IRIS ORCA User manual

Version 1.0.3

CONTENTS
LIST OF TABLES ................................................................................................................................................4
LIST OF FIGURES ..............................................................................................................................................4
INTRODUCTION.................................................................................................................................................5
BLOCK DIAGRAM ..............................................................................................................................................5
POWERING THE MOTOR.................................................................................................................................6
Fuse .................................................................................................................................................................6
Ground.............................................................................................................................................................6
Chassis............................................................................................................................................................6
GETTING STARTED WITH IRISCONTROLS4 ...............................................................................................7
Required Software ....................................................................................................................................7
Required Hardware...................................................................................................................................7
CONNECTING TO IRISCONTROLS4..........................................................................................................8
NAVIGATING THE GUI .................................................................................................................................9
GUI PAGES................................................................................................................................................... 10
Home........................................................................................................................................................ 10
Position .................................................................................................................................................... 10
Force......................................................................................................................................................... 12
Shaft ......................................................................................................................................................... 13
Modbus.................................................................................................................................................... 14
Kinematic................................................................................................................................................. 15
Logging .................................................................................................................................................... 17
Current ..................................................................................................................................................... 18
ORCA REGISTERS.......................................................................................................................................... 19
SENSORS......................................................................................................................................................... 19
Force Sensor............................................................................................................................................... 19
Position Sensor .......................................................................................................................................... 19
Power Sensor.............................................................................................................................................. 20
Temperature Sensors................................................................................................................................ 20
CONTROLLERS............................................................................................................................................... 20
PID Position Controller.............................................................................................................................. 20
General tuning guide ............................................................................................................................. 20
Proportional action ................................................................................................................................ 21
Integral action......................................................................................................................................... 21
Derivative action..................................................................................................................................... 21

Saturation level....................................................................................................................................... 21
Force Controller.......................................................................................................................................... 21
Kinematic Controller.................................................................................................................................. 22
Software Triggering............................................................................................................................... 22
Hardware Triggering.............................................................................................................................. 22
Configuring a Motion............................................................................................................................. 23
MODES OF OPERATION................................................................................................................................ 24
Sleep Mode (1)............................................................................................................................................ 24
Force Mode (2) ........................................................................................................................................... 24
Position Mode (3)....................................................................................................................................... 24
Kinematic Mode (5) ................................................................................................................................... 24
COMMUNICATIONS INTERFACES ............................................................................................................. 25
RJ45 Cable .................................................................................................................................................. 25
Windows USB Graphical User Interface ................................................................................................ 26
MODBUS Interface..................................................................................................................................... 26
USER CONFIGURATIONS ............................................................................................................................. 26
Maximum Temperature........................................................................................................................ 26
Maximum Force..................................................................................................................................... 27
Maximum Power.................................................................................................................................... 27
Communication Timeout ..................................................................................................................... 27
ERRORS............................................................................................................................................................ 27
Active and Latched Error Registers ........................................................................................................ 27
Configuration Errors .............................................................................................................................. 28
Force Clipping......................................................................................................................................... 28
Temperature Exceeded......................................................................................................................... 28
Force Exceeded...................................................................................................................................... 28
Power Exceeded..................................................................................................................................... 28
Shaft Image Failed................................................................................................................................. 28
Communications Timeout ................................................................................................................... 28
APPENDIX........................................................................................................................................................ 30
Orca Memory Map ..................................................................................................................................... 30
REVISION HISTORY ....................................................................................................................................... 40

LIST OF TABLES
Table 1: Sensors............................................................................................................................................. 19
Table 2: Kinematic Motion Configuration Registers................................................................................ 23
Table 2: Communication Interfaces ........................................................................................................... 25
Table 3: RJ 45 Pinout..................................................................................................................................... 25
Table 4: User Configurations........................................................................................................................ 26
Table 5: Errors and their Impact .................................................................................................................. 27
LIST OF FIGURES
Figure 1: Block Diagram...................................................................................................................................5
Figure 2: IrisControls4 application with no device connected ..................................................................7
Figure 3: Orca Series Linear Motor.................................................................................................................7
Figure 4: RS485 to USB cable .........................................................................................................................7
Figure 5: RJ45 Splitter ......................................................................................................................................7
Figure 6: IrisControls4 Settings panel ...........................................................................................................8
Figure 7: IrisControls4 connection information...........................................................................................9
Figure 8: Orca Series GUI with home page open.........................................................................................9
Figure 9: IrisControls4 Position page ......................................................................................................... 10
Figure 10: IrisControl4 Force Page ............................................................................................................. 12
Figure 11: IrisControl4 Shaft page .............................................................................................................. 13
Figure 12: IrisControl4 Modbus page ......................................................................................................... 14
Figure 13: IrisControls4 Kinematic Page ................................................................................................... 15
Figure 14: IrisControls4 Logging page ....................................................................................................... 17
Figure 15: IrisControls4 Current Page ........................................................................................................ 18

INTRODUCTION
This document describes the functions and operation of Orca™series linear motors having
integrated drivers and an integrated sensor suite.
BLOCK DIAGRAM
Figure 1: Block Diagram

POWERING THE MOTOR
All Orca devices are powered by a DC voltage.
Flying lead power connections are provided for each motor with ring terminals by default. Most
Orca products are configured to be able to draw significant currents, up to and exceeding 40
amps, and proper attachment of the power lines to a suitable power source is important.
Suitable power sources for Orca motors are AC-to-DC converters, batteries of various chemistry,
capacitor banks, or other sources of DC voltages. Engineering support from Iris on the selection
of a suitable power source is available.
Fuse
A 30-amp fast-blow fuse must be installed between the power supply and the motor. This fuse
will be destroyed if negative voltage is applied to the motor.
Ground
In all cases, the black power lead is “Ground” and should be connected to the negative terminal of
the power supply or battery.
It is important that the power supply Ground, and the Ground of any electronics attached to the
device’s communication cable is kept at the same level. Usually this is done by making sure the
power supplies of the motor and external controller (if different) are connected to earth at both
their chassis and negative output terminal.
Chassis
As an important safety measure, the chassis of the motor must be securely connected to Earth.
Proper grounding of the chassis is also important for proper operation of the motor.
The motor enclosure and cable shields are connected but these are not connected to the Ground
circuit of the on-board electronics. Therefore, a separate connection from the Chassis to Earth
must be made which can be accommodated by threading a conductive bolt into any of the
provided thread patterns on the enclosure.

GETTING STARTED WITH IRISCONTROLS4 TM
Required Software
Orca series motors can be configured through an
integrated graphical user interface (GUI). To connect to
an Orca motor’s GUI, first download the latest version of
the IrisControls4 software on a Windows PC. The latest
release is always available here. Next, open the
IrisControls4 application. With no device connected, the
IrisControls4 window should open with an empty
console and a status of disconnected.
Once you have confirmed you have a working copy of
the IrisControls4 software you can move on to the next
section of this guide.
Required Hardware
Besides the motor itself, connecting to the IrisControls4
application requires two additional pieces of hardware
detailed below.
Connect the RJ45 communication cable from the Orca
motor to the single port side of the RJ45 splitter.
Connect the RJ45 connector end of the RS485 cable to
the splitter input labeled 1. Finally, connect the USB end
of the RS485 cable to the Windows PC running
IrisControls4.
Figure 3: Orca Series Linear
Motor
Figure 4: RS485 to USB
cable
Figure 5: RJ45
Splitter
Figure 2: IrisControls4 application
with no device connected

Figure 6: IrisControls4 Settings panel
CONNECTING TO IRISCONTROLS4TM
After ensuring your Orca is connected properly to your PC, open the IrisControls4 application. The
software will start up trying to establish a connection automatically. If the motor does not
automatically connect toggle the connect button off and press the gear icon in the top right of the
IrisControls4 window and select a baudrate of 460800 from the dropdown menu, and press
apply.
Settings
button
Baudrate
selection
dropdown
Connect button
Connection
status

Using the COM selection dropdown menu at the bottom of the window, select either Orca (if it is
present) or the COM port of your USB to RS485 connection. If neither option is present, ensure
that your hardware is connected correctly as outlined in the “Getting Started” section.
Figure 7: IrisControls4 connection information
Once you have selected the correct device, press the connect button to begin attempting to
connect to the motor. If successful, the Orca GUI should launch its homepage.
NAVIGATING THE GUI
Navigation of the GUI is done using the page buttons above the console. Pressing each button
will open a different page of the GUI within the page content area. The default page upon
connection is the home page, shown below. Several other indicators, such as power draw and
mode of operation will remain visible on the GUI regardless of the page selection+
Figure 8: Orca Series GUI with home page open
COM selection
dropdown
Connect button
Connection
status

GUI PAGES
Home
The home page is the default page opened upon connecting to an Orca motor. A screenshot of
the home page is shown in figure 8. This page displays the firmware version, hardware version,
firmware build date and the motor serial number. There are no interactive elements on this page.
Position
The position page provides a real time graph displaying the target position, measured position
and target force of the motor. Below the graph, the currently set parameters of the position
controller are displayed, including proportional gain, integral gain, derivative gain and maximum
force output.
Figure 9: IrisControls4 Position page
Position and Force Graph
This graph will plot the position controller’s target position, the commanded force used to reach
that position and the measured shaft position. The left y-axis is position, and the right y-axis is
force.
The green “Target” line will show the active commanded position, but the targets for each source
(MODBUS, GUI, Kinematic Controller) are always shown on the graph as well.
Enable Position Control Button
This button will toggle the motor between Position and Sleep modes.
Zero Position Button
This button will reset the position zero point to the current physical position of the shaft.