Ludl Electronic Products MAC 2000 Instruction sheet
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SM
View
Instra
Revision 1.0 8/29/90
MAC
2000
Configuration
Manual
Ludl Electronic Products Ltd.
200 Brady Avenue
Hawthorne, NY 10532
(914) 769-6111
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Table
of
Contents
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Terminology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Inserting and Removing modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
MAC 2000 Interface and Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Descnpnon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
RS-232 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Low Level Communication Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
High Level Communication Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
IEEE-488 Communication Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Message Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IEEE-488 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
9
11
IEEE-488 Commands Supported by the MAC 2000 . . . . . . . . . . . . . . . . . . . . . .
12
Differences between IEEE-488 and RS-232 . . . . . . . . . . . . . . . . . . . . . . .
l3
XY Stepper Motor Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
Stepper Motor Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17
Descnptlon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . • . . . 17
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19
Motor Control Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19
Motor Driver Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19
DC
Servo Motor Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor Control Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DC Motor Driver Configuration and Adjustment
...................
.
22
22
23
24
Filter Wheel Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Single Filter Wheel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Dual Filter Wheel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
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Video Autofocus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
31
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Focus Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
32
Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
32
Maximizing Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
32
How
Stepper Motors Work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Checking Stage Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
EPROM Upgrade . . . . . . • . . . . . . . • . . . . . . . . . . . . . . . . . . . . . . . . . . . .
38
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
39
IEEE-488
Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
39
Motor Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
39
Filter Wheel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
39
Last Minute Changes: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
41
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Table
of
Figures
Figure 1 IEEE-488 handshake sequence (simplified) . . . . . . . . . . . . . . . . . . . . . .
12
Figure 2
XY
Stage Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
Figure 3 Motor Control Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
Figure 4 Motor Driver (MDMSP) Configuration Switch . . . . . . . . . . . . . . . . . . . .
18
Figure 4 Motor Controller Switch Configuration . . . . . . . . . . . . . . . . . . . . . . . . 20
Figure 5 MDMSP Motor Step Size Configuration . . . . . . . . . . . . . . . . . . . . . . .
21
Figure 6 Motor Control Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23
Figure 7 DC Motor Driver Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25
Figure 8 Filter Wheel/Shutter Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Figure 9 Filter Controller Function Settings . . . . . . . . . . . . . . . . . . . . . . . . . . .
28
Figure
10
Filter/Shutter control card, FWSHC . . . . . . . . . . . . . . . . . . . . . . . . . 28
Figure
11
Autofocus connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
34
Figure 12 Autofocus Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
35
Figure
13
Autofocus Function Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Figure 14 Default MAC2000 Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Figure
15
Default Wafer Handler Switch Settings . . . . . . . . . . . . . . . . . . . . . . . .
43
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MAC
2000
CONFIGURATION
REFERENCE
Introduction:
Overview:
The MAC 2000 is a modular system for providing automation control. The
system
can
be
configured
with
different modules
to
suit different
tasks.
Several
systems are defined as products using the MAC 2000 control unit. Motorized
XY(Z) stages are the most common configuration for the MAC 2000. The
MAC 2000
can
be
configured also as a photometer controller, filter/shutter
controller, and
an
autofocus controller -to name a few. Any combination
of
the
previous is also possible. The purpose
of
this manual is to explain the possible
configuration options for each type
of
module in the MAC 2000.
Tenninology:
Throughout this manual references
are
made to components
of
the system. The
term MAC 2000 is a generic description
of
the entire electronics console. A
MAC 2000 describes nothing more than the style
of
the unit and the format
of
its
components. A
module
is referred to as a single circuit board that plugs into the
MAC 2000 frame. A MAC 2000
frame
refers to an empty MAC 2000 control
unit. The frame includes only the main power transformer, the passive
motherboard, and the mechanical housing for mounting the modules. Most
modules have an onboard CPU
to
communicate and perform the module's
function; these are known as intelligent modules. Each intelligent module has an
address
on the control bus. The address range is from 1 to 255. No two modules
can
have the same address for the unit to operate properly.
Inserting
and
Removing modules:
The MAC 2000 system allows convenient removal and replacement
of
each
module for service
or
configuration. To remove a module from the MAC 2000
frame the two locking screws located on the top bottom edge
of
the front panel
of
the module must
be
turned so the slot is horizontal (perpendicular to the long
axis
of
the module front panel). The module can
be
removed
by
gripping the
module handle tightly between the forefinger and the thumb and wiggling the
module up and down with a firm pulling motion. Since the connectors can be
quite tight, care should be taken so that when the module is freed, no injury to
the
module
or
person
occurs.
Page 1
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Configuration:
There are x standard configurations available in three different frame sizes. The
standard configurations include the
XY
stage (most common), photometer,
autofocus, and filter wheel combinations. Framesizes
are
4"(4 slots),
9"(9
slots),
and 19" (19 slots).
The
standard
XY
stepper motor stage controller configuration (990052) is shown
in Figure
1,
Figure 2. The system consists
of
two (2) each MCMSE and MDMSP
modules, a power supply module, and RS-232 interface module.
The
XY joystick
inputs
are
connected to the modules internally via the motherboard.
The
standard stage controller
can
have one
or
more
of
the following: photometer
controller, video autofocus, filter wheel controller, digital/analog
I/0
board.
Dedicated photometer control systems are also offered in standard configurations
with digital readout control panel, and filter wheels as expansion options.
Page 2
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MAC 2000 Interface
and
Communication:
Description:
The interface provides communication from an external computer
to
each
of
the
modules in the MAC 2000 frame by either RS-232 or IEEE-488. Each
type
of
communication provides for high-level ASCII
or
low-level binary protocol.
RS-232 Configuration:
The RS-232 serial communication parameters are configurable. In serial mode
the switch positions
1-3
are
used
for setting the baud rate
of
the serial
transmission and the communication mode:
Table I RS-232 Serial Parameter Settings
!;layg
R~te
SJeL1
Sw2
19200
open open
9600
open open
4800
closed open
2400
closed open
1200
open closed
600
open closed
300
closed closed
150
closed closed
The serial parity bit is also switch selectable:
Parity
Odd
Even
None
Sw4
open
closed
n/a
Sw
5
open
open
closed
~
open
closed
open
closed
open
closed
open
closed
Switches 6 and 7 program a delay between transmission
of
the serial data. When
both switches are closed there is no delay, when both are open there is a
1.5
ms
delay.
Switch 8 sets the default commuication mode:
Mode
Low
Level
High Level
Sw 8
open
closed
Page 3
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IEEE-488 Configuration:
In the IEEE-488 mode, switches 1-5 determine the address
of
the device on the
IEEE-488 bus. The selection
is
binary from 0 to
31
with an open switch position
representing a binary 1. For example, the IEEE-488 address 7 would have
switches
1,
2,
and 3 open and switches 4 and 5 closed. When the interface is in
IEEE-488 mode, all data received
or
transmitted is echoed out the RS-232 port
at a fixed 9600 baud, no parity and 2 stop bits.
Low Level Communication Protocol:
The LEP low-level communication protocol is an efficient binary communication
protocol with access to all commands on all modules in the system. The low-level
protocol forms a message
in
five (5) parts: address, command, length, data, and
end
of
transmission. The protocol must be strictly adhered to in order to avoid
unnecessary system hangups. The low-level communication mode can be initiated
at any time by sending the byte sequence:
OxFF
Ox42.
First the device address is sent (this
is
the module bus address, not the IEEE-488
bus address). The address
is
a single byte with a range from 1
to
254 (255 is
reserved). Once the address byte is received the device is selected on the bus and
the communication must be completed according to the protocol.
If
the
communication is not completed, the system will hang.
After the device is selected with the address byte, the command is sent. The
command byte is immediately sent to the device which then prepares to either
execute the command, send data back to the host,
or
receive more data from the
host. Thecommand isa single byte from the known command list published with
each device.
If
an unrecognized command is received by the device, the
command is ignored, but this may cause problems
if
the command is interpreted
as
read command.
Following the device command, a data length byte is sent. The data length is sent
so the interface knows how many bytes to send or receive from the device and
how many bytes to send
or
receive from the host.
If
the number
of
bytes is
incorrectly sent, the protocol will become confused and the system will probably
hang. Each command has a command data length.
Some commands have no data associated with them, and a zero byte is sent after
the command to indicate that there is no data.
After the address, the command, and the data length are sent, the data follows.
If
the data is to be read back from the MAC 2000, the host computer reads bytes
from the interface until the programmed number
of
bytes is received. When data
Page4
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is to be transmitted to the
MAC
2000, the interface will receive the specified
number
of
bytes from the host. The interface will timeout after
10
seconds
if
the
count
is
not satisfied.
To
finish the message protocol, a single colon (ASCII
58
decimal) is sent. This
closes the communication and resets the interface for the next communication
message.
The above protocol covers all messages and commands with the exception
of
the
test busy command. The test busy command is implemented in a slightly
different fashion to allow for highest communication rate with minimal overhead
for the target device.
The
test busy protocol is similar to the normal protocol
except that no data length byte is sent and a single byte is read from the interface.
The
message still requires the device address, the command, and a colon to
terminate the message.
Example (all values shown
are
hex representation):
Host computer sends:
MAC 2000 replies:
OxO
1
I*
address
*I
Ox6C
I*
read position cmd for motor driver */
Ox03
/* number
of
data bytes
*I
Ox3A
/* colon for end
of
command */
Ox21
/*
Least
significant byte
of
position
*I
Ox48
Ox62
/* Most significant byte
of
position
*I
High
uvel
Communication Protocol:
The
LEP
high-level communication protocol provides a more 'human' mode
of
communication.
The
commands
are
formatted
as
strings containing English
words that are
parsed
and interpreted by the interface and translated into
commands
to
be
sent to the modules on the bus.
The
high-level protocol can
be
set either by configuring the switch on the interface board
or
by sending the byte
sequence:
OxFF
Ox4l.
Contrary to the low-level protocol, the high-level protocol is very flexible in its
implementation. The command string can
be
of
any length less than 80 characters
terminated
by
a <
CR
>.
Full
error checking for command syntax and the module
compatibility is performed prior to command execution to eliminate errors and
system lock-ups. The format for a high level command is:
Page 5
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command module_id[=value] < cr>
The interface always responds with either
an
acknowlege or Negative
acknowledge. This
is
represented by either the character
'A'
or
'N'
respectively.
After the acknowledgement, either the requested data or an error code
is
sent
preceded
by
a colon (':') and terminated
by
the end
of
line sequence
<CR>
<LF>.
For example,
to
read the current position
of
a motor drive for the X axis, the
command string: "WHERE
X<
CR
>"
would
be
sent. The proper response
from the interface would be ":A 12324 < CR > < LF > ", assuming that the
controller
has
a motor driver module set for the proper address. Commands
can
be stringed together. The commmand: "WHERE
XYZ<CR>"
will cause the
controller to reply with ":A
12324
451345
390239<CR>
<LF>
".
If
a
command
is
issued not requiring a data reply, the response
is
":A<CR>
<LF>".
When sending data
to
the
MAC
2000, the data
is
sent to a module by using the
'='
assignment. The command : "HERE
X=
12324
<
CR
> " will set the current
position
of
the X axis. Furthermore, the command "HERE
X=
12324 Y=54543
Z=32430<
CR
>"
will set the positions
of
the
X,
Y and Z axes.
In
the case
of
an command error, either a syntax error or a system error, the
MAC
2000 will reply with
an
error code. For example, the command: "WHERE
Q<CR>"
will result
in
the reply: ":N
-2<CR>
<LF>".
The
'N'
indicates
that it
is
an
error and the '-2'
is
the error code (
-2
= illegal point type or
module not installed). See
MAC
2000 programming manual for error code listing.
The module ids refer
to
predefined default module
and
address convention. The
following table describes
the
defaults:
Page 6
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Table II
Module
high level ids and addresses
Modul-ld Address
label
Description
X 1 EMOT stage X axis
y 2 EMOT
stageY
axis
B 3 EMOT aux axis
R 4 EMOT aux axis
c 5 EMOT aux axis
z 6 EMOT aux axis
T 7 EMOT aux axis
I
9&8
EDAIO
digital in ports
0
9&8
EDAIO digital out ports
F
11
EAFC auto focus finder
P[1] 12
HPHCD
photometer No. 1
P2
13
HPHCD
photometer No. 2
P3
14
HPHCD photometer No. 3
P4
15
HPHCD photometer No. 4
P5
16
HPHCO
photometer No. 5
Sill
17
EFILS
filter shutter No. 1
52 18
EFILS
filter shutter No. 2
53
19
EFILS
filter shutter No. 3
S4 20
EFILS
filter shutter No. 4
S5
21
EFILS
filter shutter No. 5
IEEE-488 Communication Interface
The
MAC
2000 IEEE-488/RS-232 communication interface provides
communication with
MAC
2000 devices according to either the IEEE-488
bus
or
RS-232 serial standard.
The
communicationprotocol follows the standard
LEP
low-level (binary) communication protocol.
The
device is fully configurable in
either mode. In serial mode the baud rate is switch selectable from
150
to
19200
baud.
The
IEEE-488 bus address is configurable from 0 to 31.
Page 7
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Configuration:
The interface can operate in either RS-232
or
IEEE-488 mode. The function
of
the IEEE-488/RS-232 interface is configured with the
DIP
switch located on the
73000401 interface circuit board. The interface is switched between serial and
IEEE-488 mode by setting switch 8. When switch 8 is open, the interface is in
RS-232 mode; and when switch 8 is closed, the interface is functioning in IEEE-
488 mode.
Table
Ill
IEEE-488
Interface
Switch
Settings
Baud
Rate
~
~
~
19200 open open open
9600 open open closed
4800 closed open open
2400 closed open closed
1200 open closed open
600 open closed closed
300 closed closed open
150 closed closed closed
The serial parity
bit
is also switch selectable:
f2!.ily
Sw4
~
Odd open open
Even
closed open
None n/a closed
Switches 6 and 7 program a delay between transmission
of
the serial data. When
both switches are closed there is no delay, when both
are
open there is a 1.5 ms
delay.
Switch 8 selects IEEE-488 mode or serial mode. When switch 8 is closed the
interface
will
communicate in IEEE-488 mode.
Switched 1 through 5 select the
IEEE-488
device address when
switch
a is
closed. The switch positions
are
decoded
in
binary fashion
with
an
open
switch
representing a binary 1. For example:
IEEE-488
Address
1
7
Swl
Sw2
~
Sw4
~
Open
Closed Closed Closed Closed
Open Open Open Closed Closed
Page 8
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Message
Protocol:
The communication protocol for either the RS-232 mode and the binary mode
follows the LEP low-level protocol. The low-level protocol forms a message in
five (5) parts: address, command, length, data, and end
of
transmission.
First, the device address is sent (this is the module device address, not the
IEEE-
488
bus address). The address is a single byte with a range from 1 to
255.
Once
the address byte is received, the device is selected on the bus, and the
communication must
be
completed according to the protocol.
If
the
communication is not completed the system will hang.
After the device is selected with the address byte, the command is sent. The
command byte is immediately sent
to
the device which then prepares
to
either
execute the command, send data back
to
the host, or receive more data from the
host. Command is a single byte from the known command list published with
each device.
If
an unrecognized command is received by the device, the
command is ignored, but this may cause problems
if
the command is interpreted
as a read command.
Following the device command, a data length byte is sent.
The
data length is
sent
so
the interface knows how many bytes to send
or
receive from the device
and how many bytes to send
or
receive from the host. If the number
of
bytes is
incorrectly sent, the protocol will become confused and the system will probably
hang. Each command has a command data length. Somecommands have no data
associated with them, and a zero byte is sent after the command to indicate that
there is no data.
After the address, the command, and the data length are sent, the data follows.
If
the data is to be read back from the MAC 2000, the host computer reads bytes
from the interface until the programmed number
of
bytes is received. When data
is to be transmitted to the MAC 2000, the interface will receive the specified
number
of
bytes from the host. The interface will timeout after
10
seconds if the
count is not satisfied.
To finish the message protocol, a single colon (ASCII 58 decimal)
is
sent. This
closes the communication and resets the interface for the next communication
message.
Page 9
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The above protocol covers all messages and commands with the exception
of
the
test busy command. The test busy command is implemented
in
a slightly
different fashion to allow for highest communication rate with minimal overhead
for the target device. The test busy protocol is similar to the normal protocol
except that
no
data length byte is sent and a single byte is read from the interface.
The message still requires the device address, the command, and a colon to
terminate the message.
Page
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IEEE-488 Communication:
By
default, the MAC2000 is configured as a Listener on the IEEE-488 bus.
Parallel poll mode is not supported by the MAC 2000. The MAC 2000 utilizes
the following IEEE-488 bus lines:
Handshake Lines:
DAV
NRFD
NDAC
Control Lines:
Data Valid. Asserted
by
the controller to show that a control byte
has been placed on the data bus. Also asserted when a data byte
is placed on the data bus.
Not Ready
For
Data. Asserted by the MAC 2000 to prevent any
new data from being placed on the data bus until it is ready.
Not Data Accepted. This line is asserted by the MAC 2000 to
indicate that the last data byte placed on the bus
has
not yet been
accepted.
A
TN
ATteNtioo. Indicates to the MAC 2000 that the data bus contains
a system command (IEEE-488 bus command) when asserted.
When not asserted, indicates that data on the bus contains either
status information
of
data.
IFC
InterFace Clear. Clears the IEEE-488 bus;
has
the effect
of
resetting all devices on the bus (IEEE-488 reset only, not MAC
2000 reset).
SRQ
Service ReQuest. This line is asserted by the MAC 2000 when
it is selected and data is ready
to
be read by the host.
REN Remote &"lable. Not supported by the MAC 2000.
EOI
End
Or
Identify. Used to identify the end
of
multibyte data
transfers to or from the MAC 2000. Also used in conjunction
with the ATN line to indicate a parallel poll (not supported).
Page
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le:CONC
IYTI
DATA:
NOT
VALi
I)
VALl
I)
VALl
0
0 AV :
-----"l
L__
__
_J
ft!AO'f
IUAOV
NRF
0:
-~Il___
__
_
_Il~
ACCE~TED
ACCEPTED
NOAC:
n
-~
----~
~----------------~
~
Figure 1 IEEE-488 handshake sequence (simplified!
IEEE-488 Commands Supported
by
the MAC 2000:
MTA addr My Talk Address. Configures device at addr to be a talker.
MLA addr
My
Listen Address. Configures device at addr
to
be a listener.
SPE Serial Poll Enable. Send
to
initiate serial poll sequence.
UNT UNTalk.
All
devices addressed as talkers are deconfigured.
UNL UNListen.
All
devices addressed
as
listeners are deconfigured.
DCL Device CLear. Clears all devices
on
the IEEE-488 bus.
Page
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A typical IEEE-488 communication sequence with the MAC 2000 could
be
as
follows: First, issue an UNT and an
UNL
command to clear any prior
communication. Then a MLA is sent
to
put the MAC 2000 in listen mode. At
this point the MAC 2000 is addressed to listen and will accept data on the bus.
Send the MAC 2000deviceaddress byte, the command byte, the data length byte,
the data block (if data is to
be
sent) and the colon as a single data block.
The
data
could also be sent bytewise (sequential single byte blocks) but it is less efficient.
At this point the MAC 2000 has the command and will
process
it.
The
MAC
2000 expects EOI to indicate the end
of
communication.
When data is ready
to
be
sent back to the controller, the MAC 2000 will assert
the SRQ line.
The
host then performs a serial poll to determine which device is
requesting service. This is done by sending an
SPE
to all devices on the bus.
Then sequentially the controller addresses all devices on the bus to talk (MTA).
The
MAC 2000 will respond with a data byte indicating status.
If
data is ready
to be sent, the bit 7 will be set. No other bits in this byte are used by the MAC
2000. After the serial poll for each device is complete, the controller issues a
UNT
to clear the addressed device.
Once
it
is determined that the MAC 2000 is ready to send data, an MTA is sent
to the MAC 2000 IEEE-488 address to configure the MAC 2000 as a talker.
The
data is then transferred with the IEEE-488 handshake.
The
MAC 2000 asserts
the EOI line to indicate an end
of
transfer.
Differences between ffiEE-488 and RS-232:
The only significant difference between the
RS-232
and the IEEE-488
communication lies in the host computer's handling
of
the data transmission.
The
two protocols are byte for byte compatible.
Page 13
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XY
Stepper Motor Stage:
Dfscription:
The LEP motorized
XY
stages all consist
of
X and Y axis motor driven
leadscrews. The connections to the motors
are
by DB-15 male connectors. The
minimum step resolution and the maximum stage
speed
are calculated from
mechanical and electrical parameters
of
the stage and motor drives.
All stages have electronic and mechanical limits on travel. Each axis has limit
switches at each end
of
travel. The limit switches are an electronic protection
to
prevent the system from encountering the mechanical limits which would cause
the stage to stall, lose position, and perhaps cause damage. The limit switches
can
be used for location
of
the home position
of
the stage provided the software
does not allow the stage
to
strike the switches at a high rate
of
speed.
Configuration:
The motor rotational motion is translated to the linear stage axis motion be
turning the leadscrew. The minimum stage axis resolution
is
calculated from two
factors: the motor step resolution and the lead screw pitch. The motor resolution
is determined from the setup and configuration
of
the motor drive electronics,
typically the step resolution is 10,000 steps per revolution. The leadscrew pitch
is
a measurement
of
the distance the stage moves for a single turn of the lead
screw shaft.
StageResolutJon- LeadscrewPitch
MotorStepsperRevolution
The speed
of
the stage is similarly calculated from the leadscrew pitch and the
maximum motor speed. The maximum motor speed
is
not as clearly defined by
the configuration
of
the motor drive. Theoretically, the motor
can
be driven
to
a maximum speed
of
SmHz; however, the motor will never go this fast no matter
what configuration
is
chosen.
If
the motor is configured for 10,000 steps per
revolution, it is safe to say that it will operate at 300KHz (300,000 steps per
second). Using this
as
a baseline, the motor
can
be run at 400KHz when set for
20,000 steps per revolution and 150KHz when the motor is configured for 5,000
steps per revolution. Please note that these values are typical and most systems
should be able
to
run beyond this limit.
Page
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,lt
a
MAC
2000
Figure 2 XY Stage Connection
~
"-----------(~
~
The motor acceleration values also have a direct effect on the maximum
speed
of
the
axis.
The motor control has default value
of
20 which is adequate for a motor
set for 10,000 steps
per
revolution.
As
the acceleration value decreases, the time
to ramp from the starting speed to the maximum
speed
will
be
decreased. With
a stepper motor, care should
be
taken not to program the acceleration so that the
motor will not be able to
keep
up. When the drive electronics try to drive the
motor beyond its physical capability, it will stall; and in an open loop system, it
will lose position.
PagelS
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