Micronix MMC-110 Series User manual

MMC-110 Modular Motion Controller
Reference Manual
1-1
MICRONIX USA, LLC
Santa Ana, California
www.micronixusa.com
Rev: 1.00
Table of Contents
1. Introduction ........................................................................................................................................... 1-3
1.1 Product Description 1-3
1.2 Features 1-4
1.3 Package Contents 1-4
2. Quick Start Guide ................................................................................................................................. 2-4
2.1 Quick Start Guide Overview 2-4
2.2 Quick Start MMC-110 Motion Controller Platform 2-6
2.3 Using the MMC-110 Motion Controller Platform 2-7
3. Technical Information........................................................................................................................... 3-8
3.1 MMC-110 Specifications 3-8
3.2 Serial Port Setup 3-8
3.3 RJ11 RS232 Bus 3-9
4. Operation .............................................................................................................................................. 4-9
4.1 Axis Addressing 4-9
4.2 Feedback Control 4-10
4.3 HOM, MLN, and MLP 4-10
5. Commands.......................................................................................................................................... 4-10
5.1 Command Line Syntax 5-11
5.2 Command Line Format 5-12
5.3 Global Commands 5-12
5.4 Multiple Parameters 5-12
5.5 Synchronous Move 5-12
5.6 Program Mode 5-12
5.7Summary of Commands 5-14
5.8Command Descriptions 5-16
5.9Error Messages 5-75
6. Appendix............................................................................................................................................. 6-79
6.1 Encoder Input Pin-out 6-799
6.2 Motor Input Pin-out 6-799
6.3 8-Pin Din IO connector 6-799
6.4 RS-232 RJ-11 Pin-out 6-80

MMC-110 Modular Motion Controller
Reference Manual
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MICRONIX USA, LLC
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www.micronixusa.com
Rev: 1.00
Command Index
Command
Description
Page
Command
Description
Page
ACC
Acceleration
16
MOT
Toggle Motor On/Off
46
AMX
Maximum Allowable
Acceleration
17
MPL
Motor Polarity
47
ANR
Set Axis Number
18
MSA
Synchronous Move –Absolute
48
CER
Clear Errors
19
MSR
Synchronous Move –Relative
49
DAT
Dump Trace Data
20
MVA
Move Absolute
50
DBD
Closed Loop Deadband
21
MVR
Move Relative
51
DEC
Deceleration
22
PGL
Loop Program
52
DEF
Restore Defaults
23
PGM
Begin Program Recording
53
EAD
Set Analog or Digital Encoder
24
PGS
Run Program At Start-Up
54
ENC
Select Encoder Resolution
25
PID
Set Feedback Constants
55
END
End Program Recording
26
POS
Position
56
EPL
Encoder Polarity
27
REZ
Set Resolution
57
ERA
Erase Program
28
RUN
Start Synchronous move
58
ERR
Read and Clear Errors
29
SAV
Save Axis Settings
59
EST
Emergency Stop
30
STA
Status Byte
60
EXC
Execute Program
31
STP
Stop Motion
61
FBK
Set Open or Closed Loop Mode
32
SVP
Save Startup Position
62
HCG
Home Configuration
33
SYN
Sync
63
HOM
Home
34
TLN
Negative Soft Limit Position
64
IOD
IO Pin Definition
35
TLP
Positive Soft Limit Position
65
IOF
IO Function
36
TRA
Run Trace
66
JAC
Jog Acceleration and
Deceleration
37
VEL
Velocity
67
JOG
Jog Mode
38
VER
Firmware Version
68
LCG
Limit Configuration
39
VMX
Max. Allowable Velocity
69
LDP
Load Parameters
40
VRT
Encoder Velocity
70
LDR
Limit Switch Direction
41
WST
Wait For Stop
71
LPL
Limit Switch Polarity
42
WSY
Wait For Sync
72
LST
Program List
43
WTM
Wait For Time Period
73
MLN
Move to Negative Limit
44
ZRO
Zero Position
74
MLP
Move to Positive Limit
45

MMC-110 Modular Motion Controller
Reference Manual
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MICRONIX USA, LLC
Santa Ana, California
www.micronixusa.com
Rev: 1.00
1. Introduction
1.1 Product Description
The MMC-110 is a high performance integrated piezo motor controller/driver designed to
be used as a standalone single axis unit, or stacked as a compact multi-axis module. The
MMC-110 is capable of driving a piezo motor with a resolution to less than 1 nm (motor
dependent). The closed loop resolution is dependent on the resolution of the encoder.
1. LED Error Indicator 1
a. Red –An error has occurred
2. LED Addressing Indicator 2
a. Red –Stage is Unaddressed
b. Green –Stage has an address and is ready
3. Encoder Input, Male D-Sub 9 Pin Connector
4. Motor/Axis Output, Female D-Sub 9-Pin Connector
5. Power Supply, +24VDC, Regulated
6. RS232 Intermodular Connector
7. USB Connector
8. I/O Connector

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1.2 Features
•Integrated controller/driver for MICRONIX USA stick-slip piezo motors
•Compact, modular design allows for bench-top or standard 2U height rack mounting
•Configurable as a standalone unit or stackable up to 16 axes
•Open loop/closed loop operation
•Open loop resolution of less than 1 nm
•Closed loop resolution dependent on the encoder (typically 2 nm)
•A quad B encoder feedback or 1Vpp analog encoder input
•USB interface (one interface for up to 16 axes)
•Windows GUI, and LabVIEW VI
1.3 Package Contents
If product is damaged or there are missing components, contact MICRONIX USA immediately.
Do not discard product packaging in case of return shipment.
Package Contents:
•MMC-110 Controller
•Quick Start Guide
•Supplemental CD
•Power Supply
•USB Cable
2. Quick Start Guide
2.1 Quick Start Guide Overview
The following Quick Start Guide is intended to provide a basic set-up of the MMC-110 in
the least amount of time. The following paragraphs will provide a walkthrough of the
steps needed to set-up the controller and verify that the system is working correctly.
1. Install Drivers
a. To ensure correct communication between the module and PC, install the
proper drivers onto the communicating computer prior to connecting the
MMC-110.
b. The drivers may be found on the supplemental installation CD or can be
downloaded from:
http://www.micronixusa.com/motion/support/softwares.cfm
2. Connect Motion Devices
a. A single MMC-110 controller is capable of driving one piezo motor in either
open or closed loop.
b. Connect the male D-sub 9-pin piezo motor cable to the Motor/Axis Input (as
shown in the Product Description).

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MICRONIX USA, LLC
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Rev: 1.00
c. If applicable, connect the female D-sub 9-pin closed loop feedback cable to
the Encoder Input.
3. Connect Module/Stack to PC
a. Use the supplied Mini USB to USB cable to connect the MMC-110 controller to
the communicating PC. Only one USB cable is required per module/stack.
4. Power Up Controller
a. Connect the controller to a 24V, regulated power supply with the correct
amperage rating.
b. Each MMC-110 requires 1A. If powering a stack; add up the amperage
requirements of the individual controllers to determine the necessary power
supply for the stack.
5. Check COM Port
a. It is necessary to note the COM Port assigned to the MMC-110 when
connecting to a PC.
i. In Windows 8 Open the Device Manager:
1Press Ctrl + x
2Select device manager
ii. In Windows Vista/Windows 7 Open the Device Manager:
1Windows Logo (in the bottom left corner by default)
2Control Panel
3Device Manager
iii. In Window XP Open Device Manager:
1Start (in the bottom left corner by default)
2Control Panel
3System
4select the Hardware tab
5Click the device manager button
b. After powering up the controller (Step 4), note the USB Serial Port assigned.
See the figure below showing a snapshot of the Device Manager window:
6. Continue to Quick Start MMC-110 Motion Controller Platform
a. The following section will help you get running with the MMC-110 Motion
Controller Platform program.
Connected MMC-110
is assigned to COM4

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2.2 Quick Start MMC-110 Motion Controller Platform
The following Quick Start Guide is intended to provide a basic set-up of the MMC-110
MCP program. The following paragraphs will provide a walkthrough of the steps needed
to install the program and verify that the system is working correctly.
1. Pre-Installation
a. This guide assumes you have already run through the previous Quick Start
guide and that the controller is on and connected to a Com port on your
computer. Please verify that this is true.
b. You will need the .NET Framework 4.0. If you are unsure if you have the .NET
Framework 4.0 follow these steps.
i. Open the start menu (windows icon if using Vista).
ii. Open the Control Panel
iii. Open "Add or Remove Programs" ("Programs and Features" if using
Vista)
iv. Scroll through the list and find “Microsoft .NET Framework” If it is 4.0 skip
to step-2. Otherwise continue with step c.
c. To install the .NET Framework 4.0 you will need a connection to the internet.
i. Navigate to this site:
http://www.microsoft.com/downloads/details.aspx?FamilyID=9cfb2d5
1-5ff4-4491-b0e5-b386f32c0992&displaylang=en
ii. Download and run the web installer
iii. At the conclusion of this install you will be asked to restart your
computer. Do this now.
2. Install
a. To install the MMC-110 motion controller platform double click the setup.exe
file on the supplied CD and follow the on screen instructions.
3. Run
a. The installer placed a start menu short-cut to the MMC-110 MCP program.
Make sure that your MMC-110 is connected to your computer, powered on,
and connected to a valid COM port as discussed in section 2.1
b. Open the start menu (or windows icon for vista)
c. Open the ‘all programs’ tab
d. Open the MICRONIX USA folder
e. Run the MMC-110 MCP program

MMC-110 Modular Motion Controller
Reference Manual
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MICRONIX USA, LLC
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www.micronixusa.com
Rev: 1.00
2.3 Using the MMC-110 Motion Controller Platform
In the Quick Start Guide Overview you connected your MMC-110 to your computer. In the Quick
Start MMC-110 Motion Controller Platform you installed and ran the MMC-110 MCP software. This
section will describe the capabilities of the MMC-110 MCP program and give you a brief
understanding of how to use it.
1. Port Control –The picture below depicts the program when the Port has been
opened
a. Select the COM port associated with your MMC-110 as discussed in
section 2.1, step 5.
b. Click the Open Port button to connect to the MMC-110
i. This button should change giving you the option to close the port

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Reference Manual
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Rev: 1.00
c. The Port field should change to indicate the Port is Open
and the terminal should populate with some information about the
system and then turn blank. You are now ready to start moving a stage with your
MMC-110. For more information about this program see the MMC-110 MCP program
guide.
2. More information –more information about the MMC-110 MCP can be found in the MMC-
110 MCP program guide.
3. Technical Information
3.1 MMC-110 Specifications
Parameter
Description
Axes
1 (stackable up to 16 axes)
Motor Type
Stick-slip piezo motors
Interface
RS-232 and USB 2.0
Commands
ASCII Commands
Trajectory Mode
Trapezoidal velocity profile
Servo Clock
20 kHz
Trajectory Update
2 MHz
Power Supply
Regulated 24V DC (1A inrush, 0.5A max operation per axis)
Enclosure Dimensions
145 x 85 x 25
Software Interface
MCP-GUI, LabVIEW VI’s
*A single power supply may be used per stack. Each module/axis requires 1A, therefore add up
Individual module amperages to determine the power supply amperage requirement.
3.2 Serial Port Setup
If the MMC-110 is not automatically recognized by your computer, you will have to first
install the FTDI interface drivers before communicating with the controller. The drivers are
supplied on the supplemental CD under the folder MMC-110 Drivers or can be
downloaded from:
http://www.ftdichip.com/Drivers/VCP.htm
Below are the virtual RS-232 configuration settings necessary for correct communication
setup:
Software Parameter
Setting
Data Bits
8
Stop Bits
1
Parity
No
Handshake
No
Baud rate
38400

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Reference Manual
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MICRONIX USA, LLC
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www.micronixusa.com
Rev: 1.00
3.3 RJ11 RS232 Bus
This connector can be used to communicate with the MMC-110 in the place of the USB
connection. For more information on the RS-232 Intermodular RJ11 connector, see the appendix
6.4.
4. Operation
4.1 Axis Addressing
Auto Addressing is the default method of assigning axis numbers on start up. Controllers
are automatically assigned axis numbers on every power up, starting with axis 1 and
increasing consecutively until reaching axis 16.
Manual axis numbers may be assigned to a unique controller using the ANR Command.
This overrides Auto Addressing, as the controller stores the axis number until reassigned or
reset back to Auto Addressing. In the case of having a mix of manually assigned and
auto addressed controllers, the Auto Addressed axis numbers increase consecutively
after each manually assigned axis in the stack. For example; in a stack of 5 controllers
with the third controller manually assigned to axis 10, the axis numbers will read: 1, 2, 10,
11, 12
If two controllers are accidentally assigned the same axis number, use the global
command “0ANR0” to reset all controllers back to Auto Addressing.
The figures shown below illustrate axis numbers for a 5 module stack with Auto Addressing
assigned. Axis 1 is noted and shown in grey.
Horizontal stack (rear view)
With power inputs along bottom, Axis
1 is on the far left.
Vertical stack (rear view)
With power inputs along left hand
side, Axis 1 is on the very top.

MMC-110 Modular Motion Controller
Reference Manual
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MICRONIX USA, LLC
Santa Ana, California
www.micronixusa.com
Rev: 1.00
4.2 Feedback Control
The MMC-110 has three different movement modes of operation. When executing a move
command, the controller will drive a stage differently when set to different modes. The FBK
command is used to switch between these modes.
The first mode (nFBK0) is a traditional Open Loop. It follows a standard trapezoidal velocity
characteristic. It bases the transition between acceleration, constant velocity and deceleration
on the resolution settings (nREZx) or the distance it travels in one pulse. This is entirely open loop
and does not guarantee a set trajectory or end point.
The second mode (nFBK2) is a version of closed loop; taking position data from an attached
encoder and using it to ensure that it stops at the desired position. In this mode the controller
runs in open loop mode until it reaches the deceleration point. At this point it constantly reads
from encoder and corrects its position to arrive at the correct position. This guarantees position
within the specified deadband (DBN Command). However, this mode does not operate in
closed loop during motion.
The third mode (nFBK3) is closed loop. The controller will constantly try to achieve an ideal
trapezoidal velocity characteristic. Like the previous mode it too guarantees position final within
the specified deadband.
4.3 HOM, MLN, and MLP
The HOM, MLN and MLP commands all require the attached stage to have an encoder. The
HOM command will move negative direction by default. This can be changed using the HCG
command. If the stage is above the index, it will move until it reaches the index then move a
predetermined distance out of the index in the negative direction. The stage will then travel in
the positive direction at a slower speed stopping at the edge of the index. If the stage is below
the index it will move until it reaches a hard limit or the maximum travel. It then reverses direction
and proceeds until it reaches the index. It will then travel a predetermined distance out of the
index in the negative direction and finally travel toward the index at a slower velocity finally
resting on the edge of the index. The HOM command will always home to the negative side of
the limit.