Newport MM4006 User manual

USER’SMANUAL
8-Axis High-Performance
Motion Controller/Driver
Version 7.01 Firmware
MM4006
www.newport.com

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MM4006 8-Axis Motion Controller/Driver
War ranty
Newport Corporation warrants this product to be free from defects in
material and workmanship for a period of 1 year from the date of shipment.
If found to be defective during the warranty period, the product will either
be repaired or replaced at Newport’s option.
To exercise this warranty, write or call your local Newport representative,
or contact Newport headquarters in Irvine, California. You will be given
prompt assistance and return instructions. Send the instrument, trans-
portation prepaid, to the indicated service facility. Repairs will be made
and the instrument returned, transportation prepaid. Repaired products
are warranted for the balance of the original warranty period, or at least 90
days.
Limitation of Warranty
This warranty does not apply to defects resulting from modification or mis-
use of any product or part. This warranty also does not apply to fuses, bat-
teries 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. Newport Corporation shall not be liable for any indirect, special, or
consequential damages.
No part of this manual may be reproduced or copied without the prior written
approval of Newport Corporation.
This manual has been provided for information only and product specifica-
tions are subject to change without notice. Any changes will be reflected in
future printings.

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MM4006 8-Axis Motion Controller/Driver
Table of Contents
Warranty .................................................................................................................ii
Table of Contents..................................................................................................iii
Section 1 — Introduction
Table of Contents ...................................................................................1.1
1.1 Safety Considerations............................................................................1.3
1.2 Conventions And Definitions ................................................................1.5
1.2.1 Symbols and Definitions.............................................................1.5
1.2.2 Terminology.................................................................................1.6
1.3 General Description ...............................................................................1.7
1.3.1 Features ........................................................................................1.9
1.3.2 Specifications...............................................................................1.9
1.3.3 Modes of Operation ..................................................................1.11
1.3.4 Rear Panel Description .............................................................1.14
1.3.5 Blank Front Panel ......................................................................1.16
1.3.6 Equipped Front Panel ...............................................................1.17
1.3.7 Display Configuration ...............................................................1.18
1.3.8 Display Structure.......................................................................1.20
1.4 System Setup ........................................................................................1.25
1.4.1 Connecting Motion Devices .....................................................1.25
1.4.2 First Power On ...........................................................................1.26
1.4.3 Verifying Default Devices .........................................................1.27
Section 2 — Local Mode
Table of Contents ...................................................................................2.1
2.1 Quick Start .............................................................................................2.3
2.1.1 Motor On .....................................................................................2.3
2.1.2 Home Motion Devices.................................................................2.4
2.1.3 First Jog ........................................................................................2.4
2.1.4 First Move ....................................................................................2.5
2.2 Controller Configuration ......................................................................2.7
2.2.1 General Setup ..............................................................................2.7
2.2.2 Axis Setup...................................................................................2.17
2.3 Operating In Local Mode.....................................................................2.32
2.3.1 HOME Search .............................................................................2.33
2.3.2 Manual Jog .................................................................................2.33
2.3.3 Zero Display ...............................................................................2.35
2.3.4 Relative Moves...........................................................................2.35
2.3.5 Absolute Moves .........................................................................2.37
2.3.6 Program Execution....................................................................2.38
2.3.7 Axis Infinite Movement.............................................................2.40
2.4 Programing in Local Mode ..................................................................2.41
2.4.1 General Concepts ......................................................................2.41
2.4.2 Creating a Program ...................................................................2.42
2.4.3 Modifying a Program.................................................................2.47
2.5 Operating in Blind Front Panel ...........................................................2.48
2.5.1 Dip Switches to Configure the Communication ....................2.48
2.5.2 RS-232-C Communication Setup ..............................................2.49
2.5.3 IEEE-488 Communication Setup...............................................2.50
2.5.4 RS-485 Point-to-Point Communication Setup.........................2.51
2.5.5 RS-485 Network Communication Setup ..................................2.52

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MM4006 Table of Contents
Section 3 — Remote Mode
Table of Contents ...................................................................................3.1
3.1 Remote Interfaces ..................................................................................3.3
3.1.1 RS-232-C Interface........................................................................3.3
3.1.2 IEEE-488 Interface........................................................................3.4
3.1.3 RS-232-C Interface........................................................................3.4
3.2 Softwares.................................................................................................3.5
3.2.1 MOTION Suite 32 .........................................................................3.5
3.2.2 MM4006 Terminal........................................................................3.6
3.2.3 MM4006 Servo..............................................................................3.6
3.2.4 MM4006 XY Draw ........................................................................3.6
3.3 MOTION Suite 32 Quick Start ...............................................................3.7
3.3.1 Installation of the MOTION Suite 32 .........................................3.7
3.3.2 PC/Controller Communication ..................................................3.9
3.3.3 Axis Motion Control..................................................................3.12
3.3.4 Acquisition .................................................................................3.13
3.4 Communication Principles..................................................................3.16
3.4.1 Command Syntax.......................................................................3.17
3.5 Command Summary.............................................................................3.18
3.5.1 Command List by Category......................................................3.19
3.5.2 Command List by Name ...........................................................3.21
Section 4 — Motion Control Tutorial
Table of Contents ...................................................................................4.1
4.1 Motion Systems ......................................................................................4.3
4.2 Specification Definitions........................................................................4.4
4.2.1 Following Error............................................................................4.4
4.2.2 Error..............................................................................................4.5
4.2.3 Accuracy.......................................................................................4.5
4.2.4 Local Accuracy ............................................................................4.6
4.2.5 Resolution ....................................................................................4.6
4.2.6 Minimum Incremental Motion ...................................................4.7
4.2.7 Repeatability................................................................................4.8
4.2.8 Backlash (Hysteresis).................................................................4.8
4.2.9 Pitch, Roll and Yaw .....................................................................4.9
4.2.10 Wobble........................................................................................4.10
4.2.11 Load Capacity ............................................................................4.10
4.2.12 Maximum Velocity ....................................................................4.11
4.2.13 Minimum Velocity .....................................................................4.11
4.2.14 Velocity Regulation ...................................................................4.12
4.2.15 Maximum Acceleration.............................................................4.12
4.2.16 Combined Parameters ..............................................................4.12
4.3 Control Loops .......................................................................................4.13
4.3.1 PID Servo Loops ........................................................................4.14
4.3.2 Feed-Forward Loops .................................................................4.16
4.4 Motion Profiles .....................................................................................4.18
4.4.1 Move ...........................................................................................4.18
4.4.2 Default Mode: S-CURVE Profile ................................................4.19
4.4.3 Jog ...............................................................................................4.20
4.4.4 Home Search..............................................................................4.20

MM4006 Table of Contents
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Section 5 — Trajectory Functions Tutorial
Table of Contents ...................................................................................5.1
5.1 Definition of Terms ................................................................................5.3
5.1.1 Trajectory.....................................................................................5.3
5.1.2 Trajectory Element .....................................................................5.3
5.1.3 Trajectory Vector........................................................................5.3
5.1.4 Vector Velocity............................................................................5.3
5.1.5 Vector Acceleration ....................................................................5.3
5.2 Trajectory Description and Conventions............................................5.4
5.3 Geometric Conventions.........................................................................5.4
5.4 Defining Trajectory Elements ...............................................................5.5
5.4.1 Defining Lines ..............................................................................5.6
5.4.2 Defining Arcs................................................................................5.6
5.5 Programing a Trajectory .......................................................................5.8
5.6 Trajectory Element Parameters ...........................................................5.9
5.7 Trajectory-Specific Commands ..........................................................5.10
5.7.1 Trajectory Setup Commands ...................................................5.10
5.7.2 Trajectory Elements Definition Commands...........................5.10
5.7.3 Reporting Commands ...............................................................5.10
5.7.4 Trajectory Synchronization Commands ................................5.10
5.7.5 Execution of a Trajectory.........................................................5.10
Section 6 — Feature Descriptions Tutorial
Table of Contents ...................................................................................6.1
6.1 Synchronizing Events to Motion ..........................................................6.3
6.1.1 Pulses Synchronized to One Axis..............................................6.3
6.1.2 Pulses Synchronized to a Trajectory........................................6.5
6.1.3 Synchronizing Events to Trajectory Elements ........................6.6
6.1.4 Synchronizing Events to Trajectory Position..........................6.7
6.2 Synchronized Axes (Electronic Gearing) ............................................6.8
6.3 Joystick....................................................................................................6.9
6.4 Executing Sub-routines in a Program: EX Command.......................6.11
Section 7 — Servo Tuning
Table of Contents ...................................................................................7.1
7.1 Servo Tuning Principles ........................................................................7.3
7.1.1 Hardware Requirements ............................................................7.3
7.1.2 Software Requirements ..............................................................7.3
7.2 Tuning Procedures.................................................................................7.4
7.2.1 Axis Oscillation............................................................................7.4
7.2.2 Increasing Performance..............................................................7.5
7.2.3 Points to Remember ...................................................................7.6
Section 8 — Appendices
Table of Contents ...................................................................................8.1
AError Messages.......................................................................................8.3
Error List .................................................................................................8.3
BIEEE-488 Link Characteristics ...............................................................8.6
IEEE-488 Functions Supported by MM4006 Controller......................8.6
IEEE-488 Function Subsets ....................................................................8.7
SRQ Using................................................................................................8.7

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MM4006 Table of Contents
We declare that the accompanying product, identified with the “ ” mark, meets
all relevant requirements of Directives:
•73/23/EEC, for Low Voltage Compatibility.
•89/336/EEC for Electromagnetic Compatibility.
Generic standard:
Emission: NF EN61326-1, for measurement, lab and control equipment.
Immunity: NF EN61326-1, for measurement, lab and control equipment.
Safety: EIC 1010-1, safety standards for measurement, lab and control
equipment.
Newport Corporation shall not be liable for damages when using the product:
•Modification of the product.
•Using modified connector, or modified or not supplied cables.
•Connecting this product to non-CE equipment.
CConnector Pinouts .................................................................................8.9
Labeling Conventions ............................................................................8.9
Power Inhibition Connector (9-Pin D-Sub)..........................................8.9
Remote Control Connector (15-pin D-Sub) .......................................8.10
Auxiliary Connector (25-Pin D-Sub) ...................................................8.11
GPIO Connector (37-Pin D-Sub)..........................................................8.12
RS-232C Interface Connector (9-Pin D-Sub) ......................................8.14
RS-232C Interface Cable.......................................................................8.14
IEEE488 Interface Connector (24-Pin)................................................8.16
RS-485 Interface Connector (5-Pin)....................................................8.16
Motor Interface Connector (25-Pin D-Sub) .......................................8.19
Pass-Through Board Connector (25-Pin D-Sub)...............................8.20
DMotion Program Examples..................................................................8.21
ETroubleshooting Guide........................................................................8.29
FDecimal/ASCII/Binary Conversion Table...........................................8.32
GStages Preset in the Controller...........................................................8.35
Default Stages .......................................................................................8.35
Translation Stages................................................................................8.35
Rotation Stages.....................................................................................8.37
Actuators...............................................................................................8.38
Drives.....................................................................................................8.38
HFactory Service.....................................................................................8.39
Service Form .........................................................................................8.40

MM4006
8-Axis High-Performance
Motion Controller/Driver
CE Declaration of Conformity
We declare that the accompanying product, identified with the
“”mark, meets all relevant requirements of Directive:
•73/23/CEE, for Low Voltage Compatibility.
•89/336/EEC for Electromagnetic Compatibility.
Compliance was demonstrated to the following specifications:
EMISSION:
Radiated and Conducted Emission in accordance with
relative prescription to the EMC, NF EN61326-1: Standards
for measurement, lab and control equipment.
Class A device.
IMMUNITY:
Radiated and Conducted Emission in accordance with
relative prescription to the EMC, NF EN61326-1: Standards
for measurement, lab and control equipment.
SAFETY:
CEI 1010-1, safety standards for measurement, lab and
control equipment.
Jean-Marc DELAHAYE
Quality Director
Zone Industrielle
45340 Beaune-la-Rolande, France

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