Micronix MMC-110 Series User manual

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Contents
1. Introduction ................................................................................................................ 2
1.1 Product Description ............................................................................................ 2
1.2 Features................................................................................................................. 3
1.3 Package Contents .............................................................................................. 3
2. Quick Start Guide ...................................................................................................... 3
2.1 Quick Start Guide Overview.............................................................................. 3
2.2 Quick Start MMC-110 Motion Controller Platform .......................................... 5
2.3 Using the MMC-110 Motion Controller Platform ............................................. 6
2.4 Functionality Quick-Start ..................................................................................15
Open Loop ...............................................................................................................15
Closed Loop .............................................................................................................15
3. Frequently Asked Questions...................................................................................15

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1. Introduction
This document is meant to act as a quick start guide to be used to get the MMC-110 and
accompanying stages connected and functional. For more information regarding
programming and command set please refer to the full reference manual included on the
MMC-110 CD supplied with your order.
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. Orange –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. RS-232 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
•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
•24V Power Supply
•User Manual
•Supplemental CD
•Power 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.
Caution: In the case of custom and/or vacuum wiring this guide may not
portray the wiring with which your system was supplied. Please consult the custom
wiring diagram included with your custom/vacuum shipment.
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.ftdichip.com/Drivers/VCP.htm
c. For more on how to properly install drivers, see the appropriate
installation guide included on the supplemental CD or on the website
above.

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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.
c. If applicable, connect the female D-sub 9-pin
encoder adapter cable to the Encoder Input.
d. The other side of that cable to the interpolator
module or encoder head.
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 included in your order.
note: Each MMC-110 requires up to 1A. If
powering a stack; add up the amperage
requirements of the individual controllers to
determine the necessary power supply for the
stack.
b. After power up, verify that the top LED(s)
changes from Red to Orange to Green. This
verifies that each axis is addressed and ready for
communication.
2b.
3a.
4a.
2c. 2d.
4b.

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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 Vista or Windows 7 Open the Device Manager:
1Windows Logo (in the bottom left corner by default)
2Control Panel
3Device Manager
ii. 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.
2.2 Quick Start MMC-110 Motion Controller Platform
The MMC-100 MCP GUI can be used with the MMC-110 piezo controller. 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.
b. You will need the .NET Framework 4.0. If you are unsure if you have the
.NET Framework 4.0 follow these steps.
•Open the start menu (windows icon if using Vista).
•Open the Control Panel
•Open "Add or Remove Programs" ("Programs and Features" if
using Vista)
•Scroll through the list and find “Microsoft .NET Framework” If it is
4.0 skip to step-2. Otherwise continue with step c.
Connected MMC-110
is assigned to COM4

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c. To install the .NET Framework 4.0 you will need a connection to the
internet.
•Navigate to this site:
http://www.microsoft.com/downloads/details.aspx?FamilyID=9
cfb2d51-5ff4-4491-b0e5-b386f32c0992&displaylang=en
•Download and run the web installer
•At the conclusion of this install you will be asked to restart your
computer.
2. Install
a. To install the MMC-100 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 folder
e. Run the MMC-100 MCP program
•For more on how to use the MCP program, there is a GUI Guide
on the supplemental CD.
2.3 Using the MMC-100 Motion Controller Platform
In the Quick Start Guide Overview you connected your MMC-110 to your computer. In the
Quick Start MMC-100 Motion Controller Platform you installed and ran the MMC-100 MCP
software. This section will describe the capabilities of the MMC-100 MCP program and give
you a brief understanding of how to use it.

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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
c. The Port field should change to indicate the Port is Open.
You will
see the progress bar fill and the adjacent field change with information
regarding the query process as the program initializes. You are now ready to
start moving a stage with your MMC-110. For more information about this
program see the MMC-100 MCP program guide.
d. The Axis selector will allow you to switch control between
different axes
2. Commands

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a. Command –This field allows you to interface with your MMC-110 through
manual terminal commands. For more about Commands see section 5 of the
reference Manual.
i. Enter your command in the blank field
ii. This button appends a ‘?’ on the
end of the command making it a read
function
iii. This button sends the command
to the MMC-110
b. Command List –This is a list of commands
available to the MMC-110. Clicking any list
item will send the 3 character command to the
Command box with the preceding axis
number.
c. CMD –This Field shows the 3 character
command on top along with the associated
full name

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d. Response
i. Terminal –This field shows the responses from the MMC-110.
1. The clear button will delete all entries in the Terminal
ii. Information - This field will show some information about the selected
command from the command list along with an example

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3. Motion –This section allows you to control movement with an easy to use user interface
a. Position
i. Zero - This button will set the current
position to zero for both the calculated
and encoder reading.
ii. Cal –This is the calculated position
based on the number of steps taken
(value in millimeters)
iii. Enc –This is the position as read by the
encoder assuming one is attached (value in millimeters)

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b. Motion –This section allows you to control the movement of a stage attached
to your MMC-110
i. Target Pos 1 –This field
shows the target for an
absolute move that will
be executed upon
pressing the adjacent
‘GO’ button
ii. Target Pos 2 –This field
shows the target for an
absolute move that will be executed upon pressing the adjacent
‘GO’ button
iii. Increment –This field indicates the amount of displacement a relative
move will travel upon pressing one of the adjacent ‘<’,’>’ buttons.
iv. STOP –This button will execute an Emergency Stop Command.
c. Motion Parameters –This section dictates some parameters for how a
movement function is executed.
i. Vel –This field indicates the controllers current set velocity
ii. Accel –This field indicates the controllers current set value for
acceleration
iii. Decel –This field indicates the controllers current set value for
deceleration
d. Test
i. Max Position –Set this value to the
desired upper limit of travel
ii. Min Position - Set this value to the
desired lower limit of travel
iii. Random –If set the controller will send
random movements. If left unset, the
stage will run from the Max Position to
the Min Position as defined above.
iv. START –This will either execute the
random movements between limits or
the limit to limit run.
v. Position –This column is the start
position for the move that is occurring.
vi. Dest –This column is the destination
position for the move that is currently
occurring.
vii. Time –This column indicates the time
at which each move occurred.

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4. System
a. Axes –This field will show the stages attached to the program along with
associated axis number
b. Parameters –Upon opening the port as
discussed above, the MMC-100 MCP will
populate the following fields.
i. Max Velocity –Maximum allowed
Velocity
ii. Max Acceleration –Maximum Allowed
Acceleration
iii. Jog Acceleration –Setting for
Jog Acceleration
iv. –Travel Limit –The soft travel limit
in the negative direction. The
controller will not allow the stage
to be moved outside this limit
v. + Travel Limit –The soft travel limit
in the positive direction. The
controller will not allow the stage
to be moved outside this limit
vi. Step Resolution –Steps per
micron resolution
vii. Enc Resolution –Microns per
encoder count

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c. Encoder Polarity –This setting allows the
user to flip positive and negative
directions of the Encoder.
d. Motor Polarity –This setting allows the
user to flip positive and negative
directions of the Motor.
e. Display Units –This setting allows you to
display linear units (mm) or rotary units
(degrees).
f. Axis –This is a special command that needs to be
unlocked in the settings menu on top. This field is
associated with the ANR command and allows you to
reset the axis number for the current selected axis.
g. Run On Start –Here you can select which program
you would like the stage to execute upon start up.
h. Control - This frame allows you to change options regarding feedback
control
i. Loop –Here you can choose
between 4 different modes of
control
1. Open Loop –This mode will
not read the encoder
2. Clean Open Loop –This
mode will not read the
encoder but does sound
like a cleaner operation
3. Open Loop Close deceleration –This operation will run in
open loop and then read from the encoder to correct its
position.
4. Close Loop –This mode will constantly poll the encoder
and make corrections to achieve the target trajectory.
ii. Deadband –This setting changes the amount of error the closed
loop control mode will allow before trying to reposition.
iii. Time Out –This setting allows you to change the amount of time a
closed loop operation will search until it times out.

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i. Startup Parameters –This field will
populate with the saved startup
information for the selected axis
j. Error
i. Clear –This button will
clear all error codes
ii. Request –This button will
dump all error codes to
the above terminal
k. PID Parameters - this field allows you to change the parameters for closed
loop operation
i. Kp –Proportional Gain
ii. Ki –Integral Gain
iii. Kd –Differential Gain
l. Store Parameters –This will allow you to save the
settings you have entered as a file. This will allow you to
restore these parameters in the future if necessary.
m. Firmware –This Field indicates the Firmware version
installed in the MMC-110 controller.

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2.4 Functionality Quick-Start
Open Loop
If you have an open loop system (No Encoder), after opening the port from
part 2.3-1 you can test movement by entering a value in the increment field and
press either of the buttons. Be sure that the value is within the confines of
the travel limits. The stage should move and you should see the Calc field change.
Closed Loop
If you have a closed loop system (Attached Encoder), after opening the port
from part 2.3-1, ensure that the controller is in closed loop on the system page
(section 2.3-4h.). Then in the motion section enter a value in the increment field and
press either of the buttons. Be sure that the value is within the confines of
the travel limits. The stage should move and you should see the Calc and Enc fields
change and end at the same value.
3. Frequently Asked Questions
Why is my stage continuously running in one direction when set to closed loop (nFBK2, nFBK3)?
Most likely your encoder polarity is backwards. Use the nEPL? command to query the current
setting and then if it is 1 send nEPL0 if it is 0 send nEPL1.
How do I get my settings like velocity, acceleration, and limits to remain when I power down the
controller?
Use the nSAV command. This command writes all current settings to non-volatile RAM which will
allow them to persist between power cycles. If you would like to revert to the factory settings
simply use the nDEF command to revert the controller to its default parameters. (Note: to have
these persist between power cycles don’t forget to run the nSAV command)
What do the red and green LEDs mean?
The top LED (labeled 2 to the right) is an
address indicator. At start up it will flash
from Red (unaddressed) to orange
(currently being addressed) to Green
(addressed and ready for commands).
The bottom LED is an error indicator.
When an error occurs, the LED (labeled 1
to the right) will illuminate red. Use the
nERR? command to read all errors. By
default this LED will be off.