8742 Series User Manual Picomotor
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Model 8742
Picomotor™ Controller/Driver
User’s Manual
ii
Preface
DECLARATION OF CONFORMITY
Year
mark affixed: 2017
The Manufacturer:
With Authorized Representative:
Newport Corporation
1791 Deere Avenue
Irvine, California 92606
United States of America
MICRO_CONTROLE SpectraPhysics
9, rue du Bois Sauvage
F-91055 Evry
France
Hereby declares that the product:
Description: “Picomotor Controller/Driver and its power supply”
Function: Motion Controller/Driver
Type of equipment: Electrical equipment for measurement, control and laboratory use
Model Numbers: 8742 -various, 8745-PS
The object of the declaration described above is in conformity with:
Directive 2011/65/EU of the European Parliament and of the Council of 8 June 2011 on the
Restriction of the use of certain hazardous substances in electrical and electronic equipment
Directive 2014/30/EU relating to electromagnetic compatibility (EMC)
Directive 2014/35/EU relating to electrical equipment designed for use within certain voltage
limits (Low Voltage)
And was designed and built in accordance with the following harmonized standards:
BS EN 50581:2012
BS EN 61326-1:2013
BS EN 61010-1:2010
CISPR 11:2009+A1:2010 Class A Group 1 radiated and conducted emission limits.
This declaration of conformity is issued under the sole responsibility of Newport Corporation.
Signed for and on behalf of: Newport Corporation
Date: March 3, 2017
Gwen Briens
Senior Director, Business Unit
Instrument and Motion
Newport Corporation
1791 Deere Avenue, Irvine, CA 92606 USA
Preface
iii
Warranty
New Focus warrants that this product will be free from defects in material and
workmanship and will comply with New Focus’s published specifications at the
time of sale for a period of one year from date of shipment. If found to be defective
during the warranty period, the product will either be repaired or replaced at New
Focus's option.
To exercise this warranty, write or call your local New Focus office or
representative, or contact Newport headquarters in Irvine, California. You will be
given prompt assistance and return instructions. Send the product, freight prepaid,
to the indicated service facility. Repairs will be made and the instrument returned
freight prepaid. Repaired products are warranted for the remainder of the original
warranty period or 90 days, whichever first occurs.
Limitation of Warranty
The above warranties do not apply to products which have been repaired or modified
without New Focus’s written approval, or products subjected to unusual physical,
thermal or electrical stress, improper installation, misuse, abuse, accident or
negligence in use, storage, transportation or handling. This warranty also does not
apply to fuses, batteries, or damage from battery leakage.
THIS WARRANTY IS IN LIEU OF ALL OTHER WARRANTIES, EXPRESSED
OR IMPLIED, INCLUDING ANY IMPLIED WARRANTY OF
MERCHANTABILITY OR FITNESS FOR A PARTICULAR USE. NEW FOCUS
SHALL NOT BE LIABLE FOR ANY INDIRECT, SPECIAL, OR
CONSEQUENTIAL DAMAGES RESULTING FROM THE PURCHASE OR USE
OF ITS PRODUCTS.
First printing 2017
© 2017 by New Focus, Santa Clara, CA. All rights reserved. No part of this manual
may be reproduced or copied without the prior written approval of New Focus.
This manual has been provided for information only and product specifications are
subject to change without notice. Any change will be reflected in future printings.
New Focus
3635 Peterson Way
Santa Clara, CA, 95054
USA
Part No. 90066734 Rev. D
iv
Preface
Confidentiality & Proprietary Rights
Reservation of Title
The New Focus programs and all materials furnished or produced in connection with
them ("Related Materials") contain trade secrets of New Focus and are for use only
in the manner expressly permitted. New Focus claims and reserves all rights and
benefits afforded under law in the Programs provided by New Focus.
New Focus shall retain full ownership of Intellectual Property Rights in and to all
development, process, align or assembly technologies developed and other
derivative work that may be developed by New Focus. Customer shall not
challenge, or cause any third party to challenge the rights of New Focus.
Preservation of Secrecy and Confidentiality and Restrictions to Access
Customer shall protect the New Focus Programs and Related Materials as trade
secrets of New Focus, and shall devote its best efforts to ensure that all its personnel
protect the New Focus Programs as trade secrets of New Focus. Customer shall not
at any time disclose New Focus's trade secrets to any other person, firm,
organization, or employee that does not need (consistent with Customer's right of
use hereunder) to obtain access to the New Focus Programs and Related Materials.
These restrictions shall not apply to information (1) generally known to the public or
obtainable from public sources; (2) readily apparent from the keyboard operations,
visual display, or output reports of the Programs; 3) previously in the possession of
Customer or subsequently developed or acquired without reliance on the New Focus
Programs; or (4) approved by New Focus for release without restriction.
Trademarks
The New Focus logo and name are registered trademarks of Newport Corporation in
Mexico, Israel, Singapore, European Union, Taiwan, Hong Kong, China, Japan,
Korea, Canada, Australia, and the United States.
Service Information
This section contains information regarding factory service for the source. The user
should not attempt any maintenance or service of the system or optional equipment
beyond the procedures outlined in this manual. Any problem that cannot be
resolved should be referred to New Focus.
Preface
v
Technical Support Contacts
North America
Europe
New Focus
3635 Peterson Way, Santa Clara, CA 95054
Telephone: (866) 683-6287
Telephone: (408) 919-1500
Newport/MICRO-CONTROLE S.A.
Zone Industrielle
45340 Beaune la Rolande, FRANCE
Telephone: (33) 02 38 40 51 56
Asia
Newport Opto-Electronics Technologies
中国 上海市 爱都路 253号 第3号楼 3层
C部位, 邮编 200131
253 Aidu Road, Bld #3, Flr 3, Sec C,
Shanghai 200131, China
Telephone: +86-21-5046 2300
Fax: +86-21-5046 2323
Newport Corporation Calling Procedure
If there are any defects in material or workmanship or a failure to meet
specifications, promptly notify Newport's Returns Department by calling 1-800-2226440 or by visiting our website at www.newport.com/returns within the warranty
period to obtain a Return Material Authorization Number (RMA#). Return the
product to Newport Corporation, freight prepaid, clearly marked with the RMA# and
we will either repair or replace it at our discretion. Newport is not responsible for
damage occurring in transit and is not obligated to accept products returned without
an RMA#.
E-mail: rma.service@newport.com
When calling New Focus Corporation, please provide the customer care
representative with the following information:
Your Contact Information
Serial number or original order number
Description of problem (i.e., hardware or software)
To help our Technical Support Representatives diagnose your problem, please note
the following conditions:
Is the system used for manufacturing or research and development?
What was the state of the system right before the problem?
Have you seen this problem before? If so, how often?
Can the system continue to operate with this problem? Or is the system nonoperational?
Can you identify anything that was different before this problem occurred?
vi
Preface
Table of Contents
DECLARATION OF CONFORMITY ................................................ ii
Warranty ............................................................................................ iii
Technical Support Contacts ................................................................. v
Table of Contents ............................................................................... vi
List of Figures .................................................................................... ix
1
Safety Precautions
1.1
1.2
1.3
1.4
2
Definitions and Symbols........................................................... 10
1.1.1 General Warning or Caution ......................................... 10
1.1.2 Electric Shock ............................................................... 10
1.1.3 Potential Burn Hazard ................................................... 10
1.1.4 European Union CE Mark ............................................. 11
1.1.5 Alternating voltage symbol ........................................... 11
1.1.6 On................................................................................. 11
1.1.7 Off ................................................................................ 11
1.1.8 Ground ......................................................................... 11
1.1.9 DC Symbol ................................................................... 12
1.1.10 Waste Electrical and Electronic Equipment (WEEE) ..... 12
1.1.11 Control of Hazardous Substances .................................. 12
Warnings and Cautions ............................................................. 13
1.2.1 General Warnings ......................................................... 13
1.2.2 General Cautions .......................................................... 14
1.2.3 Summary of Warnings and Cautions ............................. 14
Location of Labels and Warnings ............................................. 17
Safety Grounding Considerations ............................................. 18
General Information
2.1
2.2
2.3
2.4
2.5
2.6
10
20
System Overview ..................................................................... 20
Scope of this Manual ................................................................ 21
Unpacking and Inspection ........................................................ 21
2.3.1 What is included ........................................................... 21
Available accessories................................................................ 21
Safety ....................................................................................... 22
Specifications ........................................................................... 23
2.6.1 Operating Limits* ......................................................... 23
2.6.2 Weight, Dimensions ...................................................... 24
Preface
3
Theory of Operation
3.1
3.2
3.3
3.4
3.5
3.6
4
4.6
4.7
4.8
5.4
31
Introduction ..............................................................................31
Grounding.................................................................................31
Power .......................................................................................31
Connecting 8742 to a Computer via USB ..................................31
Connecting 8742 to a Computer via Ethernet ............................32
4.5.1 Connecting to a Router ..................................................32
Picomotor Connections .............................................................32
Connecting Multiple Units to a Computer .................................33
4.7.1 Using USB Hubs ...........................................................34
4.7.2 Using Ethernet Routers/Switchers .................................35
4.7.3 Using RS-485 LAN to Daisy-Chain...............................36
Connecting to the 8758 Hand Control Pad.................................38
Computer Interfacing
5.1
5.2
5.3
25
How the Picomotor Actuator Works .........................................25
Stepping the Picomotor with the 8742 Controller/Driver ...........25
Status Indicator .........................................................................26
Power Supply............................................................................27
3.4.1 Fault Protection .............................................................27
Input / Output Connections .......................................................28
3.5.1 USB ..............................................................................29
3.5.2 Ethernet .........................................................................29
3.5.3 RS-485 ..........................................................................29
3.5.4 Power ............................................................................29
3.5.5 Picomotor Interfaces......................................................29
Mounting the unit .....................................................................30
Initial Setup
4.1
4.2
4.3
4.4
4.5
5
vii
40
Introduction ..............................................................................40
Computer Interface Terminology ..............................................40
USB Communication ................................................................40
5.3.1 USB Command Termination .........................................41
Ethernet Communication ..........................................................41
5.4.1 Ethernet Dynamic and Static IP Address Setup ..............42
5.4.2 Using a Static IP Address ..............................................42
5.4.3 Ethernet Peer-to-Peer Cabling .......................................45
5.4.4 Communicating Using a Hostname................................45
viii
Preface
5.5
5.6
5.7
6
Remote Command Set
6.1
6.2
7
96
Non Axis-Specific Error Messages ........................................... 96
Axis-Specific Error Messages ................................................... 97
Maintenance and Service
8.1
8.2
8.3
8.4
8.5
8.6
63
Command Syntax ..................................................................... 63
6.1.1 RS-485 Command Syntax ............................................. 64
6.1.2 Summary of Command Syntax ..................................... 65
Command List .......................................................................... 66
6.2.1 Description of Commands ............................................. 68
Appendix
7.1
7.2
8
RS-485 Communication ........................................................... 46
5.5.1 Setting up an RS-485 Network ...................................... 47
5.5.2 Communication with a Slave Controller ........................ 48
Picomotor Controller Software Application .............................. 49
5.6.1 Introduction .................................................................. 49
5.6.2 Overview ...................................................................... 50
5.6.3 Embedded Dynamic HTTP Server ................................ 61
LabVIEWTM and C# Programming Support .............................. 62
5.7.1 Introduction .................................................................. 62
99
Enclosure Cleaning................................................................... 99
Technical Support .................................................................... 99
Service ................................................................................... 100
Obtaining Service ................................................................... 100
Warranty ................................................................................ 100
Service Form .......................................................................... 101
Preface
ix
List of Figures
Figure 1
Figure 2
Figure 3
Figure 4
Figure 5
Figure 6
Figure 7
Figure 8
Figure 9
Figure 10
Figure 11
Figure 12
Figure 13
Figure 14
Figure 15
Figure 16
Figure 17
Figure 18
Figure 19
Figure 20
Figure 21
Figure 22
Figure 23
Figure 24
Figure 25
Figure 26
Figure 27
Figure 28
Figure 29
Figure 30
Figure 31
Figure 32
Figure 33
Figure 34
Figure 35
Figure 36
Figure 37
Figure 38
General Warning or Caution Symbol .......................................... 10
Electrical Shock Symbol ............................................................ 10
Hot Surface Symbol .................................................................. 10
CE Mark .................................................................................... 11
Alternating Voltage Symbol ....................................................... 11
On Symbol ................................................................................. 11
Off Symbol ................................................................................ 11
Ground Symbol ......................................................................... 11
DC Symbol ................................................................................ 12
WEEE Directive Symbol ............................................................ 12
RoHS Compliant Symbol ........................................................... 12
Labels and Warnings .................................................................. 17
Status Indicators position ........................................................... 26
Heatsink mounting slots ............................................................. 28
8742 Inputs and Outputs............................................................. 28
L-bracket .................................................................................... 33
Using L-brackets to stack up several Controllers ........................ 33
Connecting four units to a computer via a USB hub ................... 34
Connecting three units to a computer via an Ethernet router ....... 35
Connecting four units to a computer via RS-485 LAN ................ 36
Connecting four units to a computer via RS-485 adapter ............ 37
Single Controller Setup .............................................................. 38
Multiple Controller Setup ........................................................... 39
Picomotor Controller RS-485 LAN Topology ............................ 47
Picomotor Application Software................................................. 49
Controller Address Identification ............................................... 50
Jog Tab ...................................................................................... 51
Cycle Tab................................................................................... 52
Terminal Tab.............................................................................. 53
Controller Setup Window ........................................................... 54
Ethernet Setup Window.............................................................. 55
Options Window ........................................................................ 56
Properties Window ..................................................................... 57
Controller Scan .......................................................................... 58
Address Conflict Resolution Window......................................... 59
Device Address Window ............................................................ 60
Internet Browser View ............................................................... 61
Command Syntax Diagram ........................................................ 63
Safety Precautions
1
1.1
Definitions and Symbols
The following terms and symbols are used in this documentation and also appear on
the Model 8742 Controller/Driver where safety-related issues occur.
1.1.1
General Warning or Caution
Figure 1
General Warning or Caution Symbol
The Exclamation Symbol in the figure above appears on the product and in Warning
and Caution tables throughout this document. This symbol designates that
documentation needs to be consulted to determine the nature of a potential hazard,
and any actions that have to be taken.
1.1.2
Electric Shock
Figure 2
Electrical Shock Symbol
The Electrical Shock Symbol in the figure above appears throughout this manual
and on the product. This symbol indicates a hazard arising from dangerous voltage.
Any mishandling could result in irreparable damage to the equipment, and personal
injury or death.
1.1.3
Potential Burn Hazard
Figure 3
Hot Surface Symbol
The Hot Surface Symbol in the figure above appears throughout this manual and on
the product. This symbol indicates a hazard arising from a high temperature. Any
mishandling could result in personal injury.
Safety Precautions
1.1.4
11
European Union CE Mark
Figure 4
CE Mark
The presence of the CE Mark on New Focus equipment means that this instrument
has been designed, tested and certified compliant to all applicable European Union
(CE) regulations and recommendations.
1.1.5
Alternating voltage symbol
~
Figure 5
Alternating Voltage Symbol
This international symbol implies an alternating voltage or current.
1.1.6
On
I
Figure 6
On Symbol
The symbol in the figure above represents a power switch position on a Model 8742.
This symbol represents a Power On condition.
1.1.7
Off
Figure 7
Off Symbol
The symbol in the figure above represents a power switch position on the Model
8742. This symbol represents a Power Off condition.
1.1.8
Ground
Figure 8
Ground Symbol
12
Safety Precautions
The symbol in the figure above appears on the Model 8742 to indicate the screw to
be used to ground the case of the unit. This symbol identifies the frame or chassis
terminal.
1.1.9
DC Symbol
Figure 9
DC Symbol
This international symbol implies an unvarying current or voltage.
1.1.10
Waste Electrical and Electronic Equipment (WEEE)
Figure 10
WEEE Directive Symbol
This symbol on the product or on its packaging indicates that this product must not
be disposed with regular waste. Instead, it is the user responsibility to dispose of
waste equipment according to the local laws. The separate collection and recycling
of the waste equipment at the time of disposal will help to conserve natural
resources and ensure that it is recycled in a manner that protects human health and
the environment. For information about where the user can drop off the waste
equipment for recycling, please contact your local New Focus representative.
1.1.11
Control of Hazardous Substances
Figure 11
RoHS Compliant Symbol
This label indicates the products comply with the EU Directive 2002/95/EC that
restricts the content of six hazardous chemicals.
Safety Precautions
1.2
13
Warnings and Cautions
The Model 8742 is a component of a system that will contain one or more
Picomotors and other items. Since New Focus cannot control these other system
components, the User is ultimately responsible for ensuring that the complete system
meets all applicable product and workplace safety regulations. Specific attention
should be directed to the description of safety grounding concerns described in
Section 1.4, below.
The following are definitions of the Warnings, Cautions and Notes that are used
throughout this manual to call your attention to important information regarding
your safety, the safety and preservation of your equipment or an important tip.
WARNING
Situation has the potential to cause bodily harm or death.
CAUTION
Situation has the potential to cause damage to property or
equipment.
NOTE
Additional information the user or operator should consider.
Situation has the potential to cause the product to not comply
with applicable European Union regulations.
1.2.1
General Warnings
Observe these general warnings when operating or servicing this equipment:
Heed all warnings on the unit and in the operating instructions.
Do not use this equipment in or near water.
Although the input power to this equipment is below 20 VDC, this
equipment internally generates much higher voltages that are present
on the Model 8742 connector pins. Only properly trained personnel
should touch either of these items.
The Model 8742 is intended to be used as a component in a larger
system. When this product is included as part of a larger assembly,
the user MUST ensure that appropriate additional safety and EMCcompliance features are incorporated the assembly.
The Model 8742 is typically supplied with an external DC power
source. When the external power source is connected to MAINS
power, the external power source’s detachable power cord may be
used to disconnect power to the 8742. Do not position the external
14
Safety Precautions
1.2.2
power supply so that its MAINS power cord cannot be easily
disconnected.
Disconnect power before cleaning the equipment. Do not use liquid
or aerosol cleaners; use only a damp lint-free cloth.
Lockout all electrical power sources before servicing the equipment.
There are no user-replaceable fuses in this equipment. The user
must ensure that appropriate current-limiting protection is provided
by the external DC power source.
To avoid explosion, do not operate this equipment in an explosive
atmosphere.
Qualified service personnel should perform safety checks after any
service.
Use only the New Focus-supplied MAINS power cord with the
external DC supply. Use of under-rated power cords and cause
property damage
General Cautions
Observe these cautions when operating this equipment:
1.2.3
If this equipment is used in a manner not specified in this manual,
the protection provided by this equipment may be impaired.
Do not block ventilation openings.
Use only the specified replacement parts.
Follow precautions for static sensitive devices when handling this
equipment.
This product should only be powered as described in the manual.
There are no user-serviceable parts inside the Model 8742
Picomotor Drive Module.
Summary of Warnings and Cautions
The following general warning and cautions are applicable to this instrument:
WARNING
The Picomotor Controller/Driver is incomplete in constructional
features and is considered only to be a component for the
purposes of regulatory compliance. It is “equipment for building
in;” a suitable enclosure must be provided so that the unit is not
user accessible when incorporated into the final product.
Safety Precautions
15
WARNING
The Model 8742 Picomotor Controller/Driver internally generates
non-SELV voltages. These voltages are present, at times, on the
Picomotor connectors even when a Picomotor is not connected.
The user shall mount the Model 8742 with appropriate barriers,
spacings, markings, etc. to ensure that all applicable regulatory
requirements are met. THIS IS THE USER’S RESPONSIBILITY.
WARNING
Do not attempt to operate this equipment if there is evidence of
shipping damage or you suspect the unit is damaged. Damaged
equipment may present additional hazards to you. Contact New
Focus technical support for advice before attempting to plug in
and operate damaged equipment.
WARNING
The Model 8742 is intended for use ONLY with New Focus
Picomotors. Connection of other devices to the unit’s motor
connectors may cause damage to the unit or the connected
device, fire, and/or personal injury.
WARNING
Before operating the Model 8742 Picomotor Driver, please read
and understand all of Section 1.
WARNING
Do not attempt to operate this equipment if there is evidence of
shipping damage or you suspect the unit is damaged. Damaged
equipment may present additional hazards to you. Contact New
Focus technical support for advice before attempting to plug in
and operate damaged equipment.
WARNING
Do not apply external DC power to this equipment in excess of
14.5 VDC.
WARNING
Use only the New Focus-supplied MAINS power cord with the
external DC power supply. Use of an under-rated power cord
may cause damage to the product, fire, and/or personal injury.
16
Safety Precautions
CAUTION
There are no user serviceable parts inside the Model 8742
Picomotor Controller/Driver. Work performed by persons not
authorized by New Focus will void the warranty.
WARNING
If this equipment is used in a manner not specified in this
manual, the protection provided by this equipment may be
impaired.
WARNING
This instrument is intended for use by qualified personnel who
recognize thermal, shock, or laser hazards and are familiar with
safety precautions required to avoid possible injury. Read the
instruction manual thoroughly before using, to become familiar
with the instrument’s operations and capabilities.
CAUTION
The Model 8742 Picomotor Controller/Driver is designed to be
safe when operated under Normal Environmental Conditions as
defined in EN61010-1:2010. Operation under harsher
environmental conditions can result in severe injury.
CAUTION
The case of the Model 8742 Picomotor Controller/Driver is used
to dissipate internally-generated heat. Blocking the normal
convective airflow around the unit, or thermally insulating the
unit, can result in severe injury, damage to the product, and/or
fire.
CAUTION
When operated at higher pulse rates for extended periods of
time, the temperature on the outside of the Model 8742’s case
may rise above the “surface temperature limits in normal
operation” as defined in EN61010-1:2010 unless the user takes
appropriate measures. These may include the addition of an
external heat sink, barriers to contact, reducing the pulse
frequency, or other appropriate mitigations. Failure to take
appropriate action when operating the Model 8742 under these
conditions can result in severe injury.
Safety Precautions
17
The Model 8742 Picomotor Controller/Driver is intended for use
in an industrial laboratory environment. Use of this product in
other environments, such as residential, may result in
electromagnetic compatibility difficulties due to conducted as
well as radiated disturbances.
1.3
Location of Labels and Warnings
Power
Supply
Voltage and
Current
CE Mark
High
Voltage
Warning
Symbol
Model
Number
Serial Number
and WEEE
Symbol
Applicable
US Patents
Chassis Ground
Label
Figure 12
Labels and Warnings
18
Safety Precautions
1.4
Safety Grounding Considerations
There are potentially lethal voltages generated within the Model 8742 Picomotor
Controller/Driver and presented on the pins of the “Motor” connectors EVEN
WHEN NO PICOMOTOR IS INSTALLED. (These voltages are not present when
power is not applied to the unit. They are not present when the unit is switched
OFF.) The User must manage certain system-level aspects to ensure safe operation.
One of these is grounding.
The Model 8742’s external DC power supply provides 12VDC. The negative output
from this supply is typically isolated from MAINS earth ground, but this isolation
should not be assumed. This same negative output is connected directly to the
Model 8742’s external case within the Model 8742. This same “ground” is at the
same potential as the MOTOR connectors’ return signal pins. This means that the
MOTOR connectors’ drive signal pins are, at times, at VERY HIGH VOLTAGES
relative to the Model 8742 case, the USB connector shell, and the DC input/loopthrough connectors’ negative terminals.
An 8-32 screw is provided on the unit and marked with the “Ground” symbol shown
in Paragraph 1.1.8, above. While it is not necessary to connect this terminal to a
building “earth” ground, New Focus recommends doing so because it will simplify
system-level compliance with most regulatory requirements. Once this connection
is made, the user must ensure that all other system components are appropriately
grounded. Do not depend upon the physical mounting hardware to accomplish this
grounding.
If the other components are not grounded, a damaged Picomotor (or its wire) could
result in a dangerously high voltage being present between anything that is grounded
(like the 8742 and a computer attached to it via USB) and the Picomotor case. Note
that the simplest way to ground a Picomotor is via its threaded mounting bushing or
other mounting hardware. DO NOT ATTEMPT TO OPEN A PICOMOTOR TO
ACHIEVE THIS GROUNDING.
If system requirements prevent the Picomotor from being grounded, then the user
must ensure that the Model 8742 and all other system components (including any
USB-connected computers) are properly isolated from earth ground. This is because
a short of the high-voltage drive signal to an earth ground may result in potentially
lethal voltages existing between the case of the 8742 and anything that is earth
grounded, such as a floor. The User is advised to consult all applicable regulations
Safety Precautions
because this insulation will probably need to have a breakdown voltage of several
thousand volts due to lightening concerns.
In summary, New Focus strongly recommends grounding the Model 8742’s case.
19
General Information
2
2.1
System Overview
8742 is a 4-axis open-loop motion controller/driver for Picomotors, offering a
complete motion solution for many applications. It can control up to 4 Picomotors
and it can work in systems with other Model 8742 and 8743-CL Controller/Drivers
to drive a large number of Picomotors. The controller can be programmed via USB,
Ethernet, and RS-485 communication interfaces to perform different motion tasks:
relative and absolute moves, jogging, etc.
Key Product Features
A number of advanced features make the 8742 an excellent choice for many
applications:
Intelligent 4-axis open-loop control
Compact, integrated controller and driver design
Patented Picomotor™ compatibility with auto-sensing technology
Programmable settings stored in non-volatile memory
Plug-and-play USB 2.0 interface
10/100-Mbps Ethernet connectivity (Sockets interface, TCP/IP, DHCP, UDP)
Embedded dynamic HTTP server
RS-485 LAN interface
Over temperature protection
Advanced microcontroller technology
Embedded real-time operating system
Easy to use Windows software utility
LabVIEWTM and C# programming support
Local Power ON / OFF Switch
General Information
2.2
21
Scope of this Manual
Please carefully read this instruction manual before using the 8742 Picomotor
Controller/Driver. Be especially careful to observe the warnings and cautions
throughout this manual (see Safety Symbols and Terms). If any operating
instructions are not clear, contact New Focus.
This instruction manual contains the necessary information for operation and
maintenance of the Model 8742, as well as information for troubleshooting and
obtaining service if necessary.
2.3
Unpacking and Inspection
The Model 8742 is carefully assembled, tested and inspected before shipment.
Upon receiving this instrument, check for any obvious signs of physical damage that
might have occurred during shipment. Report any such damage to the shipping
agent immediately.
NOTE
Retain the original packing materials in case reshipment becomes necessary.
2.3.1
What is included
The 8742 package contents:
2.4
8742 Controller/Driver
USB Flash Drive which contains the user manual, various documents, USB
driver, software application and libraries.
Available accessories
Hand Control Pad (Model 8758)
Power supply/AC adapter, 60 Watt (Model 8745-PS)
Power supply link cable, 6 inch, for daisy chaining multiple controllers together
using a single 12 VDC supply (Model 8745-PWR-CBL)
RS-485 LAN link cable, 6 inch, for daisy-chaining (Model 8745-RS485-CBL)
USB cable, 3 meter (Model 8745-USB-CBL)
L-shaped bracket for stacking several Controllers/Drivers (Model 8745-STK-KIT)
Optical table mounting plate kit (Model 8745-MTG-KIT)
22
General Information
2.5
Safety
Voltages of up to 130 V are accessible inside the 8742 Controller/Driver chassis,
mounts, and Picomotors. DO NOT operate the units with the driver or mount covers
removed. If the wire of a mount or Picomotor is damaged, discontinue use and
return it for repair. If the device is used in a manner not specified by New Focus, the
protection provided by the device may be impaired.
Normally, the case of the Model 8742 will rise a few degrees when a Picomotor is
moved. Under conditions of extreme use, meaning long distance moves on one or
more motor channels, the case temperature may rise above what is considered safe
under various international safety conventions. Even after extreme use, the unit’s
case temperature will drop to safe levels within a few minutes. The user should not
touch the case immediately following such use. Note that the Model 8742 does
contain internal temperature protection circuitry that will shut down the unit when
the case approaches a temperature that could degrade or damage the unit.
CAUTION
The case of the Model 8742 Picomotor
Controller/Driver is used to dissipate internallygenerated heat. Blocking the normal convective
airflow around the unit, or thermally insulating the
unit, can result in severe injury, damage to the
product, and/or fire.
General Information
2.6
Specifications
2.6.1
Operating Limits*
PARAMETER
Model 8742 Power input voltage (+V IN)
Power Consumption @ 12 Volts
Ambient still-air operating temperature
Storage temperature (non-operating)
Relative Humidity, operating (non-condensing)
Altitude
23
MIN.
MAX.
10.5 V
14.5 V
2 Watts
11 Watts
(Idle)
(@ 2 kHz
speed)
0 °C
65 °C
-40 °C
95 °C
10%
90%
2000 meters
Environment, Use
Indoor Use
Only
Pollution Degree
2
*Operating outside the operating limits may damage the unit.
24
General Information
2.6.2
Weight, Dimensions
Weight
9.5 oz (270 g)
(L x W x H)
Dimensions
5.84 in x 3.61 in x 1.02 in
148.3 mm x 91.7 mm x 25.9 mm
Theory of Operation
3
3.1
How the Picomotor Actuator Works
The patented design of the Picomotor actuator relies on the basic difference between
dynamic and static friction. A graphic example of this is the “tablecloth trick”, in
which a quick pull of the cloth leaves the dishes on the table, while a slow pull of the
tablecloth ends up pulling the dishes off the table (high static friction).
The Picomotor actuator uses the same principle with a threaded jaw, similar to two
halves of a split nut, clamped around a precision 80-pitch screw. One jaw is
connected to one end of a piezoelectric transducer, and the other jaw is connected to
the other end of the transducer. A slow electrical signal applied to the piezo slowly
changes the length, causing the two jaws to slide in opposite direction. This slow
sliding motion makes the screw turn (static friction). At the end of the transducer
motion, a fast electrical signal quickly returns the jaws to their starting positions.
Because of the screw’s inertia and low dynamic friction, it remains motionless,
holding its position. Simply reversing the order of the fast and slow signals reverses
the direction of rotation.
3.2
Stepping the Picomotor with the 8742 Controller/Driver
Although the Picomotor is not a stepper, per se, it can be driven step-by-step. Each
step size depends on the Picomotor model, but it is usually < 30nm, allowing for
very small, controlled movements.
8742 can be programmed for single step control, as well as a predetermined number
of steps. Moreover, 8742 can drive the Picomotor in a continuous motion, in either
direction at variable speeds.
As opposed to magnetic motors, the Picomotor actuator has a set-and-forget
stability. When no power is applied, the actuator does not move. The user can feel
confident that the Picomotor will not change its position, even when the 8742
Controller/Driver is powered off. Therefore, the 8742 has a power ON/OFF switch
for convenience. If a user has a 4-Picomotor system, once the system is set, the user
can turn the power OFF, to assure that the Picomotors will not be inadvertently
moved through computer control. In addition, the 8742 Controller/Driver can be
programmed with the outputs disconnected, with the same effect as in the power
OFF state.
26
Theory of Operation
3.3
Status Indicator
The LED located near the power switch has several functions:
Power Indicator
Status Indicator
Troubleshooter
Status
Indicator
Power
Switch
Figure 13
Status Indicators position
When the unit is turned on the unit goes through a series of verifications and turns
the LED solid green. The unit is ready to drive Picomotors.
If any problems are found, the LED will blink or turn on a color corresponding to
the issue found. Please refer to the following table and call New Focus support if
this happens.
CONDITION
No power applied to unit
Unit OK; no critical errors detected
Reboot condition occurred
Unit OK; 8758 hand control pad detected
Corrupted firmware detected
Critical fault detected (e.g. over-temperature)
Table 1
LED STATE
OFF
Solid green
Fast blinking green for 0.5 second
Slow blinking amber
Solid amber
Solid red
LED Status Indicator
Theory of Operation
3.4
27
Power Supply
The 8742 Controller/Driver can place stress on the system power supply. The stress
has two components:
Inrush current: The inrush current on power-up charges the internal filter
capacitor. While the energy magnitude of the inrush current is limited, it can still
cause problems with power supplies not designed to handle it.
Dynamic load: Dynamic current is supplied to the 8742 internal power supply for
each Picomotor drive pulse. The input-filter capacitor will supply more dynamic
current as the resistance between the capacitor and system power supply increases.
Do not increase this resistance: it will increase ripple-current stress on the internal
input-filter capacitor, leading to early failure of the Model 8742. The best strategy is
to keep the resistance between the power supply and the 8742 below 0.1 Ω and use
the power supply recommended by New Focus that came with the 8742
Controller/Driver.
3.4.1
Fault Protection
The 8742 Controller/Driver incorporates circuit-protection schemes to protect itself
and the system power supply:
Over-voltage protection: If the power input voltage exceeds 16.7 to 18.5 V, a
transient voltage suppressor (TVS) shunts the power input to ground. The internal
2.5 A fuse will then open. The TVS will also shunt the power input to ground if an
internal fault shorts any high voltage to the power input. The input fuse will also
open if the input power voltage is reversed. Brief power supply transients will not
blow the fuse. Therefore, it is highly recommended to use the correct New Focussupplied power supply. If the fuse was blown, the unit has to be serviced by New
Focus. It is not user replaceable.
Over-temperature protection: If the base plate of the unit reaches 80 °C, the unit
will turn the status indicator solid red to tell the user that the base plate, which acts
as a heatsink, reached the maximum allowed temperature. The user is expected to
take some measures like decreasing the pulse rate, force-air cool the 8742 case, or
use an extra heatsink. If the case temperature continues to rise, at 85 °C the output
will be turned off. The output will remain off until the base plate temperature
decreases to 75 °C, when the output will be ready to drive the motor again. In that
case the status indicator will turn solid green to indicate that the normal operation
has resumed (see Table 1). If left unattended, the unit will protect itself cycling
between 85 °C and 75 °C.
The unit does not need an extra heatsink in normal laboratory environment.
However, if forced cooling is needed, usually at high ambient temperatures, a
heatsink can be mounted using the 4 slots of the unit base (see Figure 14).
28
Theory of Operation
A heatsink
can be
mounted
using these
slots
Figure 14
3.5
Heatsink mounting slots
Input / Output Connections
Figure 14 shows the 8742 input and output connections.
Communication Interfaces: USB, Ethernet, RS-485 (2)
Power Inputs: +12VDC (2)
Picomotor Interfaces: 4
The following figure shows the position of the inputs and outputs as well as the
power switch.
Figure 15
8742 Inputs and Outputs
Theory of Operation
3.5.1
29
USB
The USB input is a Micro-AB connector. Use a Micro-B to USB-A cable to connect
the 8742 Controller/Driver to a computer.
3.5.2
Ethernet
The Ethernet input is a standard RJ-45 connector. Use a Cat 5 Ethernet cable to
connect the 8742 Controller/Driver to a router, an Ethernet switch, or a computer.
3.5.3
RS-485
There are two RS-485 connectors that accept standard 3.5mm stereo plugs. The two
connectors are connected in parallel inside the Model 8742. (The wiring convention
is TIP = D+, RING = D-, SLEEVE = GND.) These connections are used to simplify
the wiring between an external computer and multiple 8742 or 8743-CL
Controller/Driver units.
See Section 4.7.3 Using RS-485 LAN to Daisy-Chain and Section 5.5 RS-485
Communication for more information on setting up these configurations. See the
Accessories Section 2.4 for information on an RS-485 cable that will facilitate
normal multi-unit linking.
3.5.4
Power
There are two power inputs that can take a standard barrel connector with the output
diameter 5.5 mm and internal diameter 2.1 mm. The provided power supply can be
plugged in either of these two connectors. The other connector is used to link the
power supply to another 8742 Controller/Driver. See the Accessories Section 2.4
for information on the Power supply link cable.
Use the power switch to turn the unit ON and check the LED status as described in
Section 3.3.
3.5.5
Picomotor Interfaces
Each 8742 can drive up to 4 Picomotors, one motor at a time. Before connecting,
inspect the Picomotor cables, connectors and generally their integrity. The
Picomotors will receive high voltage pulses that can be dangerous if wires are
exposed. Contact New Focus if you see any problems.
Do not connect anything else to the 8742 outputs. The Controller/Driver is designed
to handle only New Focus standard Picomotors. If the output is shortened or
otherwise misused, an internal component will open and the unit will have to be
serviced.
30
Theory of Operation
3.6
Mounting the unit
8742 may be set on a table top.
While not required, the 8742 can be bolted to the table top in either horizontal or
vertical orientation.
Under conditions of extreme usage, the case temperature of the Model 8742 may
exceed the levels considered safe by various international safety conventions. If
such use is anticipated, the user must position, or block access to, the unit so that the
unit cannot be accidentally touched.
Initial Setup
4
4.1
Introduction
This section contains information on how to connect the 8742 Controller/Driver to
your local line voltage and how to connect the Picomotor to the controller. It also
includes a discussion about the remote interface and the instrument’s power-up.
4.2
Grounding
Connect the 8-32 grounding screw to a good earth ground using a dedicated wire of
at least 20AWG diameter. See Section 1.4 for advice on making this connection
4.3
Power
Make sure that that power switch is in the off position. Connect the external power
supply to AC and connect the power barrel plug into one of the 8742 power inputs.
If more than one unit needs to be connected to the same power supply use the power
link cable to daisy-chain them. Up to 3 units can be powered by one power supply.
4.4
Connecting 8742 to a Computer via USB
The 8742 Controller/Driver can be connected to a computer with a standard Micro-B
to USB-A cable. If several 8742 units have to be connected to the same computer
the user can connect them to a USB hub and then connect the hub to the computer
USB input. Alternatively, the first unit can be connected to the computer with
subsequent units daisy-chained as described in Section 4.7.3 Using RS-485 LAN to
Daisy-Chain.
32
Initial Setup
4.5
4.5.1
Connecting 8742 to a Computer via Ethernet
Connecting to a Router
The 8742 Controller/Driver can be connected to an Ethernet Router. Attach the
computer Ethernet cable to the same router. If desired, the router can be attached to
a WAN (Wide Area Network) so that the computer can also be connected to
internet, or company network.
By default, the 8742 Controller/Driver is set for DHCP (Dynamic Host
Configuration Protocol). This means that, when connected to a router which is set in
DHCP mode, the router will automatically assign it a local IP address from the
router address pool. The computer will also receive a local IP address. The IP
address normally will be in the range of 192.168.1.1 to 192.168.255.255. Check
your router settings to verify the IP address pool.
As soon as both units, 8742 and computer, are connected to the router the Picomotor
Controller/Driver is ready to communicate with the computer. The discovery utility
will automatically find the IP address of the 8742 Controller/Driver and the user can
start sending commands to the unit. See Section 5 for details.
If several 8742 units have to be connected to the same computer the user can
connect them individually to an Ethernet hub or router. Alternatively, the first unit
can be connected to the router (or computer) with subsequent units daisy-chained as
described in Section 4.7.3 Using RS-485 LAN to Daisy-Chain.
4.6
Picomotor Connections
Each Model 8742 controller/driver can control one of four 4-pin RJ-22 single output
ports for use with any single-channel Picomotor actuator at any given time.
RJ-22 motor connector pinouts are as follows:
Pin-1
Not Connected
Pin-2
Ground
Pin-3
Motor
Pin-4
Ground
The model 8725 multi-axis adapter can be used to connect the 4-pin RJ-22 output
ports to New Focus™ Picomotor products with 6-pin RJ-11 connectors.
Initial Setup
4.7
33
Connecting Multiple Units to a Computer
The L-bracket (Figure 16) is an optional accessory to stack up several 8742 or 8743CL units. The stack is shown in Figure 17.
Figure 16
L-bracket
Figure 17
Using L-brackets to stack up several Controllers
34
Initial Setup
4.7.1
Using USB Hubs
Each 8742 Controller/Driver in the stack can be connected to a USB hub. Connect
the hub to a computer and launch the Picomotor Application provided on the USB
Flash Drive. The application will automatically discover and display the 8742 units
and make them available for control.
Figure 18
Connecting four units to a computer via a USB hub
Initial Setup
4.7.2
35
Using Ethernet Routers/Switchers
If several 8742 units need to be controlled via Ethernet, connect them to a router at
the LAN (Local Area Network) ports. The router will assign an IP address to each
8742 Controller/Driver. Connect a computer to the same router at one LAN port.
Use the Picomotor Application provided on the USB Flash Drive to discover and
establish a connection to each 8742 unit.
Figure 19
router
Connecting three units to a computer via an Ethernet
36
Initial Setup
4.7.3
Using RS-485 LAN to Daisy-Chain
If several 8742 units need to be controlled via Ethernet or USB, they do not all have
to be connected directly to an Ethernet Switch or USB Hub. Instead, a single unit
can act as a gateway by connecting it to the Router, Switch, or Hub and also
connecting it to the remaining units using a half-duplex RS-485 LAN bus. In these
configurations, the “Gateway” unit, henceforth referred to as the Master Controller,
will be a bus master while the other units will be slaves.
To facilitate these connections, each 8742 has two 3.5mm phone jacks connected in
parallel. The wiring convention is TIP is D+, RING is D-, and SLEEVE is ground.
The normal convention with RS-485 is a daisy-chain configuration of devices; a
“STAR” configuration is not supported. A nominally 100-ohm resistance is applied
between the D+ and D- wires at each end of the bus, but not at the units in the
middle of the bus. To simplify implementation of these bus termination resistances,
the 8742 applies a 100-ohm termination between the D+ and D- wires UNLESS a
plug is inserted into BOTH of the 3.5mm jacks. In other words, the two 3.5mm
jacks in the 8742 each have integrated switches that go open-circuit when a plug is
inserted into the connector. The switches in the two jacks are connected in parallel,
as are the TIP, RING, and SLEEVE connections. Thus, the termination will be
applied between the D+ and D- wires at each end of the daisy-chain. Units in the
middle of the daisy-chain will not apply their termination resistances because both
of their jacks will be occupied.
Figure 20
Connecting four units to a computer via RS-485 LAN
Initial Setup
37
This product’s RS-485 LAN implementation is a multidrop, half-duplex, 2-wire,
differential signaling, balanced line over twisted pair setup. Hence, 1.2 km (~4K
feet) distance is theoretically possible.
Note that it is possible to use an off-the-shelf third party RS-485 converter/adapter to
connect into the controller’s RS-485 LAN as an alternative to USB or Ethernet
connectivity. However, the Picomotor Windows application and software support
will not detect the controller’s presence in this configuration and, therefore, user
developed software will be required to make it communicate with the PC.
Applications handling the RS-485 bus terminations externally can cause a unit at the
end of the daisy-chain to disconnect its internal termination by inserting an
unconnected 3.5mm plug into the otherwise unused jack.
For more details on RS-485 LAN communication please see Section 5.5.
Figure 21 Connecting four units to a computer via RS-485
adapter
38
Initial Setup
4.8
Connecting to the 8758 Hand Control Pad
The model 8758 hand control pad facilitates local (non-computer) control of positioners connected to
8742 Picomotor controllers. It draws its electrical power from the Picomotor controller via USB
interface and, hence, does not require a separate power supply.
IMPORTANT: 8742 controller must run firmware version 2.2 (or later) to be compatible
with the 8758 hand control pad.
NOTE: Read the 8758 User’s Manual completely before connecting it to the 8742 controller.
The 8758 hand control pad connects directly to the 8742 controller’s USB port. Therefore, only the
controller’s Ethernet and RS-485 port will be available for computer interfacing, if needed.
Figure 22
Single Controller Setup
Initial Setup
39
The 8758 hand control pad is capable of interfacing with up to 31 Picomotor controllers when
configured in the RS-485 daisy-chained “Master/Slave” setup shown below.
The controller that has the 8758 connected to it automatically becomes the designated Master
Controller. A Master Controller initiates and arbitrates RS-485 communication to all Slave controllers
on behalf of the 8758 hand control pad or PC.
To avoid RS-485 LAN message conflicts only one(1) network Master is allowed. Therefore, only the
8758 designated LAN Master Controller is permitted to connect to a PC via its available Ethernet
port, if computer communication is also desired.
NOTE: Picomotor controllers will only execute move commands from one source (8758 or
PC) at any given time.
NOTE: Do not connect the PC to any Slave controller’s USB, Ethernet, or RS-485 port.
Only connect the PC to the Master controller.
Figure 23
Multiple Controller Setup
Computer Interfacing
5
5.1
Introduction
The Model 8742 Controller/Driver has two computer interface ports: USB-Device
and Ethernet. All commands for the 8742 Controller/Driver are device dependent
commands.
Please see the General Guidelines sections for using either the USB (Section 5.3), or
Ethernet (Section Error! Reference source not found.) interfaces. These sections
include important information on using these interfaces properly.
5.2
Computer Interface Terminology
Key abbreviations and concepts used in the command reference section of this
manual are listed below:
Carriage Return
The ASCII decimal “13” byte.
Line Feed
An ASCII decimal “10” byte.
New Line
Whitespace
Optional between commands and between parameters. Whitespace is any character
with a binary value less than or equal to an ASCII space character (except the
character ).
Numerical types
Numerical parameters are passed and returned as the actual ASCII characters in the
string representation of the number. The 8742 Controller/Driver Series instrument
accepts numeric values in decimal format only.
5.3
USB Communication
Before connecting the controller to a host PC using a standard Micro-B to USB-A
cable, the user should install the application included in the USB Flash Drive that
accompanies the Unit. The application automatically installs the correct USB
drivers. Communication can be done through this interface by using the application
or by developing software in the user’s preferred programming language.
Computer Interfacing
41
The USB Flash Drive contains communication drivers and software for operating
the controller/driver.
5.3.1
USB Command Termination
Commands and queries sent to the 8742 Controller/Driver through the USB port
must be terminated by a (line feed).
All responses sent by the 8742 Controller/Driver are terminated with a (line
feed).
5.4
Ethernet Communication
The default Ethernet configuration should work for most users. Simply connect the
8742 controller to your Ethernet router, install and run the Picomotor application
software that came with the product. After a few seconds, mostly depending on
network TCP/IP negotiation with router and/or computer, the software should
automatically ‘discover’ the controller on the network and Picomotor control may
begin. Be aware the computer will not be able to discover the controller if the
network does not have a DHCP server (included in most routers) because the 8742
does not support auto-negotiation of IP addresses. If the network lacks a DHCP
server, the 8742 must be configured for static IP addressing.
This controller supports the following network protocols: IP, TCP, UDP, ICMP,
DHCP, PPP, ARP. Additionally, Sockets interfacing is supported. Note that the
8742 server can handle up to 4 sockets.
The 8742 provides various commands to help setup and tailor Ethernet
communication to most needs. (See below)
COMMAND
DESCRIPTION
GATEWAY
Default gateway address
GATEWAY?
Default gateway address
query
HOSTNAME
Hostname
HOSTNAME?
IPADDR
Hostname query
IP address
IPADDR?
IP address query
IPMODE
IP mode
IPMODE?
MACADDR?
NETMASK
IP mode query
MAC address query
Network mask address
NETMASK?
Network mask address query
Table 2
Ethernet Related Commands
42
Computer Interfacing
5.4.1
Ethernet Dynamic and Static IP Address Setup
Use the Picomotor Controller Software Application to access the Ethernet setup
window, as shown in Figure 31.
Alternatively, you can use the IPMODE command to setup either Dynamic or Static
IP mode
The IP mode command (IPMODE) is used to set the controller’s IP mode. In order
for this setting to take effect, please save this setting in the controller’s non-volatile
memory and reset the controller.
As the name implies, Static IP addresses are the same every time you connect.
Dynamic IP addresses may change each time you connect to the Ethernet Local Area
Network. Dynamic IP addresses are the normal customer access method used by
most ISPs or Service Providers and this is the default IP mode for this product.
When your 8742 controller is configured for Dynamic IP addressing, upon power up
or connection to the LAN it will automatically send a message to every device on
the network and ask if the other device(s) are DHCP servers. (There should be
exactly one DHCP server on the network.) The non-DCHP server devices will
ignore the message; the only DCHP server on the network will respond to the 8742
with a "use IP address xx.xx.xx.xx" message. The 8742 will then begin using this IP
address.
When your 8742 controller is configured for Static IP addressing, upon power up it
will retrieve its previously-stored IP address from non-volatile memory within the
8742 and begin using this IP address.
NOTE: Send Ethernet commands via USB interface as Ethernet
communication may become unstable during Ethernet settings configuration.
While connected via USB, use the Picomotor application software to send
commands (Go to ‘Terminal’ tab).
5.4.2
Using a Static IP Address
For those who can make changes to the router through its configuration
software
The preferred method is to use the Picomotor Controller Software Application to
access the Ethernet setup window, as shown in Figure 31, to setup the static IP
Address, Gateway and Subnet mask.
Computer Interfacing
43
Alternatively, you can send commands to the controller to set up your system for use
with a static IP address as follows:
1.
In the router configuration software, reserve an IP address for the picomotor
controller. Try to reserve an IP address outside of the range used by the DHCP
server because this will eliminate the possibility of address conflicts now and in
the future.
2.
Set the picomotor controller to use a static IP addressing by sending the
“IPMODE 0” command.
3.
Set the 8742 controller's static IP address to the reserved value by sending
"IPADDR xx.xx.xx.xx: where xx.xx.xx.xx is the reserved value.
4.
Send "GATEWAY xx.xx.0.0" (where the first two octets match those of the
IPv4 Address).
5.
Send "NETMASK 255.255.255.0.
6.
Send the "SM" command to the controller to save the information entered.
7.
Send the "RS" command to reset the controller so that all entered information
will take effect.
For those who cannot make changes to the router or for a peer to peer
connection
Note: When the Peer-to-Peer Ethernet connection is used, the 8742 controller must
be set for Static IP. DHCP Auto-negotiation of IP addresses (without a DHCP server
in the network) is not supported.
1.
Open a DOS command window and run “IPCONFIG”.
Ethernet adapter Local Area Connection:
Connection-specific DNS Suffix
. :
Link-local IPv6 Address . . . . . :
IPv4 Address. . . . . . . . . . . : 192.168.1.123
Subnet Mask . . . . . . . . . . . : 255.255.255.0
Default Gateway . . . . . . . . . : 192.168.1.1
2.
Note the first two octets of the IPv4 Address of the PC (192.168 in the example
above).
3.
Set the picomotor controller to use a static IP address by sending the “IPMODE
0” command.
44
Computer Interfacing
4.
Send “GATEWAY 192.168.0.0” (where the first two octets match those of the
IPv4 Address or the host address from the log file (“CreateUDPSockets: Host
Address = 192.168.1.123”).
5.
Send “NETMASK 255.255.0.0”.
6.
Set the static IP address by sending “IPADDR 192.168.1.150” (where the first
two octets match those of the IPv4 Address or the host address from the log file
(“CreateUDPSockets: Host Address = 192.168.1.123”). If the host address is
being automatically generated by a DHCP server then try to select a static IP
address outside of the range used by the DHCP server because this will
eliminate the possibility of address conflicts now and in the future.
7.
Send the “SM” command to the picomotor controller to save the information
entered.
8.
Send the “RS” command to reset the controller so that all entered information
will take effect.
For more information, see the following links:
http://en.wikipedia.org/wiki/Default_gateway
http://en.wikipedia.org/wiki/IPv4_subnetting_reference
Computer Interfacing
5.4.3
45
Ethernet Peer-to-Peer Cabling
Peer-to-Peer Ethernet connection means connecting your 8742 directly to your PC
without the use of a router. This may or may not require the use of a special
Ethernet ‘crossover’ cable as many new computers no longer require it.
An Ethernet crossover cable is a type of Ethernet cable used to connect computing
devices together directly. Normal straight through or patch cables were used to
connect from a host network interface controller (a computer or similar device) to
a network switch, hub or router. A cable with connections that "crossover" was used
to connect two devices of the same type: two hosts or two switches to each other.
Owing to the inclusion of Auto-MDIX capability, modern implementations of
the Ethernet over twisted pair standards usually no longer require the use of
crossover cables. Refer to Section 5.4.2 for how to setup a peer-to-peer connection.
5.4.4
Communicating Using a Hostname
The hostname (HOSTNAME) command is used to set the controller’s hostname. A
hostname is a label or nickname assigned to a device connected to a computer
network and is used to identify the device in various forms of communication. This
feature enables users to assign the controller a more easily identifiable name,
perhaps linked to its actual function in an application (e.g., TIPTILT, MIRROR-2).
This command is more common with Ethernet but can also be used with USB
communication.
NOTE: Send Ethernet commands via USB interface as Ethernet
communication may become unstable during Ethernet settings configuration.
While connected via USB, use the Picomotor application software to send
commands (Go to ‘Terminal’ tab).
The default hostname for the controller is 8742-serialnum, where serialnum is the
controller’s serial number. The hostname can have a maximum of 15 alphanumeric
characters. The first character in the hostname cannot be a hyphen (“-”). Issue Save
(SM) and Reset (RS) commands to controller to take effect.
46
Computer Interfacing
5.5
RS-485 Communication
RS-485 interface can be used to communicate with up to 31 Picomotor controllers
(8742 or 8743-CL) that are daisy-chained, using a single USB/Ethernet connection.
Once the desired controllers are daisy-chained using the RS-485 link cable, any one
of these controllers can be connected to a host PC via USB or Ethernet interface.
The controller on the network that is directly connected to a host PC is referred to as
the “master controller”. This controller is responsible for receiving commands from
the host PC, and sending responses, if any, back to the host PC.
NOTE: There can be only one master controller on the RS-485 local area
network (LAN).
All the controllers connected to a master controller via RS-485 link cable are
referred to as the “slave controllers”. There can be up to 30 slave controllers
connected to 1 designated master controller.
When the master controller receives a command from a host PC, it first determines if
the command is addressed to it or if the command is addressed to one of the slave
controllers. If the command is addressed to it, it processes the command and sends
any responses back to the host PC. On the other hand, if the command is addressed
to one of the slave controllers, it transmits the command on the RS-485 LAN. Since
the controller RS-485 is configured in a multidrop, parallel bus topology, all the
slave controllers receive the command transmitted by the master controller. Each
slave controller then determines if the command is addressed to it, and processes the
same if it is the intended recipient. All other slave controllers ignore the received
command. If the command is a query (i.e., requires response), the slave controller
that processed the command may transmit the response on the RS-485 LAN. Once
again, all the controllers on the RS-485 LAN, including the master controller,
receive the response transmitted by the slave controller. The master controller
determines that the information it received on the network was a response to a
command it had initially transmitted on the network, and sends this response to host
PC; all the slave controllers ignore the response they received.
Computer Interfacing
47
Figure 24
Picomotor Controller RS-485 LAN Topology
Note that a multidrop bus is a computer bus in which all components are connected
to the same set of electrical wires. A process of arbitration determines which device
gets the right to be the sender of information at any point in time. The other devices
must listen for the data that is intended to be received by them. Multidrop buses
have the advantage of simplicity and extensibility.
5.5.1
Setting up an RS-485 Network
All the controllers on an RS-485 network must have unique addresses in order for a
host PC to communicate with them individually. In the case of Picomotor
Controllers, these addresses can be values (integers) between 1 and 31. Since the
default address of a controller is 1, users must change the addresses of the
controllers to unique values.
There are two (2) ways—manual and automatic—in which unique addresses can be
assigned to all the controllers. The manual approach involves powering ON only
one controller at a time, connecting this controller directly to a host PC via
USB/Ethernet, changing the address to a desired value using “SA” command, saving
the address in the controller using “SM” command, and powering OFF the
controller. This process must be repeated for all the controllers on the network.
Picomotor Controllers support a novel automatic approach that allows a master
controller to assign unique addresses to all the slave controllers. The automatic
approach involves powering ON all the controllers on the network, issuing “SC”
command to initiate scan process, and waiting for the scan process to complete by
48
Computer Interfacing
monitoring the scan status via “SD?” command. Once the scan is completed, the
master controller can be queried to find out the addresses of all the slave controllers.
NOTE: The Picomotor Windows software application (version 2.0 and above)
provides the quickest and easiest path to controller address configuration. The
user friendly software will automatically report any RS-485 address conflicts
found and offer easy resolution options.
The Remote Command Set chapter provides a detailed description of the commands
used to setup the RS-485 network.
The 8742 provides various commands to help setup the RS-485 network. (See
below)
COMMAND
SA
SA?
SC
DESCRIPTION
Set controller address
Controller address query
Initiate scan process
SC?
Scan result query
SD?
Scan status query
Table 3
5.5.2
RS-485 LAN Related Commands
Communication with a Slave Controller
All the commands intended for a slave controller connected via RS-485 LAN must have a
slave controller address prefix added to the command. For example, to query the motion
status of motor 2 on a slave controller with address 3, the host PC must send “3>2MD?”
command to the master controller via Ethernet or USB. In this command, “3>” is the
slave controller address prefix. This prefix tells the master controller that the command
“2MD?” is intended for slave controller with address 3 on the RS-485 LAN.
When the master controller sends a response back to host PC, it too will have a slave
controller address prefix. This is used to inform the host that the response came from a
slave controller with that address. For example, the response received by a host PC to the
above mentioned command might be “3>1”. This indicates that the motion of motor #2
in slave controller with address 3 is complete.
NOTE: RS-485 LAN transmission speed is 115 Kbit/s (~100 µs/character)
If a command does not have controller address prefix, the master controller will assume
that the command is addressed it and process the same.
NOTE: The host PC is effectively the ‘master’ in the special case of direct LAN
connection via RS485-to-RS232 adapter/converter configuration
Computer Interfacing
49
5.6
Picomotor Controller Software Application
5.6.1
Introduction
Included with the Picomotor controller is a Windows software application to
facilitate quick, user-friendly motion system check via controller’s USB or Ethernet
interfaces. This application comes on a USB flash drive or can be downloaded from
the product’s Newport.com web page ‘Downloads’ section.
NOTE: If you already have installed a different version of the software and
drivers then it is recommended that you uninstall it first before installing new
software.
Before connecting the instrument to a host PC using a standard Micro-B to USB-A
cable, the user should install the application included in the USB Flash Drive that
accompanies the Unit. The application automatically installs the correct USB
drivers. Communication can be done through this interface by using the application
or by developing software in the user’s preferred programming language. The USB
Flash Drive contains the communication drivers and software for operating the
controller/driver.
Figure 25
Picomotor Application Software
50
Computer Interfacing
5.6.2
Overview
This Windows software application has advanced auto-discovery feature which
automatically finds computer connected Picomotor controllers and list them in the
“Device Tree” window. So called ‘Slave’ controllers (devices) connected via RS485 LAN are listed immediately underneath and shifted to the right of ‘Master’
controllers which have direct computer connection. The user can then select the
controller to operate. Also, near the upper right area of the application the user can
select which specific motor (1, 2, 3 or 4) to control.
NOTE: In the device tree window, the software will show the address (1-31) to
the right of each controller’s model number/serial number information in
parenthesis only when controllers are connected together via RS-485 LAN.
Figure 26
Controller Address Identification
At the bottom of the application is a “Message” window where application and
controller generated messages are shown (e.g., error messages, status).
Additionally, at the very bottom of the application is a connection status indicator
which lets the user know when the application is actively communicating with a
controller.
There are three(3) main application views or tabs: (1) Jog tab, (2) Cycle tab, and (3)
Terminal tab.
The Jog tab allows a user to “jog” a motor forward or backward in predefined
“relative” displacements or in “free run” (continuous) moves, depending on mode
selected. In this tab view one can also move to an “absolute” target position.
In the Cycle tab, a user can enter two “absolute” position destinations to have the
Picomotor cycle between these two points with programmable dwell time between
stops and optional number of cycles limit.
The Terminal tab allows users familiar with the controller’s ASCII commands to
manually type and send commands to the controller, thereby offering maximum
flexibility and control.
Additionally, there are File, View, Setup, and Help menus selections at top of
application screen.
Most notably the Setup/Controller menu selection allows the user to set motor
velocity, acceleration, and motor type for each axis. The parameters shown on the
Computer Interfacing
51
pop-up window represent the settings read from the controller’s memory. Clicking
‘Apply’ button will immediately send the updated parameters to the controller and
save them in its non-volatile memory. The ‘OK’ buttons does the same action as
‘Apply’ plus it then closes the Setup window.
Jog Motion and General Overview
Figure 27
Jog Tab
52
Computer Interfacing
Cycle Motion
Figure 28
Cycle Tab
Computer Interfacing
53
Command Line Terminal
Figure 29
Terminal Tab
54
Computer Interfacing
Controller Setup
Click Setup,
Controller to
select the
motor type,
velocity and
acceleration
Select
Motor
Type
Velocity
Box
Figure 30
Controller Setup Window
Computer Interfacing
55
Ethernet Setup
Click Setup,
Ethernet to
select
Dynamic or
Static Mode.
In Static Mode
set the IP
Address,
Subnet mask
and Default
gateway
You have the
option to give
your
controller a
different
name
Figure 31
Ethernet Setup Window
56
Computer Interfacing
Connection Options Setup
Figure 32
Options Window
Computer Interfacing
57
USB and Ethernet Properties
Figure 33
Properties Window
58
Computer Interfacing
Scan RS-485 LAN
Figure 34
Controller Scan
Computer Interfacing
59
Automatic Address Conflict Resolution
Figure 35
Address Conflict Resolution Window
60
Computer Interfacing
View/Change Controller Address
Figure 36
Device Address Window
Computer Interfacing
5.6.3
61
Embedded Dynamic HTTP Server
It is also possible to communicate to the controller via its Ethernet interface through
a computer’s web browser (e.g., Safari, Chrome, Internet Explorer). Once you know
the controller’s IP address, which can be gotten from the Ethernet Properties view in
the Windows Application (see previous page). Enter the IP address in the browser’s
address bar and this will take you to the controller’s HTTP server page.
This advanced controller has an embedded HTTP server which generates a dynamic
Web page to accept command line input and show immediate response.
Embedded Dynamic HTTP Server
Chrome Browser (v22) running on Windows 7
Figure 37
Internet Browser View
62
Computer Interfacing
5.7
LabVIEWTM and C# Programming Support
Detailed LabVIEW and C# programming instructions are discussed in a separate
document named “Picomotor Samples.pdf” (Typically installed in the following
folder C:\Program Files\New Focus\Picomotor Application\Docs)
Additionally, sample code is found in the “Samples” folder (Typically installed in
the following folder C:\Program Files\New Focus\Picomotor Application\Samples)
5.7.1
Introduction
The programming samples are divided into two folders: C# and LabVIEW.
These two folders contain samples that have been developed in the C#
programming language and the LabVIEW programming language.
Remote Command Set
6
6.1
Command Syntax
The 8742 Controller/Driver utilizes an ASCII command set and also outputs system
status in ASCII format. Commands may be either upper or lower case characters.
The diagram below illustrates the 8742 controller command syntax. As indicated in
this diagram, a valid command consists of three main fields. The first field consists
of a numerical parameter “xx”, the second field consists of a two letter ASCII
mnemonic, and the third field consists of numerical parameter “nn”. The command
is finally terminated by a carriage return. For example, 3PA10 is a valid command.
If a command does not require parameter “xx” and/or parameter “nn”, that field may
be skipped by leaving a blank character (space). For example, 1DH, and VE? are
valid commands.
Multiple commands can be issued on a single command line by separating the
commands with a semi-colon (;). For example, “3VA1500; 3PA1000” is a valid
command line. If a command line has multiple query commands, the response string
from the controller will have responses to all the query commands in the command
line. Each response in the response string will be separated by a semi-colon. For
example, the response to “3VA?; 3AC?” command can be “2000; 30000”. In this
example, the value 2000 is a response to 3VA? command, and the value 30000 is a
response to 3AC? command.
Figure 38
Command Syntax Diagram
64
Remote Command Set
6.1.1
RS-485 Command Syntax
The command syntax for communicating with controllers on an RS-485 network is
very similar to communicating with them directly using USB/Ethernet interface with
the following exceptions.
1.
All the commands intended for a slave controller must have a slave
controller address prefix added to the command. For example, to query
the motion status of motor 2 on a slave controller with address 3, the host
PC must send “3>2MD?” command to the master controller. In this
command, “3>” is the slave controller address prefix. This prefix tells
the master controller that the command “2MD?” is intended for slave
controller with address 3.
2. When the master controller sends a response back to host PC, it too will
have a slave controller address prefix. This is used to inform the host
that the response came from a slave controller with that address. For
example, the response received by a host PC to the above mentioned
command might be “3>1”. This indicates that the motion of motor #2 in
slave controller with address 3 is complete.
3. If a command does not have controller address prefix, the master
controller will assume that the command is addressed it and process the
same.
4. Since the master controller processes one command string at a time,
semicolon (‘;’) delimited commands cannot be sent to slave controllers.
NOTE
A controller command (or a sequence of commands) has to be terminated with
a carriage return character. However, responses from the controller are
always terminated by a carriage return/line feed combination. This setting may
not be changed.
Remote Command Set
6.1.2
65
Summary of Command Syntax
COMMAND FORMAT
The general format of a command is a two character mnemonic (AA). Both upper
and lower case are accepted. Depending on the command, it could also have optional
or required preceding (xx) and/or following (nn) parameters.
BLANK SPACES
Blank spaces are allowed and ignored between parameters and commands. For the
clarity of the program and memory saving considerations, use blank spaces with
restraint. The following two commands are equivalent.
2 PA 1000
2PA1000
COMMAND LINE
Commands are executed line by line. A line can consist of one or a number of
commands. The controller will interpret the commands in the order they are received
and execute them sequentially. This means that commands issued on the same line
are executed significantly closer to each other than if they would be issued on
separate lines. The maximum number of characters allowed on a command line is
64.
SEPARATOR
Commands issued on the same line must be separated by semicolons (;).
Multiple parameters issued for the same command are separated by commas (,).
TERMINATOR
Each command line must end with a line terminator, i.e., carriage return.
66
Remote Command Set
6.2
Command List
The controller understands many commands. The following table lists all of them in
alphabetical order. It also shows whether the command can be issued while motion
of any Picomotor is in progress or otherwise.
Command
Description
Command executed when
motion is in progress
*IDN?
Identification string query
*RCL
Recall parameters
*RST
Reset instrument
AB
Abort motion
AC
Set acceleration
AC?
Get acceleration
DH
Define home position
DH?
Get home position
MC
Motor check
MD?
Get motion done status
MV
MV?
Move indefinitely
Get motion direction
PA
Move to a target position
PA?
Get destination position
PR
Move relative
PR?
Get destination position
QM
Set motor type
QM?
Get motor type
RS
Reset the controller
SA
Set controller address
SA?
Get controller address
SC
Scan RS-485 network
SC?
Get RS-485 network controller
addresses
SD?
Get scan status
SM
Save to non-volatile memory
ST
Stop motion
Get error message
TB?
Remote Command Set
67
TE?
Get error number
TP?
Get position
VA
Set velocity
VA?
Get velocity
VE?
Firmware version string query
XX
Purge memory
ZZ
Set configuration register
ZZ?
Get configuration register
ETHERNET RELATED COMMANDS
Command
Description
GATEWAY
Default gateway address
GATEWAY?
Default gateway address
query
HOSTNAME
Hostname
Hostname query
IP address
IPADDR?
IP address query
IPMODE
IP mode
IP mode query
MAC address query
Network mask address
Network mask address query
HOSTNAME?
IPADDR
IPMODE?
MACADDR?
NETMASK
NETMASK?
Command executed when
motion is in progress
68
Remote Command Set
6.2.1
Description of Commands
NOTE
Many of the commands take an axis number as a parameter (xx). For such
commands, the valid range of axis number is from 1 to 4.
*IDN?
Description
Product identification string query.
Syntax
*IDN?
Remarks
This query will cause the instrument to return a unique identification string. This similar
to the Version (VE) command but provides more information. In response to this
command the controller replies with company name, product model name, firmware
version number, firmware build date, and controller serial number. No two controllers
share the same model name and serial numbers, therefore this information can be used to
uniquely identify a specific controller.
Model
Name
Firmware
Version #
Firmware
Date
Controller
Serial #
New_Focus XXXX vYYY mm/dd/yy, SNZZZZ
Example
*IDN?
New_Focus 8742 v1.9 10/23/12 SN10001
See Also
VE?
(Get product identification information)
(Controller replies with ID string)
Remote Command Set
69
*RCL
Description
Recall command.
Syntax
*RCL Bin
Remarks
This command restores the controller working parameters from values saved in its nonvolatile memory. It is useful when, for example, the user has been exploring and
changing parameters (e.g., velocity) but then chooses to reload from previously stored,
qualified settings. Note that “*RCL 0” command just restores the working parameters to
factory default settings. It does not change the settings saved in EEPROM.
The parameters that can be restored are:
1. Hostname (see HOSTNAME command)
2. IP Mode (see IPMODE command)
3. IP Address (see IPADDRESS command)
4. Subnet mask address (see NETMASK command)
5. Gateway address (see GATEWAY command)
6. Configuration register (see ZZ command)
7. Motor type (see QM command)
8. Desired Velocity (see VA command)
9. Desired Acceleration (see AC command)
Argument
Bin
Value
0
1
Description
Restores factory default settings
Restores last saved settings
Example
*RCL1
(Restore from last saved settings)
See Also
SM, XX
70
Remote Command Set
*RST
Description
Reset command.
Syntax
*RST
Remarks
This command performs a “soft” reset or reboot of the controller CPU. Upon restart the
controller reloads parameters (e.g., velocity and acceleration) last saved in non-volatile
memory.
Note that upon executing this command, USB and Ethernet communication will be
interrupted for a few seconds while the controller re-initializes. Ethernet communication
may be significantly delayed (~30 seconds) in reconnecting depending on connection
mode (Peer-to-peer, static or dynamic IP mode) as the PC and controller are negotiating
TCP/IP communication.
See Also
RS
AB
Description
Abort motion.
Syntax
AB
Remarks
This command is used to instantaneously stop any motion that is in progress. Motion is
stopped abruptly. For stop with deceleration see ST command which uses programmable
acceleration/deceleration setting.
Example
1MV+
AB
See Also
ST
(Move motor 1 indefinitely in positive direction)
(Abort /halt motion)
Remote Command Set
71
AC
Description
Acceleration set.
Syntax
xxACnn
Remarks
This command is used to set the acceleration value for an axis. The acceleration setting
specified will not have any effect on a move that is already in progress. If this command
is issued when an axis’ motion is in progress, the controller will accept the new value but
it will use it for subsequent moves only.
Argument
xx
nn
Example
2AC150000
See Also
AC?, VA, VA?
Value
1 to 4
1 to 200000
Description
Axis number
2
2
Acceleration (steps/sec ). Default = 100000 steps/sec
(set acceleration to 150,000 steps/sec2)
AC?
Description
Acceleration query.
Syntax
xxAC?
Remarks
This command is used to query the acceleration value for an axis.
Argument
xx
Value
1 to 4
Description
Axis number
Response
Value
Value
Integer
Description
Acceleration setting (steps/sec2)
Example
2AC?
150000
(get acceleration setting)
(reply; 150,000 steps/sec2)
See Also
AC, VA, VA?
72
Remote Command Set
DH
Description
Home position set.
Syntax
xxDHnn
Remarks
This command is used to define the “home” position for an axis. The home position is set
to 0 if this command is issued without “nn” value. Upon receipt of this command, the
controller will set the present position to the specified home position. The move to
absolute position command (PA) uses the “home” position as reference point for moves.
Argument
xx
nn
Value
1 to 4
Integer
Description
Axis number
Home position (steps). Default = 0 steps. Valid values
between -2147483648 and +2147483647.
Example
1DH
2DH1000
(set motor 1 counter to 0)
(set motor 2 counter equal to 1000)
See Also
DH?, TP?, PA
DH?
Description
Home position query.
Syntax
xxDH?
Remarks
This command is used to query the home position value for an axis.
Argument
xx
Value
1 to 4
Description
Axis number
Response
Value
Value
Integer
Description
Home position setting (steps)
Example
2DH?
0
(get home position)
(reply; home position is 0)
See Also
DH, TP?
Remote Command Set
73
MC
Description
Motor check command
Syntax
MC
Remarks
This command scans for motors connected to the controller, and sets the motor type
based on its findings. If the piezo motor is found to be type ‘Tiny’ then velocity (VA)
setting is automatically reduced to 1750 if previously set above 1750. To accomplish this
task, the controller commands each axis to make a one-step move in the negative
direction followed by a similar step in the positive direction. This process is repeated for
all the four axes starting with the first one. If this command is issued when an axis is
moving, the controller will generate “MOTION IN PROGRESS” error message.
NOTE: Motor type and velocity changes are not automatically saved to non-volatile
memory. Issue the Save (SM) command after motor check to save all changes.
NOTE: Here is a command sequence which disables auto-motor type detection and
sets motor 1 (for example) to type ‘Standard’: 1ZZ1;1QM3;1SM
Example
MC
SM
See Also
*RST, VA, SM
(Check all motors to determine type)
(Save new settings to memory)
MD?
Description
Motion done status query.
Syntax
xxMD?
Remarks
This command is used to query the motion status for an axis.
Argument
xx
Value
1 to 4
Description
Axis number
Response
Value
Value
0
1
Description
Motion is in progress
Motion is not in progress
Example
2MD?
1
(Get motor 2 motion status)
(Returns value of 1 which means motor 2 is not moving)
See Also
TP?
74
Remote Command Set
MV
Description
Indefinite move command.
Syntax
xxMVnn
Remarks
This command is used to move an axis indefinitely. If this command is issued when an
axis’ motion is in progress, the controller will ignore this command and generate
“MOTION IN PROGRESS” error message.
Issue a Stop (ST) or Abort (AB) motion command to terminate motion initiated by MV
Example
See Also
Argument
xx
nn
Value
1 to 4
+
-
1MV+
AB
(Move motor 1 indefinitely in positive direction)
(Abort /halt motion)
2MV2ST
(Move motor 2 indefinitely in negative direction)
(Stop motion)
PA, PR, ST, AB
Description
Axis number
Move desired axis in positive direction
Move desired axis in negative direction
Remote Command Set
75
PA
Description
Target position move command.
Syntax
xxPAnn
Remarks
This command is used to move an axis to a desired target (absolute) position relative to
the home position defined by DH command. Note that DH is automatically set to 0 after
system reset or a power cycle. If this command is issued when an axis’ motion is in
progress, the controller will ignore this command and generate “MOTION IN
PROGRESS” error message. The direction of motion and number of steps needed to
complete the motion will depend on where the motor count is presently at before the
command is issued.
Issue a Stop (ST) or Abort (AB) motion command to terminate motion initiated by PA
Argument
xx
nn
Example
1PA+200000
See Also
MV, PR, DH
Value
1 to 4
Integer
Description
Axis number
Absolute position (steps). Default = 0 steps. Valid values
between -2147483648 and +2147483647.
(Move motor 1 to target position +200000)
PA?
Description
Target position query.
Syntax
xxPA?
Remarks
This command is used to query the target position of an axis.
Argument
xx
Value
1 to 4
Description
Axis number
Response
nn
Value
Integer
Description
Target position (steps).
Example
2PA?
200000
(Get motor 2 target position)
(Returns value of 200000 step target position)
See Also
MV, PR
76
Remote Command Set
PR
Description
Relative move command.
Syntax
xxPRnn
Remarks
This command is used to move an axis by a desired relative distance. If this command is
issued when an axis’ motion is in progress, the controller will ignore this command and
generate “MOTION IN PROGRESS” error message.
Issue a Stop (ST) or Abort (AB) motion command to terminate motion initiated by PR
Argument
xx
nn
Example
1PR-200000
See Also
MV, PA
Value
1 to 4
Integer
Description
Axis number
Relative distance (steps). Default = 0 steps. Valid values
between -2147483648 and +2147483647.
(Move motor 1 relative negative 200000 steps)
PR?
Description
Target position query.
Syntax
xxPR?
Remarks
This command is used to query the target position of an axis.
Argument
xx
Value
1 to 4
Description
Axis number
Response
nn
Value
Integer
Description
Target position (steps).
Example
2PR?
200000
(Get motor 2 target position)
(Returns value of 200000 step target position)
See Also
MV, PA
Remote Command Set
77
QM
Description
Motor type set command.
Syntax
xxQMnn
Remarks
This command is used to manually set the motor type of an axis. Send the Motors Check
(MC) command to have the controller determine what motors (if any) are connected.
Note that for motor type ‘Tiny’, velocity should not exceed 1750 step/sec. To save the
setting to non-volatile memory, issue the Save (SM) command.
Note that the controller may change this setting if auto motor detection is enabled by
setting bit number 0 in the configuration register to 0 (default) wit ZZ command. When
auto motor detection is enabled the controller checks motor presence and type
automatically during all moves and updates QM status accordingly.
Argument
xx
nn
Value
1 to 4
0
1
2
3
Description
Axis number
No motor connected
Motor type unknown
‘Tiny’ Motor
‘Standard’ motor
Example
2QM3
SM
(Set motor 2 to type ‘Standard’ Picomotor)
(Save new settings to memory)
See Also
QM?, MC, ZZ, SM
78
Remote Command Set
QM?
Description
Motor type query.
Syntax
xxQM?
Remarks
This command is used to query the motor type of an axis.
It is important to note that the QM? command simply reports the present motor type
setting in memory. It does not perform a check to determine whether the setting is still
valid or corresponds with the motor connected at that instant.
If motors have been removed and reconnected to different controller channels or if this is
the first time, connecting this system then issuing the Motor Check (MC) command is
recommended. This will ensure an accurate QM? command response.
Argument
xx
Value
1 to 4
Description
Axis number
Response
nn
Value
Integer
Description
Motor type.
Example
1QM?
0
(Get motor 1 motor type setting)
(Return 0; no motor connected)
See Also
QM, CM, ZZ
RS
Description
Reset command
Syntax
RS
Remarks
This command performs a “soft” reset or reboot of the controller CPU. Upon restart the
controller reloads parameters (e.g., velocity and acceleration) last saved in non-volatile
memory and sets Home (DH) position to 0.
Note that upon executing this command, USB and Ethernet communication will be
interrupted for a few seconds while the controller re-initializes. Ethernet communication
may be significantly delayed (~30 seconds) in reconnecting depending on connection
mode (Peer-to-peer, static or dynamic IP mode) as the PC and controller are negotiating
TCP/IP communication.
Example
RS
See Also
*RST
(Reboot/reset controller)
Remote Command Set
79
SA
Description
Controller address set.
Syntax
SAnn
Remarks
This command is used to set the address of a controller. This command is useful when
communicating with controllers on an RS-485 network, where all controllers on the
network must have unique addresses. The default controller address is 1.
Argument
nn
Value
Integer
Description
Controller address. Default = 1. Valid values
between 1 and 31.
Example
SA5
SM
(set controller address to 5)
(save new address in controller’s memory)
See Also
SA, SC, SD?
SA?
Description
Controller address query.
Syntax
SA?
Remarks
This command is used to query the controller’s address.
Response
Value
Value
Integer
Description
Controller address
Example
SA?
5
(get controller’s address)
(reply; controller address is 5)
See Also
SA, SC, SD?
80
Remote Command Set
SC
Description
Initiate scan process.
Syntax
SCnn
Remarks
This command is used to initiate scan of controllers on RS-485 network. When a master
controller receives this command, it scans the RS-485 network for all the slave controllers
connected to it.
If nn = 0, the master controller scans the network but does not resolve any address conflicts.
If nn = 1, the master controller scans the network and resolves address conflicts, if any. This option
preserves the non-conflicting addresses and reassigns the conflicting addresses starting
with the lowest available address. For example, during an initial scan, if the master
controller determines that there are unique controllers at addresses 1,2, and 7 and more
than one controller at address 23, this option will reassign only the controllers with
address conflict at 23; the controllers with addresses 1,2, and 7 will remain untouched. In
this case, after conflict resolution, the final controller addresses might be 1,2,3,7, and 23
if the master determines that there are two (2) controllers initially at address 23.
If nn = 2, the master controller reassigns the addresses of all controllers on the network in a sequential
order starting with master controller set to address 1. In the example mentioned above,
after reassignment of addresses, the final controller addresses will be 1,2,3,4, and 5.
Argument
nn
Value
Integer
Description
Scan option. Valid values between 0 and 2.
Example
SC0
(scan the RS-485 network but do not any address conflicts)
See Also
SA, SC?, SD?
Remote Command Set
81
SC?
Description
RS-485 controller address map query.
Syntax
SC?
Remarks
This command is used to query the list of all controllers on an RS-485 network.
Response
Value
Value
Integer
Description
32-bit value. Default = 0
Bit#
0
0
1
1
Value
0
1
0
1
Description
The scan process did not find any address conflicts
The scan process found at least one address conflicts
There is no controller with address 1 on the network
There is a controller with address 1 on the network
31
31
0
1
There is no controller with address 31 on the network
There is a controller with address 31 on the network
Bits 1—31 are one-to-one mapped to controller addresses 1—31. The bit value is set to
1 only when there are no conflicts with that address.
For example, if the master controller determines that there are unique controllers at
addresses 1,2, and 7 and more than one controller at address 23, this query will return
135. The binary representation of 135 is 10000111. Bit #0 = 1 implies that the scan
found at lease one address conflict during last scan. Bit #1,2, 7 = 1 implies that the scan
found controllers with addresses 1,2, and 7 that do not conflict with any other controller.
Example
SC?
135
See Also
SA, SC, SD?
(get controller address map)
(reply; see above description)
82
Remote Command Set
SD?
Description
Scan done status query.
Syntax
SD?
Remarks
This command is used to query the scan status.
Response
Value
Value
0
1
Description
Scan is in progress
Scan is not in progress
Example
SD?
1
(Get scan status)
(Returns value of 1 which means scan is not in progress)
See Also
SC, SC?
SM
Description
Save settings command
Syntax
SM
Remarks
This command saves the controller settings in its non-volatile memory. The controller
restores or reloads these settings to working registers automatically after system reset or
it reboots. The Purge (XX) command is used to clear non-volatile memory and restore to
factory settings. Note that the SM saves parameters for all motors.
The SM command saves the following settings:
1. Hostname (see HOSTNAME command)
2. IP Mode (see IPMODE command)
3. IP Address (see IPADDRESS command)
4. Subnet mask address (see NETMASK command)
5. Gateway address (see GATEWAY command)
6. Configuration register (see ZZ command)
7. Motor type (see QM command)
8. Desired Velocity (see VA command)
9. Desired Acceleration (see AC command)
Example
See Also
1VA 1750; 2VA1500
(See motor 1 & 2 velocity)
SM
(Save settings to non-volatile memory)
XX, *RCL
Remote Command Set
83
ST
Description
Stop motion command
Syntax
xxST
Remarks
This command is used to stop the motion of an axis. The controller uses acceleration
specified using AC command to stop motion. If no axis number is specified, the
controller stops the axis that is currently moving. Use Abort (AB) command to abruptly
stop motion without deceleration.
Example
See Also
Argument
xx
Value
1 to 4
1MV+
1ST
(Move motor 1 indefinitely in positive direction)
(Stop motion)
ST
(Stop motion on any motor that is moving)
AB, AC
Description
Axis number
84
Remote Command Set
TB?
Description
Error message query
Syntax
TB?
Remarks
This command is used to read the error code, and the associated message.
The error code is one numerical value up to three(3) digits long. (see Appendix
for complete listing) In general, non-axis specific errors numbers range from 099. Axis-1 specific errors range from 100-199, Axis-2 errors range from 200-299
and so on. The message is a description of the error associated with it. All
arguments are separated by commas.
Note: Errors are maintained in a FIFO buffer ten(10) elements deep. When an
error is read using TB or TE, the controller returns the last error that occurred and
the error buffer is cleared by one(1) element. This means that an error can be read
only once, with either command.
Response
nn, ssss
Example
See Also
Value
integer, string
Description
Error code, Error message
TB?
108, MOTOR NOT CONNECTED
(Get error status)
(Returns motor 1 not connected error message)
TB?
0, NO ERROR DETECTED
(Get error status)
(Returns no error found message)
TE
Remote Command Set
85
TE?
Description
Error code query
Syntax
TE?
Remarks
This command is used to read the error code. The error code is one numerical
value up to three(3) digits long. (see Appendix for complete listing) In general,
non-axis specific errors numbers range from 0-99. Axis-1 specific errors range
from 100-199, Axis-2 errors range from 200-299 and so on.
Note: Errors are maintained in a FIFO buffer ten(10) elements deep. When an
error is read using TB or TE, the controller returns the last error that occurred and
the error buffer is cleared by one(1) element. This means that an error can be read
only once, with either command.
Example
See Also
Response
nn
Value
integer
TE?
108
(Get error status)
(Returns 108; motor 1 not connected)
TE?
0
(Get error status)
(Returns 0; no error detected)
TB
Description
Error code
86
Remote Command Set
TP?
Description
Actual Position query.
Syntax
xxTP?
Remarks
This command is used to query the actual position of an axis. The actual position
represents the internal number of steps made by the controller relative to its position
when controller was powered ON or a system reset occurred or Home (DH) command
was received.
Note that the real or physical position of the actuator/motor may differ as a function of
mechanical precision and inherent open-loop positioning inaccuracies.
Argument
xx
Value
1 to 4
Description
Axis number
Response
nn
Value
Integer
Description
Present position (steps)
Example
1TP?
10500
(Get motor 1 position status)
(Returns 10500; motor 1 position)
See Also
PA, PR, MV, DH
Remote Command Set
87
VA
Description
Velocity set
Syntax
xxVAnn
Remarks
This command is used to set the velocity value for an axis. The velocity setting specified
will not have any effect on a move that is already in progress. If this command is issued
when an axis’ motion is in progress, the controller will accept the new value but it will
use it for subsequent moves only. The maximum velocity for a ‘Standard’ Picomotor is
2000 steps/sec, while the same for a ‘Tiny’ Picomotor is 1750 steps/sec.
Argument
xx
nn
Value
1 to 4
1 to 2000
Description
Axis number
Velocity (steps/sec). Default = 2000 steps/sec
Example
1VA1750
(Set motor 1 velocity to 1750 steps/sec)
See Also
VA?, AC, AC?
VA?
Description
Velocity query.
Syntax
xxVA?
Remarks
This command is used to query the velocity value for an axis.
Argument
xx
Value
1 to 4
Description
Axis number
Response
Value
Value
Integer
Description
Velocity setting (steps/sec)
Example
1VA?
1750
(Get motor 1 velocity)
(Returns 1750; motor 1 velocity)
See Also
VA, AC, AC?
88
Remote Command Set
VE?
Description
Controller firmware version query.
Syntax
VE?
Remarks
This command is used to query the controller model number and firmware version. To
query product serial number information see *IDN command.
Response
ss
Example
Value
String
VE
8742 Version 1.9 11/01/12
See Also
Description
8742 Version 1.9 11/01/12
version = 1.; release date = 11/01/12
(Get model name and firmware version)
(Replies with model and firmware info string)
*IDN?
XX
Description
Purge all user settings in controller memory.
Syntax
XX
Remarks
This command is used to purge all user settings in the controller non-volatile memory and
restore them to factory default settings.
The following parameters are affected by this command:
1. Hostname (see HOSTNAME command)
2. IP Mode (see IPMODE command)
3. IP Address (see IPADDRESS command)
4. Subnet mask address (see NETMASK command)
5. Gateway address (see GATEWAY command)
6. Configuration register (see ZZ command)
7. Motor type (see QM command)
8. Desired Velocity (see VA command)
9. Desired Acceleration (see AC command)
Example
XX
See Also
*RCL
(Purge all user settings)
Remote Command Set
89
ZZ
Description
Configuration register set
Syntax
ZZnn
Remarks
This command is used to configure the default behavior of some of the controller’s
features. It is typically followed with an SM (Save to Memory) command.
Bit#
*0
Value
0
Description
Perform auto motor detection. Check and set motor type
automatically when commanded to move.
0
1
Do not perform auto motor detection on move
*1
0
Do not scan for motors connected to controllers upon reboot
(Performs ‘MC’ command upon power-up, reset or reboot)
1
1
Scan for motors connected to controller upon power-up or reset
Example:
ZZ 1; SM
ZZ 3; SM
See Also
*RCL, MC
(Disable automatic motor check and save to memory)
(Disable motor check on move, check motors on system reset)
ZZ?
Description
Configuration register query.
Syntax
ZZ?
Remarks
This command is used to query the configuration register setting.
Response
nn
Example:
ZZ ?
1
See Also
ZZ
Value
Integer
Description
Configuration register.
(Get configuration register settings)
(Returns 1; bit-0=1 & bit-1=0; means auto motor detection on move is disabled)
90
Remote Command Set
GATEWAY
Description
Default gateway address set.
Syntax
GATEWAY address
Remarks
This command is used to set the Ethernet default gateway address. In order for this
setting to take effect, please set the controller to Static IP mode (IPMODE), save (SM)
this parameter in the controller’s non-volatile memory, and reset (RS) the controller.
NOTE: Send this command via USB interface as Ethernet communication may
become unstable during Ethernet settings configuration. While connected via USB,
use the Picomotor application software to send commands (Go to ‘Terminal’ tab).
Argument
address
Example:
See Also
Value
nn1.nn2.nn3.nn4
IPMODE 0
GATEWAY 192.168.10.101
NETMASK 255.255.255.0
IPADDR 192.168.1.101
SM; RS
Description
Gateway address. (Example. 192.168.10.101)
nn1,nn2,nn3,nn4 can be numbers between 0
and 255.
(Set to static IP mode)
(Set gateway address)
(Set Netmask address)
(Set IP address)
(Save and reset system)
IPMODE, SM, RS
GATEWAY?
Description
Default gateway address query.
Syntax
GATEWAY?
Remarks
This command is used to query the default gateway address
Response
address
Example:
GATEWAY?
192.168.10.101
See Also
Value
nn1.nn2.nn3.nn4
Description
Gateway address. (Example. 192.168.10.101)
nn1,nn2,nn3,nn4 can be numbers between 0
and 255.
(Get gateway address)
(Returns 192.168.10.101; gateway address)
IPMODE, GATEWAY
Remote Command Set
91
HOSTNAME
Description
Hostname set.
Syntax
HOSTNAME name
Remarks
This command is used to set the controller’s hostname. A hostname is a label or
nickname assigned to a device connected to a computer network and is used to identify
the device in various forms of communication. This feature enables users to assign the
controller a more easily identifiable name, perhaps linked to its actual function in an
application (e.g., TIPTILT, MIRROR-2). This command is more common with Ethernet
but can also be used with USB communication.
NOTE: Send this command via USB interface as Ethernet communication may
become unstable during Ethernet settings configuration. While connected via USB,
use the Picomotor application software to send commands (Go to ‘Terminal’ tab).
The default hostname for the controller is 8742-serialnum, where serialnum is the
controller’s serial number. The hostname can have a maximum of 15 alphanumeric
characters and hyphen (“-”) character. The first character in the hostname cannot be a
hyphen (“-”). Issue Save (SM) and Reset (RS) commands to controller for this parameter
to take affect.
Argument
name
Value
string
Description
Hostname
Example:
HOSTNAME TIPTILT-1;SM;RS
HOSTNAME?
TIPTILT-1
See Also
IPMODE, SM, RS
(Set hostname, save, and reset system)
(Get hostname)
(Returns “TIPTILT-1”; hostname)
HOSTNAME?
Description
Hostname query.
Syntax
HOSTNAME?
Remarks
This command is used to query the controller’s hostname
Response
name
Example:
HOSTNAME?
TIPTILT-1
See Also
IPMODE
Value
string
Description
Hostname
(Get hostname)
(Returns “TIPTILT”; hostname)
92
Remote Command Set
IPADDR
Description
IP address set.
Syntax
IPADDR address
Remarks
This command is used to set the controller’s internet protocol (IP) address. An IP address
consists of four numbers, each of which contains one to three digits, with a single dot (.)
separating each number or set of digits. Each of the four numbers can range from 0 to
255.
In order for this setting to take effect, please set the controller to Static IP mode, save
(SM) this parameter in the controller’s non-volatile memory, and reset (RS) the controller
to take affect.
NOTE: Send this command via USB interface as Ethernet communication may
become unstable during Ethernet settings configuration. While connected via USB,
use the Picomotor application software to send commands (Go to ‘Terminal’ tab).
Argument
address
Example:
See Also
Value
nn1.nn2.nn3.nn4
IPMODE 0
GATEWAY 192.168.10.101
NETMASK 255.255.255.0
IPADDR 192.168.1.101
SM; RS
Description
IP address. (Example. 192.168.1.101)
nn1,nn2,nn3,nn4 can be numbers between 0
and 255.
(Set to static IP mode)
(Set gateway address)
(Set Netmask address)
(Set IP address)
(Save and reset system)
IPMODE, SM, RS
IPADDR?
Description
IP address query.
Syntax
IPADDR?
Remarks
This command is used to query the controller’s IP address
Response
address
Value
nn1.nn2.nn3.nn4
Example:
IPADDR 192.168.1.101;SM;RS
IPADDR?
192.168.1.101
See Also
IPMODE, IPADDR, SM, RS
Description
IP address. (Example. 192.168.1.101)
nn1,nn2,nn3,nn4 can be numbers between 0
and 255.
(Set IP address, save, and reset system)
(Get IP address)
(Returns 192.168.1.101; IP address)
Remote Command Set
93
IPMODE
Description
IP mode set command.
Syntax
IPMODEnn
Remarks
This command is used to set the controller’s IP mode. In order for this setting to take
effect, please save this setting in the controller’s non-volatile memory and reset the
controller.
As the name implies, Static IP addresses are the same every time you connect.
Dynamic IP addresses may change each time you connect to the Internet. Dynamic IP
addresses are the normal customer access method used by most ISPs or Service Providers
and this is the default IP mode for this product
Having a static IP address for your dedicated server means an IP address will be assigned
to your server (controller) only once and that IP address will belong to your dedicated
server forever. A static IP address will be given out to your dedicated server so that every
time it logs in it will be using the same IP address for all of its sessions.
NOTE: Send this command via USB interface as Ethernet communication may
become unstable during Ethernet settings configuration. While connected via USB,
use the Picomotor application software to send commands (Go to ‘Terminal’ tab).
Argument
nn
Example:
See Also
Value
0
1
IPMODE 0
GATEWAY 192.168.10.101
NETMASK 255.255.255.0
IPADDR 192.168.1.101
SM; RS
IPMODE?, IPADDR, SM, RS
Description
Static IP
DHCP (default)
(Set to static IP mode)
(Set gateway address)
(Set Netmask address)
(Set IP address)
(Save and reset system)
94
Remote Command Set
IPMODE?
Description
IP mode query.
Syntax
IPMODE?
Remarks
This command is used to query the controller’s IP mode.
Response
nn
Example:
IPMODE ?
1
See Also
IPMODE
Value
Integer
Description
IP mode
(Get IP mode)
(Returns 1; in DHCP mode)
MACADDR?
Description
MAC address query.
Syntax
MACADDR?
Remarks
This command is used to query the controller’s MAC address.
A Media Access Control address (MAC address) is a unique identifier assigned
to network interfaces for communications on the physical network segment. MAC
addresses are used for numerous network technologies and most IEEE 802 network
technologies, including Ethernet. Logically, MAC addresses are used in the Media
Access Control protocol sub-layer of the OSI reference model.
Response
address
Example:
MACADDR ?
5827809, 20
See Also
HOSTNAME
Value
nn1,nn2
Description
MAC address. (Example.5827809, 20)
nn1 is Newport’s unique identifier (0x58ECE1);
nn2 is controller’s unique identifier
(Get MAC address)
(Returns 5827809, 20; MAC address)
Remote Command Set
95
NETMASK
Description
Network mask address set.
Syntax
NETMASK address
Remarks
This command is used to set the controller’s network mask address. In order for this
setting to take effect, please set the controller to Static IP mode, save this parameter in the
controller’s non-volatile memory, and reset the controller.
A netmask is a 32-bit mask used to divide an IP address into subnets and specify the
networks available hosts. In a netmask, two bits are always automatically assigned. For
example, in 255.255.225.0, "0" is the assigned network address; and in 255.255.255.255,
"255" is the assigned broadcast address. The 0 and 255 are always assigned and cannot be
used.
NOTE: Send this command via USB interface as Ethernet communication may
become unstable during Ethernet settings configuration. While connected via USB,
use the Picomotor application software to send commands (Go to ‘Terminal’ tab).
Argument
address
Example:
See Also
Value
nn1.nn2.nn3.nn4
IPMODE 0
GATEWAY 192.168.10.101
NETMASK 255.255.255.0
IPADDR 192.168.1.101
SM; RS
Description
Network mask address. (Example.
192.168.255.0) nn1,nn2,nn3,nn4 can be
numbers between 0 and 255.
(Set to static IP mode)
(Set gateway address)
(Set Netmask address)
(Set IP address)
(Save and reset system)
NETMASK?, IPMODE, IPADDR, SM, RS
NETMASK?
Description
Network mask address query.
Syntax
NETMASK?
Remarks
This command is used to query the controller’s network mask address.
Response
address
Example:
NETMASK ?
255.255.255.0
See Also
NETMASK
Value
nn1.nn2.nn3.nn4
Description
Network mask address. (Example.
192.168.255.0) nn1,nn2,nn3,nn4 can be
numbers between 0 and 255.
(Get Netmask)
(Returns 255.255.255.0; Netmask)
Appendix
7
7.1
Non Axis-Specific Error Messages
0, NO ERROR DETECTED
There are no error messages in the error buffer
3, OVER TEMPERATURE SHUTDOWN
The temperature inside the controller has exceeded 85oC. Under this
condition, the controller automatically stops any motion that is in progress
and changes the status LED color to solid RED. When the temperature goes
below 75oC, the controller changes the status LED color to solid GREEN.
Motion related commands can once again be issued in this state.
6, COMMAND DOES NOT EXIST
The command sent to the controller is invalid. Please check the command
syntax.
7, PARAMETER OUT OF RANGE
The parameter sent along with a command is out of range.
9, AXIS NUMBER OUT OF RANGE
The axis number specified is out of range.
10, EEPROM WRITE FAILED
Unable to save the controller’s settings in its non-volatile memory.
11, EEPROM READ FAILED
Unable to restore the controller’s settings from its non-volatile memory.
37, AXIS NUMBER MISSING
The command sent to the controller requires an axis number prefix. Please
check the command syntax.
38, COMMAND PARAMETER MISSING
The command sent to the controller requires a valid parameter. Please check
the command syntax.
Appendix
97
46, RS-485 ETX FAULT DETECTED
A slave controller can generate this error message if the command received
by it is incomplete; the number of bytes transmitted by a master controller do
not match the number of bytes received by the slave controller.
A master controller can generate this error message if the response received
by it is incomplete; the number of bytes transmitted by a slave controller do
not match the number of bytes received by the master controller.
NOTE: Check for (a) improper RS-485 cable connection, (b) controller
address conflict, or (c) prohibited multiple master configuration.
47, RS-485 CRC FAULT DETECTED
A slave controller can generate this cyclical redundancy check (CRC) error
message if a checksum verification of the command received by it does not
match the checksum computed by master controller.
A master controller can generate this cyclical redundancy check (CRC) error
message if a checksum verification of the response received by it does not
match the checksum computed by slave controller.
NOTE: Check for (a) improper RS-485 cable connection, (b) controller
address conflict, or (c) prohibited multiple master configuration.
48, CONTROLLER NUMBER OUT OF RANGE
The controller number prefix is out of range.
49, SCAN IN PROGRESS
This error message is generated if “SC” or “SC?” commands are received by
a controller while a scan is already in progress.
7.2
Axis-Specific Error Messages
Where (“x” = 1 to 4)
x00, MOTOR TYPE NOT DEFINED
A motion command has been issued to the controller before specifying a
motor type. Enable auto motor detection by setting bit# 0 in configuration
register to 0 (refer ZZ command) or set valid motor type (refer QM
command).
x01, PARAMETER OUT OF RANGE
The parameter sent along with a command is out of range.
x08, MOTOR NOT CONNECTED
The controller has detected that there is no motor connected to the axis that is
either being commanded to move or is already in motion.
98
Appendix
x10, MAXIMUM VELOCITY EXCEEDED
The velocity parameter specified exceeds the maximum velocity rating for
the connected motor.
x11, MAXIMUM ACCELERATION EXCEEDED
The acceleration parameter specified exceeds the maximum acceleration
rating for the connected motor.
x14, MOTION IN PROGRESS
A new move is commanded while an axis is already moving.
Maintenance and Service
8
WARNING
There are no user serviceable parts inside the Model 8742
Controller/Driver. Work performed by persons not authorized by
New Focus will void the warranty.
8.1
Enclosure Cleaning
WARNING
Before cleaning the enclosure of the 8742 Controller/Driver, the
power cord must be disconnected from the wall socket and from
the unit.
The source enclosure should only be cleaned with a mild soapy water solution
applied to a damp lint-free cloth. Do not use an acetone or alcohol solution; this will
damage the finish of the enclosure.
8.2
Technical Support
Information and advice about the operation of any New Focus product is available
from our technical support engineers. For quickest response, ask for “Technical
Support” and know the model and serial number for your product.
Hours: 8:00–5:00 PST, Monday through Friday (excluding holidays).
Toll Free: 1-866-NUFOCUS (1-866-683-6287)
(from the USA & Canada only)
Phone: (408) 284-6808
Support is also available by fax and email:
Fax: (408) 980-4300
Email: techsupport@newfocus.com
We typically respond to faxes and email within one business day.
100
Maintenance and Service
8.3
Service
Your 8742 Controller/Driver has been designed to provide years of trouble-free
operation. Virtually no maintenance is required except for ensuring that the unit is
not damaged, contaminated, or used in an unsafe manner.
8.4
Obtaining Service
The 8742 Controller/Driver contains no user serviceable parts. To obtain
information regarding factory service, contact New Focus or your New Focus
representative. Please have the following information available:
1. Instrument model number (on the rear panel).
2. Instrument serial number (on rear panel or bottom of enclosure).
3. Description of the problem.
If the instrument is to be returned to New Focus, you will be given a Return
Number, which you should reference in your shipping documents. Please fill out a
copy of the service form, located on the following page, and have the information
ready when contacting New Focus. Return the completed service form with the
instrument.
8.5
Warranty
New Focus, a division of Newport Corp, guarantees its products to be free of defects
for one year from the date of shipment. This is in lieu of all other guarantees,
expressed or implied, and does not cover incidental or consequential loss.
Maintenance and Service
8.6
101
Service Form
New Focus U.S.A.
Office: 408-919-1500
FAX: 408-980-6083
Name _______________________________
Return Authorization #__________________
(Please obtain RA# prior to return of item)
Company ________________________________________________________________________
(Please obtain RA # prior to return of item)
Address ________________________________ ____________________Date _________________
Country _______________________ Phone Number ______________________________________
P.O. Number ___________________ FAX Number _______________________________________
Item(s) Being Returned:
Model # _______________________ Serial # __________________________
Description _______________________________________________________________________
Reason for return of goods (please list any specific problems):
Source Exif Data:
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