID switch on the t to ‘1’ and the Y axis ID switch must be set to ‘2’ as shown in Fig. 4.1.Fig. 4.1 ID switch setingsrameter values loaded at the factory should be acceptable for cations, and in this case, it is not necessary to connect the o a PC running the APT software. If these parameter values require adjustment, this can only be perfromed by running the re - see Section 3.1. and Section 5.3. for more information.2- and 3--Channel Brushless DC Servo Controller6) Set the joystick console ID switch and the controller channel ID switches as describedin the preceding paragraph.7) The stage can now be moved using the joystick, GUI panel, or by settingcommands to move each axis by relative and absolute amounts – see the helpfilesupplied with4.10 External TriExternal triggerinof the USER IO These connectosupport triggerinfor further details4.11 Creating a SThe 'APT Configplace the APT Snumber and typehardware. This isthe APT softwarAny number of physical hardwatested and debuTo create a simu1) Run the APTCautionDo not set the switches to identical numbers as this may result in lack of joystick control. Also, do not set the channel ID switches to 'E' or 'F' as this is reserved for factory use and testing.31 the APT server for more information.ggeringg is facilitated by the Trigger In and Trigger Out pins (pins 2 and 3)connector on the rear panel of the unit.rs provide a 5V logic level input and output that can be configured tog from and to external devices - see Section 5.3.4. and Section A.4..imulated Configuration Using APT Config' utility can be used to set up simulated hardware configurations anderver into simulator mode. In this way it is possible to create any of simulated (virtual) hardware units in order to emulate a set of real a particularly useful feature, designed as an aid learning how to usee and as an aid to developing custom software applications ‘offline’.'virtual' control units can be combined to emulate a collection ofre units For example, an application program can be written, thengged remotely, before running with the hardware.lated configuration proceed as follows: Config utility - Start/All Programs/Thorlabs/APT/APT Config.AUX IO87654321151413121110932Chapter 42) Click the 'Simulator Configuration' tab.Fig. 43) Enter a name4) In the 'Simulmost recentlwindow.HA0273T Rev C Nov 2012 .13 APT Configuration Utility - Simulator Configuration Tab (e.g. ‘LAB1’) in the Configuration Names field.ator' field, check the ‘Enable Simulator Mode’ box. The name of they used configuration file is displayed in the 'Current Configuration'2- and 3--Channel Brushless DC Servo Controller5) In the ‘Contro6) Enter a 6 dig7) Click the 'Ad8) Repeat itemsthe configuraNoteEach physical APT hardware base unit is factory programmed with a unique 8 digit serial number. In order to simulate a set of ‘real’ hardware the Config utility allows an 8 digit serial number to be associated with each simulated unit. It is good practice when creating simulated configurations for software development purposes to use the same serial numbers as any real hardware units that will be used. Although serial numbers arwindow, the fThe pref73xNote. The ‘73The serial nu33l Unit’ field, select ‘3 Ch Brushless DC Driver (BBD203)’.it serial number.d' button. (1) to (7) to build the required system. (A unit can be removed fromtion by selecting it in the 'Loaded Configuration Details' window ande 8 digits (as displayed in the ‘Load Configuration Details’ irst two digits are added automatically and identify the type of control unit. ixed digits relating to the BBD202 and BBD203 stepper controllers are:xxxxx - 3 Channel Brushless DC Driver (BBD203)’ prefix described above is applicable only to the base units. mber of the individual driver cards is prefixed by ‘94’ - see Section 5.2.34Chapter 4clicking the 'Remove' button or by right clicking it and selecting the 'Remove'option from the pop up window).9) Enter a name into the 'Configuration Names' field.10)Click 'Save'. 11)Click 'Set As Current' to use the configuration. HA0273T Rev C Nov 2012 Chapter 5 Software Reference5.1 IntroductionThis chapter gives an explanation of the parameters and settings accessed from theAPT software running on a PC. For information on the methods and properties whichcan be called via a programming interface, see Appendix E .5.2 GUI PanelThe following scaccessing the DThe serial nubase unit serthe subsequsystem, e.ghaThe serial nuAPT server vembedded shand cor35reen shot shows the graphical user interface (GUI) displayed whenC controller using the APTUser utility.Fig. 5.1 Motor Controller Software GUINotember of the single channel driver cards is derived from the ial number, with the ‘73’ prefix being replaced with ‘94’ and ent 6 digit number incremented by ‘1’ for each card in the . a 2-channel unit with a base serial number 73123456 will ve card serial numbers 94123457 and 94123458.mber of the driver card associated with the GUI panel, the ersion number, and the version number (in brackets) of the oftware running on the unit, are displayed in the top right ner. This information should always be provided when requesting customer support.36Chapter 5Jog - used to increment or decrement the motor position. When the button is clicked,the motor is driven in the selected direction at the jog velocity one step per click. Thestep size and jog velocity parameters are set in the 'Settings' panel (see Section 5.3.). Travel - the travel (in mm or degs) of the actuator associated with the GUI panel.Digital display - shows the position (in millimetres or degrees) of the motor. Themotor must be 'Homed' before the display will show a valid position value, (i.e. thedisplayed position is relative to a physical datum, the limit switch).Home/Zero - sends the motor to its 'Home' position. The LED in the button is lit whilethe motor is homHomed - lit wheMoving - lit wheStop - halts the Enable - appliesLED on the frontPosition Error setting - see SecCurrent Limit - Limit switches -Settings displaDriver - the tyStage - the stCalib File - thMin/Max V - tvelocity at wh(mm/s or degAccn - the ratdisplayed in rthe 'Settings' velocity settinJog Step Size step size can bSettings buttonoperating paramThe softwareCalibration fiHA0273T Rev C Nov 2012 ing.n the motor has previously been 'Homed' (since power up).n the motor is in motion.movement of the motor. power to the motor. With the motor enabled, the associated Channel panel is lit.- lit when the associated axis has exceeded the position error limittion 5.3.3.lit when an ‘current foldback’ condition exists - Section 5.3.4. the LEDs are lit when the associated limit switch has been activated y - shows the following user specified settings:pe of control unit associated with the specified channel.age type and axis associated with the specified channel.e calibration file associated with the specified channel.he minimum velocity at which a move is initiated, and the maximumich the move is performed. Values are displayed in real world unitsrees/s), and can be set via the 'Settings' panel (see Section 5.3.).e at which the velocity climbs to, and slows from, maximum velocity,eal world units (mm/s/s or degs/s/s). The acceleration can be set viapanel (see Section 5.3.) and is used in conjunction with the Min/Maxgs to determine the velocity profile of a motor move.- the size of step (mm or degs) taken when the jog signal is initiated. Thee set either via the Settings panel or by calling the SetJogStepSize method. - Displays the 'Settings' panel, which allows the motor drive’seters to be entered - see Section 5.3. Note automatically associates the stage/actuator type on bootup.Noteles are not applicable for the Thorlabs Brushless DC motor stages such as the MLS203.2- and 3--Channel Brushless DC Servo ControllerIdent - when this button is pressed, the LED (on the front panel of the unit) associatedwith the selected channel will flash for a short period. Active - lit when the unit is operating normally and no error condition exists.Error - lit when a fault condition occurs.5.3 Settings PanelWhen the 'Settings' button on the GUI panel is clicked, the 'Settings' window isdisplayed. This panel allows motor operation parameters such as move/jog velocities,and stage/axis iprogrammable eon this Control (details and to Separameters are d5.3.1 Moves/JoMoves - VelocitMoves can be inthe position dispAPTServer helpmoves, and are MaxVel - the maAccn/Dec - the from maximum t37nformation to be modified. Note that all of these parameters havequivalents accessible through the ActiveX methods and propertiesrefer to the Programming Guide in the APTServer helpfile for furtherction 2.2.4. for an overview of the APT ActiveX controls). The variousescribed below.gs tabFig. 5.2 Move/Jog Settings y Profileitiated via the GUI panel by entering a position value after clicking onlay box (see Section 4.4.) or by calling a software function (see thefile). The following settings determine the velocity profile of suchspecified in real world units, millimetres or degrees.ximum velocity (in mm/sec) at which to perform a move.rate at which the velocity climbs from zero to maximum, and slowso zero (in mm/sec2).38Chapter 5Jogs Note. All jog modepending on whJogs are initiatedVelocity Profile (MaxVel - the maAccn/Dec - the rfrom maximum tOperating ModeJogging - The wGUI panel buttonThere are two joStep’ mode, theparameter, eachNoteUnder certain velocity parameter and move distance conditions, the maximum velocity may never be reached (i.e. the move comprises an acceleration and deceleration phase only).The limits for the max velocity or acceleration parameters are dependent on the stage being driven. They can be obtained by calling the GetVelParamLimits method.The moveThe limits foron the sHA0273T Rev C Nov 2012 ves are performed using either a trapezoidal or an S-curve profile,ich mode is selected in the ‘Advanced-Misc. Tab - see Section 5.3.4. by using the ‘Jog’ buttons on the GUI panel (see Section 4.6.).specified in real world units, i.e. mm or degrees).ximum velocity at which to perform a jog.ate at which the velocity climbs from zero to maximum, and slowso zero.say in which the motor moves when a jog command is received (i.e. clicked).gging modes available, ‘Single Step’ and ‘Continuous’. In ‘Single motor moves by the step size specified in the Step Distance time the jog key is pressed - see Fig. 5.3. In ‘Continuous’ mode, the is also affected by the ‘Profile’ and ‘Jerk’ settings in the Advanced - Misc. tab.Note the max velocity or acceleration parameters are dependent tage being driven. They can be obtained by calling the GetVelParamLimits method.2- and 3--Channel Brushless DC Servo Controllermotor actuator will accelerate and move at the jog velocity while the button is helddown..Single Step parameter. Continuous -button is reledistancevelocityvelocitybutton button buttonjog step sizejog velocityjog velocitySingle Step mode39Fig. 5.3 Jog Modes- the motor moves by the step size specified in the Step Distance the motor continues to move until the jog signal is removed (i.e. jogased). distancepressed pressed pressedbutton releasedContinuous modejog acceleration40Chapter 5Stopping - the way in which the jog motion stops when the demand is removed. Immediate - the motor stops quickly, in a non-profiled mannerProfiled - the motor stops in a profiled manner using the jog Velocity Profileparameters set above.Step Distance - The distance to move when a jog command is initiated. The step sizeis specified in real world units (mm or degrees).Backlash Correcmotors which usand therefore thiFor motors whichwill overshoot thThis ensures thapproached in areal world units (To remove backNote. Setting a nPersist Settings series drivers cais next poweredimportant when PC and USB linexamples of settTo save the settbefore clicking thHA0273T Rev C Nov 2012 tion - Backlash is a term used to describe the errors inherent ine a leadscrew. Brushless linear DC motors that have no leadscrews parameter is normally set to 0. do incorporate a leadscrew,W wen this parameter is set, the systeme demanded set point by the specified amount, and then reverse.at during absolute or relative moves, the target position is always forward direction. The Backlash Correction Distance is specified inmillimeters). lash correction, this value should be set to zero.egative value for backlash correction also results in zero correction.to Hardware - Many of the parameters that can be set for the BBD10xn be stored (persisted) within the unit itself, such that when the unit up these settings are applied automatically. This is particularlythe driver is being used manually via a joystick, in the absence of ak. The Move and Jog parameters described previously are goodings that can be altered and then persisted in the driver for later use. ings to hardware, check the ‘Persist Settings to Hardware’ checkboxe ‘OK button.2- and 3--Channel Brushless DC Servo Controller5.3.2 Stage/Axis tabStage and Axis information shouMin Pos - the staMax Pos - the stThis tab contacharacteristaccordingly sFor Thorlabdefaults for Most of theadversely afDescriptiExtreme carthat follow. Sand illegal cothe physical madvice on set41Fig. 5.4 Stage/Axis Settings Type - The stage type, serial number, and axis are displayed. Thisld always be quoted when requesting technical support.ge/actuator minimum position (typically zero).age/actuator maximum position.Noteins a number of parameters which are related to the physical ics of the particular stage being driven. They need to be set uch that a particular stage is driven properly by the system. s stages, the APT server will automatically apply suitable the parameters on this tab during boot up of the software. se parameters cannot subsequently be altered as it may fect the performance of the stage and they are greyed out. on of these parameters is included for information only.Cautione must be taken when modifying the stage related settings ome settings are self consistent with respect to each other, mbinations of settings can result in incorrect operation of otor/stage combination being driven. Consult Thorlabs for tings for stage/actuator types that are not selectable via the APTConfig utility.42Chapter 5Pitch - the pitch of the motor lead screw (i.e. the distance (in mm or degrees) travelledper revolution of the leadscrew). Not applicable to MLS203 and DDS220 stages andpreset to ‘1’.Units - the ‘real world’ positioning units (mm or degrees).HomingWhen homing, areverse limit switand Reverse limDirection - the diLimit Switch - TForward HW or Zero Offset - theposition.Velocity - the maNoteThe Min Pos and Max Pos parameters can be used to restrict the working range of the stage to a particular area of interest.For DDS220parameters DDS220 answitch asreference involves a sethe forward dhits the forwareverses direto the differenadjusted, alapTypically,The minimuhome move aHA0273T Rev C Nov 2012 stage typically moves in the reverse direction, (i.e. towards thech). The following settings allow support for stages with both Forwardits.rection sense to move when homing, either Forward or Reverse.he hardware limit switch associated with the home position, eitherReverse HW. distance offset (in mm or degrees) from the limit switch to the Homeximum velocity at which the motors move when Homing.Note and MLS203 users. The Homing, Limit Switch and Motor described on the next two pages are not applicable for the d MLS203 stages because the stage does not use a limit a reference point for homing. Instead, it uses a special marker pulse from the encoder. Homing on these stages arch for this reference marker. Initially, the stage moves in irection and if the reference marker is found before the stage rd limit switch, then homing is completed. If not, the stage ction and continues to search for the reference marker. Due t method used, only the Homing Velocity parameter can be though normally the default value is suitable for nearly all plications. All other parameters are greyed out.Note the following two parameters are set the same, i.e. both Forward or both Reverse.Notem velocity and acceleration/deceleration parameters for a re taken from the existing move velocity profile parameters2- and 3--Channel Brushless DC Servo ControllerHardware Limit SwitchesThe operation of the limit switches is inherent in the design of the associated stage oractuator. The following parameters notify the system to the action of the switcheswhen contact is made. Select Rev Switch or Fwd Switch as required, then select therelevant operation.Switch Makes - The switch closes on contactSwitch Breaks - The switch opens on contactIgnore/Absent - The switch is missing, or should be ignored.Not Applicable - MotorThese parameteconnected to thecharacteristics determines the oSteps Per Rev - (minimum '1', maFor linear driven sGearbox Ratio - ratio of X:1 (i.e. eshaft) then the GFor linear drivencannot be adjustPersist Settings series drivers cais next poweredimportant when PC and USB lipreviously are godriver for later usTo save the settbefore clicking thThe GearboThe ‘Steps P‘Pitch’ and ‘Ufor useThe correcapp43Limit switches are not applicable. rs are used to set the 'resolution' characteristics of the DC motor selected channel. The resolution of the motor, combined with other(such as gearbox ratio) of the associated actuator or stage,verall resolution. The number of encoder counts per revolution of the DC servo motorximum '10,000'). tages (e.g. MLS203) this parameter is set to ‘1’ and cannot be adjusted.The ratio of the gearbox. For example, if the gearbox has a reductionvery 1 turn at the output of the gearbox requires X turns of the motorearbox Ratio value is set to X. (minimum '1', maximum '1000'). stages with no gearbox (e.g. MLS203) this parameter is set to ‘1’ anded.to Hardware - Many of the parameters that can be set for the BBD10xn be stored (persisted) within the unit itself, such that when the unit up these settings are applied automatically. This is particularlythe driver is being used manually via a joystick, in the absence of ank. The Min Pos, Max Pos, and Velocity parameters describedod examples of settings that can be altered and then persisted in thee. ings to hardware, check the ‘Persist Settings to Hardware’ checkboxe ‘OK button.Notex Ratio parameter is applicable only to motors fitted with a gearbox.Noteer Rev’ and ‘Gearbox Ratio’ parameters, together with the nits’ parameters are used to calculate the calibration factor when converting real world units to encoder counts. t default values for Steps Per Rev and Gearbox Ratio are lied automatically when the software is booted up.44Chapter 55.3.3 Advanced - Control Loop SettingsTabPosition Loop CThe motion procto determine thethe actual motorthe demanded pwhich is then pacommand outpuProportional termof effective torqminimise the amThe PID and otor actuator typspeed/duty cycstored within tIf problems arelost motion oadjusted to tadjustment of necessary, anfor a specific athe control looHA0273T Rev C Nov 2012 Fig. 5.5 Advanced Control Loop Settingsontrol Settingsessors within the BBD series controllers use a position control loop motor command output. The purpose of the position loop is to match position and the demanded position. This is achieved by comparingosition with the actual encoder position to create a position error,ssed through a digital PID-type filter. The filtered value is the motort. - - Increasing the proportional (Prop) term will increase the amountue used to correct a given position error. Typically this is used toount of position error when an impulse event affects current targetCautionher closed loop parameters must be set according to the stage e associated with the driver, the load being positioned and the le of operation. Default values have already been optimized and he stage, and these are loaded into the controller on power up. encountered (e.g. stability of the closed loop position control, r incomplete moves) the position PID parameters should be une the stage for the given application. Normally, only minor the Proportional, Integral and Derivative parameters should be d some trial and error will be required before the ideal settings pplication are achieved. In cases where further adjustment of p parameters is required, the following guidelines are provided in order to assist in the tuning process.2- and 3--Channel Brushless DC Servo Controllerposition during motion. i.e. sticksion, vibration…etc .If the proportional term is too highthis can lead to overshoot and general instability. If this is too low it can result in asloppy response. It accepts values in the range 0 to 32767.Integral term - Increasing the integral (Int) term minimises following error and finalposition error. If Integral is too high this will typically lead to motion overshoot duringand at end of move. If the integral term is too low final position may take a long timeto reach, if at all. It accepts values in the range 0 to 32767.Integral limit - Limits the wind up limit for the integral term such that excessiveovershoots are prevented. Typically used to prevent runaway integral calculationsdue to stiction aas possible, butreached. It accepin the PID loop iDerivative term -of controller outpIf derivative is toerror. If derivativvalues in the ranDerivative Timecircumstances, cycle. However,in order to incresampling rate. Fservo cycles. ThTypically increasOutput Gain – ThIt accepts valuesused to tighten astability.Vel. Feed Forwacceleration feedin tuning the moPosition Err. Limdiffer from the derror is often indencoder failure ocondition, a maxthe range 0 to 65limit entered, anset, the associat45nd other such physical forms of random forces. Normally set as low high enough that with the given integral term final position can bets values in the range 0 to 32767. If set to 0 then the integration terms ignored. Increasing the derivative (Deriv) term decreases the rate of changeut. Typically this is used to reduce the overshoot from a given motion.o high it can become sensitive to noise from the measured positione is too low, velocity fluctuations may arise during motion. It acceptsge 0 to 32767. – Time over which derivative is calculated. Under normalthe derivative term of the PID loop is recalculated at every servo it may be desirable to increase the sampling rate to a higher value,ase stability. The Derivative Time parameter is used to set theor example if set to 10, the derivative term is calculated every 10e value is set in cycles, in the range 1 to 32767 (1 cycle = 102.4 µs).ing the derivative time increases sensitivity to noise.is parameter is a scaling factor applied to the output of the PID loop. in the range 0 to 65535, where 0 is 0% and 65535 is 100%. Typically control loop for increased positional performance at the expense ofard and Acc. Feed Forward – These parameters are velocity and-forward terms that are added to the output of the PID filter to assisttor drive signal. They accept values in the range 0 to 32767.it – Under certain circumstances, the actual encoder position mayemanded position by an excessive amount. Such a large positionicative of a potentially dangerous condition such as motor failure,r excessive mechanical friction. To warn of, and guard against thisimum position error can be set in the Position Err. Limit parameter, in535. The actual position error is continuously compared against thed if exceeded, the Motion Error bit (bit 15) of the Status Register ised axis is stopped and the GUI panel Position Error LED is lit.46Chapter 5Position PID Settings SummaryStage overshoots the intended position - reduce Int and increase Deriv and Prop terms.Stage doesn't attain final position - increase the Int and Prop terms.Motion is unstable - reduce Prop and Int, increase Deriv.Stage sounds noisy - reduce Deriv.Current Loop Control SettingsThe motion procetechnique to conresponse times acomparing the rethen passed thrououtput voltage forfor a fast responsProportional – Tcurrent error. It aIntegral – This tethe current errorange 0 to 32767Integral Limit – excessive build integral sum at tthe integration teIntegral Dead Bawhen the error icompleted using Feed Forward –the PI filter. It acThese paravalues are seThe followingand help remotion. A ceHA0273T Rev C Nov 2012 ssors within the BBD series controllers use digital current control as atrol the current through each phase winding of the motors. In this way,re improved and motor efficiency is increased. This is achieved byquired current with the actual current to create a current error, which isgh a digital PI-type filter. The filtered current value is used to develop an each motor coil. The following parameters allow this signal to be tunede and low error when moving to the demanded position.his term drives the motor current to the demand value, reducing theccepts values in the range 0 to 32767.rm provides the ‘restoring force’ that grows with time, ensuring thatr is zero under a constant torque loading. It accepts values in the.This term is used to cap the value of the lntegrator to prevent anup over time of the ‘restoring force’, thereby causing runaway of thehe output. It accepts values in the range 0 to 32767. If set to 0 thenrm in the PI loop is ignored.nd – This parameter allows an integral dead band to be set, such thats within this dead band, the integral action stops, and the move isthe proportional term only. It accept values in the range 0 to 32767. This parameter is a feed-forward term that is added to the output ofcept values in the range 0 to 32767.Notemeters are specific to the motor within the stage. Default t at the factory and under normal circumstances do not need to be changed.Note two parameters assist in fine tuning the motor drive current duce audible noise and/or oscillation when the stage is in rtain amount of trial and error may be experienced in order to obtain the optimum settings.2- and 3--Channel Brushless DC Servo ControllerCurrent Loop (Settled) Control SettingsThe following parameters are designed to assist in maintaining stable operation andreducing noise at the demanded position. They allow the system to be tuned such thaterrors caused by external vibration and manual handling (e.g. loading of samples) areminimized, and are applicable only when the stage is settled, i.e. the Axis Settledstatus bit (bit 14) is set - see Section 5.3.4.Proportional – This term drives the motor current to the demand value, reducing thecurrent error. It accepts values in the range 0 to 32767.Integral – This term provides the ‘restoring force’ that grows with time, ensuring thatthe current errorange 0 to 32767Integral Limit – excessive build integral sum at tthe integration teIntegral Dead Bathat when the eris completed usinFeed Forward –the PI filter. It acPersist Settings series drivers cais next poweredimportant when PC and USB linare good examplater use. To save the settbefore clicking thThe followingand help redthe targexp47r is zero under a constant torque loading. It accepts values in the.This term is used to cap the value of the lntegrator to prevent anup over time of the ‘restoring force’, thereby causing runaway of thehe output. It accepts values in the range 0 to 32767. If set to 0 thenrm in the PI loop is ignored.nd – This parameter allows an integral dead band to be set, suchror is within this dead band, the integral action stops, and the moveg the proportional term only. It accept values in the range 0 to 32767. This parameter is a feed-forward term that is added to the output ofcept values in the range 0 to 32767.to Hardware - Many of the parameters that can be set for the BBD10xn be stored (persisted) within the unit itself, such that when the unit up these settings are applied automatically. This is particularlythe driver is being used manually via a joystick, in the absence of ak. The Position and Current Loop parameters described previouslyles of settings that can be altered and then persisted in the driver forings to hardware, check the ‘Persist Settings to Hardware’ checkboxe ‘OK button.Note two parameters assist in fine tuning the motor drive current uce audible noise and/or oscillation when the stage is near et position. A certain amount of trial and error may be erienced in order to obtain the optimum settings.48Chapter 55.3.4 Advanced - Misc. TabMotor Output SCurrent Limit – continuous currena percentage of maximum level sEnergy Limit – WLimit parameter, parameter specifdefault maximumvalue specified inexist, and the coparameter. WhenRegister and theenergy above thecleared.Motor Limit – Thithe range 0 to 10the motor commThe default vperformance the stage or aoptimized. Chpossible dHA0273T Rev C Nov 2012 Fig. 5.6 Advanced Miscellaneous SettingsettingsThe system incorporates a current 'foldback' facility, whereby thet level can be capped. The Current Limit parameter, accepts values asmaximum peak current, in the range 0% to 100%, which is the defaultet at the factory (this maximum value cannot be altered). hen the current output of the drive exceeds the limit set in the Currentaccumulation of the excess current energy begins. The Energy Limities a limit for this accumulated energy, as a percentage of the factory set, in the range 0% to 100%. When the accumulated energy exceeds the the Energy Limit parameter, a 'current foldback' condition is said tommanded current is limited to the value specified in the Current Limit this occurs, the Current Foldback status bit (bit 25) is set in the Status ‘Current Limit’ LED on the GUI panel is lit. When the accumulated Current Limit value falls to 0, the limit is removed and the status bit iss parameter sets a limit for the motor drive signal and accepts values in0% (32767). If the system produces a value greater than the limit set,and takes the limiting value. For example, if the Motor Limit is set toCautionalues programmed into the APT software will give acceptable in most cases. The following parameters are set according to ctuator type associated with the driver and have already been anging these parameters can result in control instability and amage. Use extreme caution if adjusting these parameters.2- and 3--Channel Brushless DC Servo Controller30000 (91.6%), then signals greater than 30000 will be output as 30000 and values lessthan -30000 will be output as -30000.Motor Bias – When an axis is subject to a constant external force in one direction(such as a vertical axis pulled downwards by gravity) the servo filter can compensateby adding a constant DC bias to the output. This bias is set in the Motor Biasparameter, which accepts values in the range -32768 to 32767. The default value is0. Once set, the motor bias is applied while the position loop is enabled.Tracking & Settling SettingsMoves are genetrapezoidal or s-when the profile'settled' at the deThe system incoor not the axis his set when the aprocessor, and cThe axis is cons• the axis is at • the error betwequal to the sfield, • the above two(1 cycle = 102The above settinIf the PID parambe reached, the stall. The settle wthe required posmajor concern, twhen the motionactual position aThe processor aperformance ouprogrammable pPosition Err Limiis not stopped if This function is utrajectory within warning for perfoThe size of the remaining withinrange 0 to 655349rated by an internal profile generator, and are based on either acurve trajectory (see Section 5.3.3.). A move is considered complete generator has completed the calculated move and the axis hasmanded position.rporates a monitoring function, which continuously indicates whetheras 'settled'. The 'Settled' indicator is bit 14 in the Status Register andssociated axis is settled. Note that the status bit is controlled by theannot be set or cleared manually.idered to be 'settled' when the following conditions are met:rest (i.e. not performing a move), een the demanded position and the actual motor position is less than or pecified number of encoder counts (0 to 65535) set in the Settle Window conditions have been met for a specified number of cycles .4 µs), set in the Settle Time field (range 0 to 32767). gs are particularly important when performing a sequence of moves.eters (see Section 5.3.3.) are set such that the settle window cannotfirst move in the sequence will never complete, and the sequence willindow and settle time values should be specified carefully, based onitional accuracy of the application. If positional accuracy is not ahe settle time should be set to '0'. In this case, a move will complete calculated by the profile generator is completed, irrespective of thettained, and the settle parameters described above will be ignored.lso provides a 'tracking window' which is used to monitor servotside the context of motion error. The tracking window is aosition error limit within which the axis must remain, but unlike thet parameter set in the Advanced - Control Loop Settings tab, the axisit moves outside the specified tracking window.seful for processes that rely on the motor's correct tracking of a seta specific range. The tracking window may also be used as an earlyrmance problems that do not yet qualify as motion error. tracking window (i.e. the maximum allowable position error while the tracking window) is specified in the Tracking Window field, in the5. If the position error of the axis exceeds this value, the Tracking50Chapter 5Indicator status bit (bit 13) is set to 0 in the Status Register. When the position errorreturns to within the window boundary, the status bit is set to 1.Position ProfilingTo prevent the motor from stalling, it must be ramped up gradually to its maximumvelocity. Certain limits to velocity and acceleration result from the torque and speedlimits of the motor, and the inertia and friction of the parts it drives.The system incorporates a trajectory generator, which performs calculations todetermine the instantaneous position, velocity and acceleration of each axis at anygiven moment. Dthe move is commove begins.The specific movthe profile mode as whether a moProfile Mode – Tcurve. In either cthe Velocity ProfThe Trapezoidalcurve, in which tIn a typical trapacceleration ‘a’ tis decelerated amanner.The S-curve prolimits the rate ofprofile.Jerk Setting – Th0 to 46566139. Ivelocitymaximum velocity (v)HA0273T Rev C Nov 2012 uring a motion profile, these values will change continuously. Onceplete, these parameters will then remain unchanged until the nexte profile created by the system depends on several factors, such asand profile parameters presently selected, and other conditions suchtion stop has been requested. his field is used to set the profile mode to either Trapezoidal or S-ase, the velocity and acceleration of the profile are specified usingile parameters on the Moves/Jogs tab. profile is a standard, symmetrical acceleration/deceleration motionhe start velocity is always zero.ezoidal velocity profile, (see Fig. 5.7.), the stage is ramped ato a maximum velocity ‘v’. As the destination is approached, the staget ‘a’ so that the final position is approached slowly in a controlledFig. 5.7 Graph of a trapezoidal velocity profile file is a trapezoidal curve with an additional 'Jerk' parameter, which change of acceleration and smooths out the contours of the motionis parameter is specified in mm/s3 and accepts values in the ranget is used to specify the maximum rate of change in acceleration in atimeacceleration (slope) a2- and 3--Channel Brushless DC Servo Controllersingle cycle of the basic trapezoidal curve. If the jerk value is set to ‘0’ then the profileis trapezoidal.In this profile mode, the acceleration increases gradually from 0 to the specifiedacceleration value, then decreases at the same rate until it reaches 0 again at thespecified velocity. The same sequence in reverse brings the axis to a stop at theprogrammed destination position.The figure abovedrives the axis aThe axis continuthen applies the (3). The axis issegment (4). Thphase, using theaxis to a stop at JoystickIf the optional parameters are uof any moves iniuse.Low Gear Max VHigh Gear Max VLow Gear Accn High Gear AccnDirection Sensedependent uponJAVVelocity1 2 3 4 5 6 751Fig. 5.8 Typical S-Curve Profile shows a typical S-curve profile. In segment (1), the S-curve profilet the specified jerk (J) until the maximum acceleration (A) is reached.es to accelerate linearly (jerk = 0) through segment (2) . The profilenegative value of jerk to reduce the acceleration to 0 during segment now at the maximum velocity (V), at which it continues throughe profile then decelerates in a similar manner to the acceleration jerk value to reach the maximum deceleration (D) and then bring thethe destination.Thorlabs joystick console is being used (MJC001) the followingsed to set the velocity and acceleration limits and the direction sensetiated from the joystick.- see Section 4.9. for more details on joystickel – The max velocity of a move when low gear mode is selected.el – The max velocity of a move when high gear mode is selected.– The acceleration of a move when low gear mode is selected. – The acceleration of a move when high gear mode is selected. – The actual direction sense of any joystick initiated moves is the application. This parameter can be used to reverse the sense ofJD-J -JTimeA - accelerationD - decelerationV - velocityJ - jerk52Chapter 5direction for a particular application and is useful when matching joystick directionsense to actual stage direction sense.Persist Settings to Hardware - Many of the parameters that can be set for the BBD10xseries drivers can be stored (persisted) within the unit itself, such that when the unitis next powered up these settings are applied automatically. This is particularlyimportant when the driver is being used manually via a joystick, in the absence of aPC and USB linJoystick paramealtered and thenTo save the settbefore clicking thTriggeringExternal triggerinof the USER IO These connectomoves (Trigger conditions are mcan be configureIt is possible to ctrigger outputs ooutput triggeringtrigger output caThe trigger settinthereby allowingthen be initiated Trigger InThe Trigger In ineither on the risisensitive, it needHIGH to LOW trmove parameterrelative move oralready in progreuntil the previousIn order to avoisettings cannot bNoteJoystick controlled moves always use a trapezoidal velocity profile.HA0273T Rev C Nov 2012 k. The Motor Output, Position Profiling Tracking & Settling, andters described previously are good examples of settings that can be persisted in the driver for later use. ings to hardware, check the ‘Persist Settings to Hardware’ checkboxe ‘OK button.g is facilitated by the Trigger In and Trigger Out pins (pins 2 and 3)connector on the rear panel of the unit - see Section A.4.rs allow the connection of external TTL compatible signals to initiateIn) and generate a hardware signal when certain motion relatedet (Trigger Out). They provide a 5V logic level input and output thatd to support triggering from and to external devices.onfigure a particular controller to respond to trigger inputs, generater both simultaneously. For those units configured for both input and, a move can be initiated via a trigger input while at the same time, an be generated to initiate a move on another unit. gs can be used to configure multiple units in a master – slave set up, multiple channels of motion to be synchronized. Multiple moves canvia a single software or hardware trigger command.put can be configured to initiate a relative, absolute or homing home,ng or falling edge of the signal driving it. As the trigger input is edges to see a logic LOW to HIGH transition ("rising edge") or a logicansition ("falling edge") for the move to be started. Additionally, thes must be downloaded to the unit prior to the move using the relevent absolute move software methods as described following. A movess will not be interrupted; therefore external triggering will not work move has been completed.d unexpected moves being executed on start-up, the trigger inpute persisted and will default to the input being disabled on power-up.2- and 3--Channel Brushless DC Servo ControllerEven when input triggering is disabled, the state of the Trigger In input can be read atany time by using the LLGetStatusBits software method to read the status register bit1. This allows application software to use the Trigger In input as a general-purposedigital input - see the APTServer helpfile for details on using the LLGetStatusBitsmethod and the status register.Trigger In options are set as follows:Disabled – triggering operation is disabledRel Move (Trig MoveRelativeExedge input signaRel Move (Trig Fedge signal.Abs Move (Trig RMoveAbsoluteExedge input signaAbs Move (Trig falling edge signHome Move (Trigsettings) is initiareceived on the Home Move (Trfalling edge signTrigger OutThe Trigger Out as a function of c(In Motion), comtrajectory (Max Vthe chosen condselected to be eiThe Trigger Outautomatically apWhilst this canimmediately afteinitialisation procIn addition to theTrigger Out outpapplication softwTo use this opLLSetGetDigOPAPTServer helpf53Rise) – a relative move (specified using the latest MoveRelative or method settings) is initiated on the specified channel when a risingl is received on the TRIG IN connector. all) – as above, but the relative move is initiated on receipt of a fallingise) – an absolute move (specified using the latest MoveAbsolute or method settings) is initiated on the specified channel when a risingl is received on the TRIG IN connector. Fall) – as above, but the absolute move is initiated on receipt of aal. Rise) – a home move (specified using the latest MoveHome methodted on the specified channel when a rising edge input signal isTRIG IN connector. ig Fall) – as above, but the home move is initiated on receipt of aal.output can be configured to be asserted to either logic HIGH or LOWertain motion-related conditions, such as when a move is in progressplete (Move Complete) or reaches the constant velocity phase on itsel). The logic state of the output will remain the same for as long asition is true. The logic state associated with the condition can bether LOW or HIGH. output settings can be persisted and the persisted settings will beplied once phase initialisation has completed after the next power-up. be advantageous of in some applications, please note thatr power-up, while the unit is going through its normal boot-up andess, the state of the Trigger Out output may not be its expected state. trigger out options listed above, it is also possible to set or clear theut under software-only control. As with the Trigger In input, this allowsare to use the Trigger Out output as a general-purpose digital output.tion, select the Trigger Out option to be Disabled and use thes method to control the state of the output directly - see theile for details on how to use the LLSetGetDigOPs method.54Chapter 5Trigger Out options are set as follows:Disabled – triggering operation is disabledIn Motion (Trig HI) – The output trigger goes high (5V) when the stage is in motion.In Motion (Trig Lo) – The output trigger goes low (0V) when the stage is in motion.Move Complete (Trig HI)Move Complete (Trig HI) - The output trigger goes high (5V) when the current moveis completed.Move Complete is completed.Max. Vel. (Trig Hvelocity (as set uMax. Vel. (Trig Lvelocity (as set u5.4 TroubleshooPosition PID SeStage overshootderivative and prStage fails to attMotion is unstaderivative term.Stage sounds noSee Section 5.3.The PID and stage or positioned aalready been If problemscontrol, lostshould be adonly minoparameters sbefore the idewhere furthefollowing guiHA0273T Rev C Nov 2012 (Trig LO) – The output trigger goes low (0V) when the current moveI) – The output trigger goes high (5V) when the stage reaches maxsing the SetVelParams method).O) – The output trigger goes low (0V) when the stage reaches maxsing the SetVelParams method).ting and Restoring Default Parametersttings Summarys the intended position - reduce the integral term, and increase theoportional terms.ain final position - increase the integral and proportional terms.ble - reduce the proportional and integral terms, increase theisy - reduce the derivative term.3. for further information.Cautionother closed loop parameters must be set according to the actuator type associated with the driver, the load being nd the speed/duty cycle of operation. Default values have optimized and stored within the stage, and these are loaded into the controller on power up. are encountered (e.g. stability of the closed loop position motion or incomplete moves) the position PID parameters justed to tune the stage for the given application. Normally, r adjustment of the Proportional, Integral and Derivative hould be necessary, and some trial and error will be required al settings for a specific application are achieved. In cases r adjustment of the control loop parameters is required, the delines are provided in order to assist in the tuning process.2- and 3--Channel Brushless DC Servo ControllerIf adjustment of the parameter values previously described has resulted in unstableor unsatisfactory system response, the ‘Defaults’ tab can be used to reset allparameter values to the factory default settings.To restore the default values:1) Select the ‘Defaults’ tab.2) Click the ‘Reset Parameter Defaults in the Controller’ check box, 3) Click OK.4) The controller must then be power cycled before the default values can takeeffect.Changing the paunstable or uncophase initialise tnot display somemode where thparameters are lTo enter this moWhen the unit ischannels. In thisstart-up as long to its original pos55Fig. 5.9 Defaults tabrameters under the "Advanced" tabs can cause the motor to becomentrollable. If these settings are persisted, the unit may not be able tohe axis correctly the next time it powers up and, as a result, APT will or any of the panels. If this occurs, the unit can be set to a speciale persisted settings are ignored and the default (safe) operatingoaded after power-up. de, power down the unit and set the rear panel ‘CH1 ID’ switch to 'D'. powered up, it will load the default set of operating parameters for all mode parameters can still be persisted but they will not be loaded onas the "CH1 ID" switch is set to 'D'. Moving the CH1 ID switch backition will re-enable the operating parameters that were last persisted.56Appendix A Rear Panel Connector Pinout DetailsA.1 Rear Panel MOTOR DRIVE ConnectorsThe ‘MOTOR DRIVE’ connector is a female, round 8-pin DIN type and provides driveconnection to the motors. The pin functions are detailed in Fig. A.1..A.2 Rear Panel FThe ‘FEEDBACKthe motor encod* Pins 7 and 8 arePin123 Te4Pin12345678142653Fig. A.1 MOTOR DRIVE connector pin identificationEEDBACK Connector’ connector is a female, 15 pin D-Type and supplies connection forer feedback lines. short circuit internallyFig. A.2 FEEDBACK connector pin identificationDescription Pin DescriptionMotor Phase V 5 Stage IDGND 6 GNDmp Sensor (Not Used) 7 Motor Phase WMotor Phase U 8 EnableDescription Pin DescriptionNot Connected 9 GNDGND 10 Limit Switch + Not Connected 11 Limit Switch - Index - 12 Index +QB - 13 QB +QA - 14 QA +* 5 V 15 Not Connected* 5 V7 81234567891011121314152- and 3--Channel Brushless DC Servo ControllerA.3 Rear Panel USER IO ConnectorThe ‘USER I/O’ connector is a male, 15 pin D-Type that exposes a number ofelectrical signals useful for monitoring purposes or fault diagnosis.Notes.(i) Or general p(ii) Or general pu(iii) Buffered vers(iv) Encoder indePin Description Pin Description1234567887654321151413121110957urpose digital input - see Section A.3.2.rpose digital output (open collector) - see Section A.3.1.ions of Encoder Quadrature signal for monitoring purposesx (or reference) signal for monitoring purposesFig. A.3 USER I/O connector pin identification5V 9 (iii) QA+(i) Trigger In 10 (iii) QA-(ii) Trigger Out 11 (iii) QB+Ground 12 (iii) QB-Ground 13 (iv) Index/Ref+For Future Use 14 (iv) Index/Ref-For Future Use 15 GroundFor Future UseAppendix A 58A.3.1 Tirgger Out (Digital Output)The digital output (AxisOut) can continuously sink over 100 mA and source 4 mA fromthe pull up resistor to 5V. The diode in series with the pull up resistor allows loadspowered from up to 24VDC to be switched. The FET driver is internally protected fromshorts up to 30 V.Please see the Alogic IO.A.3.2 Trigger InThe digital inputcompatible, Schmto open collectorR-C low pass filt5VHA0273T Rev C Nov 2012 Fig. A.4 Digital Output SchematicPTServer helpfile for details on software calls used to control these (Digital Input) (AxisIn) circuit accepts signals in the range 0 to 24 V and has TTLidt trigger thresholds. It has a pull up to 5V to allow direct interfacing souces without the need for an external pull up resistor and a 13 kHzer to reject noise. Fig. A.5 Digital Input Schematic1.0kAxisOut5V5V4.7k22k560pAxisIn74ACT142- and 3--Channel Brushless DC Servo ControllerA.3.3 Differential OutputsAll differential outputs (QA, QB and IX/Ref) are driven by an AM26C31 line driver, witha 100 Ohm resistor between the output of the line driver and the connector pin. Whenthe stage is being controlled by a joystick, in the absence of a PC, these outputs couldbe connected to an oscilloscope or custome circuit to facilitate monitoring of theposition output.A.3.4 +5 Volt SuA +5 V, 250 mApower source.Do not excerequiring 100RQA+ (QB+, IX+)59Fig. A.6 Differential Output Schematicpply supply is provided for interfacing to external circuits that require aCautioned the 250 mA maximum output current. For applications higher currents an external power supply must be used.AM26C31100RQA- (QB-, IX-)Appendix A 60A.4 Rear Panel AUX I/O ConnectorA.4.1 Pin IdentificationThe AUX I/O connector exposes a number of internal electrical signals. Forconvenience, a number of logic inputs and outputs are included, thereby negating theneed for extra PC based IO hardware. Using the APT support software, these userprogrammable logic lines can be deployed in applications requiring control of externaldevices such a relays, light sources and other auxilliary equipment.The pin functions are detailed in in Fig. A.7 .Pin Descr1 Digita2 Digita3 Digita4 Digita5 Digital 6 Digita7 Digita8 DigitaDo not, underexternal equiconnected toto SectiocontrHA0273T Rev C Nov 2012 Fig. A.7 AUX IO Connector Pin Identificationiption Return Pin Description Returnl O/P 1 5, 9, 10 9 Digital Groundl O/P 2 5, 9, 10 10 Digital Groundl O/P 3 5, 9, 10 11 For Future Use 5, 9, 10l O/P 4 5, 9, 10 12 For Future Use 5, 9, 10Ground 13 Digital I/P 4 5, 9, 10l I/P 1 5, 9, 10 14 5V Supply Output 5, 9, 10l I/P 2 5, 9, 10 15 5V Supply Output 5, 9, 10l I/P 3 5, 9, 10Warning any circumstances attempt to connect the digital I/O to any pment that is not galvanically isolated from the mains or is a voltage higher than the limits specified in Section A.4.2. n A.4.4. In addition to the damage that may occur to the oller there is a risk of serious injury and fire hazard.1234567891011121314152- and 3--Channel Brushless DC Servo ControllerA.4.2 Digital OutputsAll digital outputs are of the open-collector type, with a 330 Ohm series resistor. Whenthe output is set to a logic zero (which is also the default state), it behaves as opencircuit. When it is a logic one, it behaves as a 330 Ohm resistor connected to ground.In some applicequipment that hhere can be usepins 14 and 15 cFig. AThe digital outpuresistor may be nof inputs. Please see the Alogic IO.The voltage thwithin the raOutput330R61Fig. A.8 Digital Output Schematications, the digital outputs may be required to control externalas optocoupler type inputs (such as PLCs). The digital outputs usedd to directly drive most optocouplers and the +5V supply available onan be used to provide power for the optocouplers..9 Application Example: Connection to Optocoupler Inputsts can also be used to interface to external logic circuitry (a pull-upeeded if the external logic does not contain it) or control other typesPTServer helpfile for details on software calls used to control theseCautionat external equipment applies to the digital outputs must be nge 0 V and +5 V DC, or damage to the outputs may occur.0V330Rgnd+5VOptocouplerAppendix A 62A.4.3 Digital InputsThe digital inputs used in the controller are of the standard CMOS logic gate type withTTL compatible input levels and a built-in pull-up resistor (10 kOhm to +5V). They canbe connected directly to mechanical switches, open-collector type outputs or mosttype of logic outputs. Fig. AWhen connectedcircuit and HIGHvoltage source, tHIGH when the on software callsA.4.4 +5 Volt SuA +5 V, 250 mApower source.The volta0 V Do not excerequiring 10K5VHA0273T Rev C Nov 2012 .10 Digital Input Schematic (protection circuitry not shown) to a switch, the inputs will read as logic LOW if the switch is open if the switch is closed. When connected to a logic output, or any otherhe input is guaranteed to read LOW if the voltage is above 2.4V andoutput is below 0.8 V. Please see the APTServer helpfile for details used to control these logic IO.pply supply is provided for interfacing to external circuits that require aCautionge applied to the digital inputs must be within the range to +7V DC, or damage to the outputs may occur.Cautioned the 250 mA maximum output current. For applications higher currents an external power supply must be used.gndIN2- and 3--Channel Brushless DC Servo ControllerA.5 Rear Panel HANDSET ConnectorA.5.1 Pin IdentificationThe HANDSET connector is a female, 6 pin mini DIN connector that exposes internalelectrical signals for use with the external remote control handset (MJC001).The pin functions are detailed in in Fig. A.11 .Pin123456Pin 4 is for us63Fig. A.11 HANDSET Connector Pin IdentificationDescriptionRX (controller input)GroundGroundSupply Voltage for Handset 5VTX (controller output)GroundNotee only with Thorlabs joystick MJC001. It should not be used to power any other device.123546Appendix A 64A.6 Rear Panel INTERCONNECT Connector (RS232)A.6.1 Pin IdentificationThe INTERCONNECT terminal is a male, 9 pin D-Type that exposes electrical signalsfor use in RS232 communications. This allows control of the device using the low levelcommunications protocol, or other software environments such as micromanager. A9-way D-type female to female crossover (null modem) cable is required forconnecting to the host PC.The pin functions are detailed in in Fig. A.12 .FPin123456789HA0273T Rev C Nov 2012 ig. A.12 INTERCONNECT Connector Pin IdentificationDescriptionNot ConnectedRX (controller input)TX (controller output)Not ConnectedGroundNot ConnectedNot ConnectedNot ConnectedNot Connected1 2 3 4 56 7 8 9Appendix B Using the RS232 or Virtual Comm PortWhen using the low level communications protocol messages to develop clientapplications outside of the APT software, communication with the device is facilitated byusing the RS232 comms pins on the rear panel INTERCONNECT connector - see SectionA.6. Alternatively, a virtual comms port can be configured as follows:1) Open the device manager by selecting Start/Control Panel/Device Manager/2) Click ‘USB configured, t65Serial Bus Controllers’ and select the APT USB Device to behen right click and select ‘Properties’.Appendix B 663) The ‘USB Device Properties’ window is displayed.4) Select the ‘A5) Click OK, theHA0273T Rev C Nov 2012 dvanced’ tab, and check the ‘Load VCP’ box.n power cycle the device being configured.2- and 3--Channel Brushless DC Servo Controller6) In the device manager, click ‘Ports (COM & LPT)’, and note the ‘APT USB DeviceSerial Port’ COM port number (e.g. COM3).This COM port cdevice using the67an then be used by the client application to communicate with the low level protocol messages.68Appendix C Preventive MaintenanceC.1 Safety TestinPAT testing in abasis, (typically aC.2 FusesTwo T 3.15A/25for the live feed When replacing 1) Switch off the2) Always replaC.3 CleaningThe fascia may detergent.Shock WarningThe equipment contains no user servicable parts. There is a risk of severe electrical shock if the equipment is operated with the covers removed. Only personnel authorized by Thorlabs Ltd and trained in the maintenance of this equipment should remove its covers or attempt any repairs or adjustments. Maintenance is limited to safety testing and cleaning as described in the following sections.The instrumpower supRepeatedFuseF1F2DiscDo not use gccordance with local regulations, should be performed on a regularnnually for an instrument in daily use).0V a.c. antisurge ceramic fuses are located on the back panel, oneand one for the neutral as follows:fuses: power and disconnect the power cord before removing the fuse cover.ce broken fuses with a fuse of the same rating and type.be cleaned with a soft cloth, lightly dampened with water or a mildCautionent contains a power supply filter. Insulation testing of the ply connector should be performed using a DC voltage. application of ‘flash’ test may damaage the insulation.Rating Type Fused LineT 3.15A ceramic; antisurge; 20mm Live feedT 3.15A ceramic; antisurge; 20mm Neutral feedWarningonnect the power supply before cleaning the unit. Never alow water to get inside the case. Do not saturate the unit.any type of abrasive pad, scouring powder or solvent, e.g. alcohol or benzene.Appendix D Specifications and Associated PartsD.1 SpecificationsDrive Connector: 8-Pin DIN, Round, Female(Motor Phase Outputs, Stage ID Input)FEEDBACK Connector: 15-Pin D-TypeBrushless ContPWM FrequencOperating ModeControl AlgorithVelocity ProfilePosition CountPosition FeedbEncoder BandwEncoder SupplyAUX Control Co(User Digital IO,Input Power Re• Volts: 85 to 264• Power: 250 VA• Frequency: 47 • Fuse: 3.15AGeneral• Dimensions: 24• Weight: 6.1kg (Compatible Mo• 3-Phase DC Br• Peak Powers: • Coil Resistance• Coil Inductance• Rated Phase C69inuous Output: 5Ay: 40 kHzs: Position, Velocitym:16-bit Digital PID Servo Loop with Velocity and Acceleration Feedforward: Trapezoidal/S-Curve: 32 Bitack: Incremental Encoderidth: 2.5 MHz/ 10 M Counts/sec: 5Vnnector: 15-Pin D-Type Female 5 V O/P)quirements: V ACto 63 Hz0 x 337.9 x 124.8 mm (9.5 x 13.3 x 4.9 in.)13.42 lbs)torsushless Motors100W: 0.1 to 100O (Nominal): 1 to 100mHurrents (Nominal): 100mA to 5A70Appendix E Motor Control Method SummaryThe 'Motor' ActiveX Control provides the functionality required for a client applicationto control one or more of the APT series of motor controller units. To specify the particular controller being addressed, every unit is factory programmedwith a unique 8-digit serial number. This serial number is key to the operation of theAPT Server software and is used by the Server to enumerate and communicateindependently with multiple hardware units connected on the same USB bus. Theserial number mcontrol instance time or at run timuser interface) wentered.The serial numbserial number, wnumber incremebase serial num94123458.The Methods anactivities such asprofile settings. Adetailed informatfile supplied withMethodsDeleteParamSetDisableHWChanEnableHWChanGetAbsMovePosGetAbsMovePosGetBLashDistGetBLashDist_BGetCtrlStartedGetDispModeGetHomeParamGetHomeParamGetHomeParamust be specified using the HWSerialNum property before an ActiveXcan communicate with the hardware unit. This can be done at designe. Note that the appearance of the ActiveX Control GUI (graphicalill change to the required format when the serial number has beener of the single channel driver cards is derived from the base unitith the ‘73’ prefix being replaced with ‘94’ and the subsequent 6 digitnted by ‘1’ for each card in the system, e.g. a 2-channel unit with aber 73123456 will have card serial numbers 94123457 andd Properties of the Motor ActiveX Control can be used to perform homing stages, absolute and relative moves, and changing velocity brief summary of each method and property is given below, for moreion and individual parameter descriptions please see the on-line help the APT server.Deletes stored settings for specific controller.nel Disables the drive output.nel Enables the drive output.Gets the absolute move position._AbsPos Gets the absolute move position (returned by value).Gets the backlash distance.LashDist Gets the backlash distance (returned by value).Gets the ActiveX Control started flag.Gets the GUI display mode.s Gets the homing sequence parameters.s_HomeVel Gets the homing velocity parameter (returned byvalue).s_ZeroOffset Gets the homing zero offset parameter (returned byvalue).2- and 3--Channel Brushless DC Servo ControllerGetHWCommsOK Gets the hardware communications OK flag.GetJogMode Gets the jogging button operating modes.GetJogMode_Mode Get the jogging button operating mode (returned byvalue).GetJogMode_StopMode Gets the jogging button stopping mode (returned byvalue).GetJogStepSize Gets the jogging step size.GetJogStepSize_StepSize Gets the jogging step size (returned by value).GetJogVelParamGetJogVelParamGetJogVelParamGetMotorParamGetParentHWInGetPosition GetPosition_PosGetPositionEx GetPositionEx_UGetPositionOffseGetRelMoveDistGetRelMoveDistGetStageAxis GetStageAxisInfGetStageAxisInfGetStageAxisInfGetStatusBits_BGetVelParamLimGetVelParams GetVelParams_A71s Gets the jogging velocity profile parameters.s_Accn Gets the jogging acceleration parameter (returnedby value).s_MaxVel Gets the jogging maximum velocity parameter(returned by value).s Gets the motor gearing parameters.fo ; Gets the identification information of the hostcontroller.Gets the current motor position.ition Gets the current motor position (returned by value).Gets the current motor position.ncalibPosition Gets the current uncalibrated motor position(returned by value).t Gets the motor position offset. Gets the relative move distance._RelDist Gets the relative move distance (returned byreference).Gets the stage type information associated with themotor under control.o Gets the stage axis parameters.o_MaxPos Gets the stage maximum position (returned byvalue).o_MinPos Gets the stage minimum position (returned byvalue).its Gets the controller status bits encoded in 32 bitinteger (returned by value).its Gets the maximum velocity profile parameter limits.Gets the velocity profile parameters.ccn Gets the move acceleration (returned by value).Appendix E 72GetVelParams_MaxVel Gets the move maximum velocity (returned byvalue).Identify Identifies the controller by flashing unit LEDs.LLGetDigIPs Gets digital input states encoded in 32 bit integer.LLGetStatusBits Gets the controller status bits encoded in 32 bitinteger.LLSetGetDigOPs Sets or Gets the user digital output bits encoded inLoadParamSet MoveAbsolute MoveAbsoluteEnMoveAbsoluteExMoveAbsoluteRoMoveHome MoveJog MoveRelative MoveRelativeEnMoveRelativeExMoveVelocity SaveParamSet SetAbsMovePosSetBLashDist SetDispMode SetHomeParamSetJogMode SetJogStepSizeSetJogVelParamSetPositionOffseSetRelMoveDistSetStageAxisInfSetVelParams ShowSettingsDlgStartCtrl HA0273T Rev C Nov 2012 32 bit integer.Loads stored settings for specific controller.Initiates an absolute move.c Initiates an absolute move with specified positionsfor encoder equipped stages. Initiates an absoloute move with specified positions.t Initiates an absolute move with specified positionsfor rotary stages.Initiates a homing sequence.Initiates a jog move.Initiates a relative move.c Initiates a relative move with specified distances forencoder equipped stages. Initiates a relative move with specified distances.Initiates a move at constant velocity with no endpoint.Saves settings for a specific controller. Sets the absolute move position.Sets the backlash distance.Sets the GUI display mode.s Sets the homing sequence parameters.Sets the jogging button operating modes. Sets the jogging step size.s Sets the jogging velocity profile parameters.t Sets the motor position offset. Sets the relative move distance.o Sets the stage axis parameters.Sets the velocity profile parameters. Display the GUI Settings panel.Starts the ActiveX Control (starts communicationwith controller)2- and 3--Channel Brushless DC Servo ControllerStopCtrl Stops the ActiveX Control (stops communicationwith controller)StopImmediate Stops a motor move immediately.StopProfiled Stops a motor move in a profiled (decelleration)manner.GetDCCurrentLoopParams Gets the Current servo loop PID parameter settingsapplied when the unit is movingGetDCPositionLoopParams Gets the Position servo loop PID parameter settingsGetDCMotorOutGetDCTrackSettGetDCProfileMoGetDCJoystickPGetDCSettledCuSetDCCurrentLoSetDCPositionLoSetDCMotorOutSetDCTrackSettSetDCProfileMoSetDCJoystickPSetDCSettledCuPropertiesAPTHelp DisplayMode HWSerialNum 73putParams Gets the limits that are applied to the motor drivesignalleParams Gets the settings for the Track and Settle windowsdeParams Gets the settings for the profile modearams Gets the settings for the joystick max velocity andaccelerationrrentLoopParamsGets the Current servo loop PID parameter settingsapplied when the unit is ‘settled’.opParams Sets the Current servo loop PID parameter valuesapplied when the unit is movingopParams Sets the Position servo loop PID parameter valuesputParams Sets the limits that are applied to the motor drivesignalleParams Sets the parameters for the Track and SettlewindowsdeParams Sets the parameters for the profile modearams Sets the values for the joystick max velocity andaccelerationrrentLoopParamsSets the Current servo loop PID parameter settingsapplied when the unit is ‘settled’.Specifies the help file that will be accessed when theuser presses the F1 key. If APTHelp is set to 'True',the main server helpfile MG17Base will be launched. Allows the display mode of the virtual display panelto be set/read.specifies the serial number of the hardware unit tobe associated with an ActiveX control instance.74Appendix F RegulatoryF.1 Declarations Of ConformityF.1.1 For Customers in EuropeThis equipment has been tested and found to comply with the EC Directives 89/336/EEC ‘EMC Directive’ and 73/23/EEC ‘Low Voltage Directive’ as amended by 93/68/EEC. Compliance was demonstrated by conformance to the following specifications whichhave been listedSafetyEMCF.1.2 For CustoThis equipment digital device, pprovide reasonaoperated in a cradiate radio freinstruction manOperation of thisin which case theChanges or mouser’s authority t in the Official Journal of the European Communities:EN61010: 2001 Installation Category II, Polution Degree II.EN61326: 1997mers In The USAhas been tested and found to comply with the limits for a Class Aersuant to part 15 of the FCC rules. These limits are designed toble protection against harmful interference when the equipment isommercial environment. This equipment generates, uses and canquency energy and, if not installed and used in accordance with theual, may cause harmful interference to radio communications. equipment in a residential area is likely to cause harmful interference user will be required to correct the interference at his own expense.difications not expressly approved by the company could void theo operate the equipment.F.2 Waste Electrical and Electronic Equipment (WEEE) DirectiveF.2.1 ComplianceAs required by the Waste Electrical and Electronic Equipment (WEEE) Directive ofthe European Community and the corresponding national laws, we offer all end usersin the EC the possibility to return "end of life" units without incurring disposal charges.This offer is valid for electrical and electronic equipment• sold after August 13th 2005 • marked corre• sold to a com• currently own• still complete,As the WEEE diproducts, this "e• pure OEM proOEM laser dr• components • mechanics an• left over partsIf you wish to retudealer for further75spondingly with the crossed out "wheelie bin" logo (see Fig. 1)pany or institute within the EC ed by a company or institute within the EC not disassembled and not contaminatedFig. 6.1 Crossed out "wheelie bin" symbolrective applies to self contained operational electrical and electronicnd of life" take back service does not refer to other products, such asducts, that means assemblies to be built into a unit by the user (e. g. iver cards) d optics of units disassembled by the user (PCB's, housings etc.). rn a unit for waste recovery, please contact Thorlabs or your nearest information.Appendix F 76F.2.2 Waste treatment on your own responsibilityIf you do not return an "end of life" unit to the company, you must hand it to a companyspecialized in waste recovery. Do not dispose of the unit in a litter bin or at a publicwaste disposal site.F.2.3 Ecological backgroundIt is well known that WEEE pollutes the environment by releasing toxic productsduring decomposition. The aim of the European RoHS directive is to reduce thecontent of toxic sThe intent of therecycling of enenvironment.HA0273T Rev C Nov 2012 ubstances in electronic products in the future. WEEE directive is to enforce the recycling of WEEE. A controlledd of life products will thereby avoid negative impacts on the2- and 3--Channel Brushless DC Servo Controller7778Chapter 5 HA0273T Rev C Nov 2012 2- and 3--Channel Brushless DC Servo ControllerAppendix G Thorlabs Worldwide ContactsUSA, Canada, and South AmericaThorlabs, Inc.56 Sparta AvenueNewton, NJ 07860USATel: 973-579-7227Fax: 973-300-3600www.thorlabs.cowww.thorlabs.usemail: feedback@Support: techsupEuropeThorlabs GmbHHans-Böckler-St85221 DachauGermanyTel: +49-(0)8131Fax: +49-(0)813www.thorlabs.deemail: Europe@UK and IrelandThorlabs Ltd.1 Saint Thomas Cambridgeshire Great BritainTel: +44 (0)1353Fax: +44 (0)1353www.thorlabs.deemail: sales@ukSupport:techsupport.uk@FranceThorlabs SAS109, rue des Cô78600 Maisons-FranceTel: +33 (0) 970 Fax: +33 (0) 811www.thorlabs.deemail: sales.fr@ScandinaviaThorlabs Sweden ABBox 141 94400 20 GöteborgSwedenTel: +46-31-733-30-00Fax: +46-31-703-40-4579m (West Coast)thorlabs.comport@thorlabs.comr. 6-5956-01-5956-99thorlabs.comPlace, ElyCB7 4EX-654440-654444.thorlabs.comthorlabs.comtesLaffitte444 844 381 748thorlabs.comwww.thorlabs.deemail: scandinavia@thorlabs.comJapanThorlabs Japan Inc.Higashi IkebukuroQ Building 1st Floor 2-23-2Toshima-ku, Tokyo 170-0013JapanTel: +81-3-5979-8889Fax: +81-3-5979-7285www.thorlabs.jpemail: sales@thorlabs.jpChinaThorlabs ChinaOasis Middlering Centre3 Building 712 Room915 Zhen Bei RoadShanghaiChinaTel: +86 (0)21-32513486Fax: +86 (0)21-32513480www.thorlabs.comemail: chinasales@thorlabs.com80Thorlabs Ltd.Saint Thomas Place, ElyCambridgeshire CB7 4EX, UKTel: +44 (0) 1353 654440Fax: +44 (0) 1353 654444www.thorlabs.comThorlabs Inc.56 Sparta AvenueNewton, NJ07860USATel: +1 973 579 7227Fax: +1 973 300 3600www.thorlabs.com Chapter 1 For Your Safety 1.1 Safety Information 1.2 General Warnings Chapter 2 Overview and Setup 2.1 Introduction 2.2 APT PC Software Overview 2.2.1 Introduction 2.2.2 APTUser Utility 2.2.3 APT Config Utility 2.2.4 APT Server (ActiveX Controls) 2.2.5 Software Upgrades Chapter 3 Getting Started 3.1 Installing APT Software 3.2 Mechanical Installation 3.2.1 Siting 3.2.2 Environmental Conditions 3.3 Electrical Installation 3.3.1 Connecting To The Supply 3.4 Fuses 3.4.1 Rear Panel Connections 3.5 Front Panel Controls and Indicators 3.6 Connecting The Hardware and Powering Up 3.7 Verifying Software Operation 3.7.1 Initial Setup Chapter 4 Operation - Tutorial 4.1 Introduction 4.2 Using the APT User Utility 4.3 Homing Motors 4.4 Moving to an Absolute Position 4.5 Changing Motor Parameters 4.6 Jogging 4.7 Graphical Control Of Motor Positions (Point and Move) 4.8 Setting Move Sequences 4.9 Using A Joystick Console 4.10 External Triggering 4.11 Creating a Simulated Configuration Using APT Config Chapter 5 Software Reference 5.1 Introduction 5.2 GUI Panel 5.3 Settings Panel 5.3.1 Moves/Jogs tab 5.3.2 Stage/Axis tab 5.3.3 Advanced - Control Loop SettingsTab 5.3.4 Advanced - Misc. Tab 5.4 Troubleshooting and Restoring Default Parameters Appendix A Rear Panel Connector Pinout Details A.1 Rear Panel MOTOR DRIVE Connectors A.2 Rear Panel FEEDBACK Connector A.3 Rear Panel USER IO Connector A.4 Rear Panel AUX I/O Connector A.5 Rear Panel HANDSET Connector A.6 Rear Panel INTERCONNECT Connector (RS232) Appendix B Using the RS232 or Virtual Comm Port Appendix C Preventive Maintenance C.1 Safety Testing C.2 Fuses C.3 Cleaning Appendix D Specifications and Associated Parts D.1 Specifications Appendix E Motor Control Method Summary Appendix F Regulatory F.1 Declarations Of Conformity F.2 Waste Electrical and Electronic Equipment (WEEE) Directive Appendix G Thorlabs Worldwide Contacts