4. Technical specification

Contents:

• 4.1. Appearance and connectors
  • 4.1.1. Controller board
    • 4.1.1.1. Dimensions and arrangement
    • 4.1.1.2. Controller board connectors
      • 4.1.1.2.1. Stage connector
      • 4.1.1.2.2. Power supply connector
      • 4.1.1.2.3. System control connectors
    • 4.1.1.3. Backplane connector
  • 4.1.2. One axis system
    • 4.1.2.1. Connectors
      • 4.1.2.1.1. Stage connector
      • 4.1.2.1.2. Power supply connector
      • 4.1.2.1.3. System control connectors
      • 4.1.2.1.4. Supplementary one-axis system connector
  • 4.1.3. Two axes system
    • 4.1.3.1. Enclosure view
    • 4.1.3.2. Connectors
      • 4.1.3.2.1. Stage connector
      • 4.1.3.2.2. Power supply connector
      • 4.1.3.2.3. System control connectors
      • 4.1.3.2.4. Joystick connector
      • 4.1.3.2.5. Supplementary two-axis system connector
• 4.2. Kinematics and rotation modes
  • 4.2.1. Predefined speed rotation mode
  • 4.2.2. Rotation for predefined point
  • 4.2.3. Predefined displacement mode
  • 4.2.4. Acceleration mode
  • 4.2.5. Backlash compensation
  • 4.2.6. Rotation reversal
  • 4.2.7. Recommendations for accurate rotation
  • 4.2.8. PID-algorithm for DC engine control
    • 4.2.8.1. Algorithm description
    • 4.2.8.2. Particular properties of the algorithm
      • 4.2.8.2.1. PID regulator coefficients
      • 4.2.8.2.2. Reaching target position
    • 4.2.8.3. PID regulator tuning recommendations
  • 4.2.9. Feedback EMF
    • 4.2.9.1. Advantages
    • 4.2.9.2. Behavior of the engine when exposed to an external force
    • 4.2.9.3. Selecting L, R, and backEMF parameters for EMF algorithm
    • 4.2.9.4. The choice of PID coefficients for EMF
      • 4.2.9.4.1. Operation algorithm
  • 4.2.10. Feedback encoder
  • 4.2.11. Feedback encoder mediated
  • 4.2.12. Stop motion modes
    • 4.2.12.1. Immediate stop
    • 4.2.12.2. Stop with deceleration
  • 4.2.13. PID-algorithm for BLDC engine control
    • 4.2.13.1. PID-algorithm description
    • 4.2.13.2. PID regulator manual tuning
      • 4.2.13.2.1. Steps to adjust the coefficients:
• 4.3. Main features
  • 4.3.1. Supported motor types
    • 4.3.1.1. Stepper motors
    • 4.3.1.2. DC motors
    • 4.3.1.3. BLDC motors
    • 4.3.1.4. Engine selection criteria
  • 4.3.2. Motor limiters
  • 4.3.3. Limit switches
    • 4.3.3.1. Limit switches designation
    • 4.3.3.2. General settings
    • 4.3.3.3. Programmable motion range limitation
    • 4.3.3.4. Hardware limit switches
    • 4.3.3.5. Limit switches connecting instructions
    • 4.3.3.6. Limit switches location on translators
  • 4.3.4. Automatic Home position calibration
    • 4.3.4.1. Standard homing algorithm
    • 4.3.4.2. Accurate additional calibration
    • 4.3.4.3. Fast homing algorithm
    • 4.3.4.4. Autocalibration features
  • 4.3.5. Operation with encoders
    • 4.3.5.1. Application of encoders
    • 4.3.5.2. What is quadrature encoder?
    • 4.3.5.3. Controller’s features
    • 4.3.5.4. Encoder connection
      • 4.3.5.4.1. Operation with long cables
      • 4.3.5.4.2. Automatic encoder type detection
  • 4.3.6. Revolution sensor
    • 4.3.6.1. Connection diagram
  • 4.3.7. Steps loss detection
  • 4.3.8. Power control
    • 4.3.8.1. Current consumption reduction
    • 4.3.8.2. The motor power shutdown
    • 4.3.8.3. Time delay calculation specifics
    • 4.3.8.4. Jerk free function
  • 4.3.9. Critical parameters
  • 4.3.10. Saving the parameters in the controller flash memory
  • 4.3.11. User defined position units
  • 4.3.12. Usage of a coordinate correction table for more accurate positioning
• 4.4. Safe operation
  • 4.4.1. Movement range bounds and limit switches
  • 4.4.2. Movement range limiters
  • 4.4.3. Critical Parameters
  • 4.4.4. Operation with Encoder
• 4.5. Additional features
  • 4.5.1. Operating modes indication
    • 4.5.1.1. Controller status
    • 4.5.1.2. Indication of limit switches
    • 4.5.1.3. Connection diagram
      • 4.5.1.3.1. Controller board
      • 4.5.1.3.2. One-axis and two-axis systems
  • 4.5.2. Operations with magnetic brake
    • 4.5.2.1. Description of operation
      • 4.5.2.1.1. Controller operating sequence during stage shutdown.
    • 4.5.2.2. Magnetic brake connection diagram
      • 4.5.2.2.1. Controller board
      • 4.5.2.2.2. One-axis and two-axis systems
  • 4.5.3. Joystick control
    • 4.5.3.1. General information
    • 4.5.3.2. Connection diagram
      • 4.5.3.2.1. Controller board
      • 4.5.3.2.2. One-axis and two-axis systems
  • 4.5.4. Left-Right buttons control
    • 4.5.4.1. Connection diagram
      • 4.5.4.1.1. Controller board
      • 4.5.4.1.2. One-axis and two-axis systems
  • 4.5.5. TTL synchronization
    • 4.5.5.1. Principle of operation
    • 4.5.5.2. Connection
    • 4.5.5.3. Sync in
    • 4.5.5.4. Sync out
    • 4.5.5.5. Connection diagram
      • 4.5.5.5.1. Controller board
      • 4.5.5.5.2. One-axis and two-axis systems
  • 4.5.6. Multiaxis system design
  • 4.5.7. General purpose digital input-output (EXTIO)
    • 4.5.7.1. Connection diagram
      • 4.5.7.1.1. Controller board
      • 4.5.7.1.2. One-axis and two-axis systems
  • 4.5.8. General purpose analog input
    • 4.5.8.1. Connection diagram
      • 4.5.8.1.1. Controller board
      • 4.5.8.1.2. One-axis and two-axis systems
  • 4.5.9. External driver control interface
    • 4.5.9.1. Connection diagram
      • 4.5.9.1.1. Controller board
      • 4.5.9.1.2. One-axis and two-axis systems
  • 4.5.10. Serial port
    • 4.5.10.1. Serial port connection diagram
      • 4.5.10.1.1. Controller board serial port connection
      • 4.5.10.1.2. One-axis and two-axis systems serial port connection
  • 4.5.11. Saving the position in FRAM memory
  • 4.5.12. The Standa stages detection
    • 4.5.12.1. For developers
    • 4.5.12.2. Connection diagram for external memory test
• 4.6. Secondary features
  • 4.6.1. Zero position adjustment
  • 4.6.2. User-defined position adjustment
  • 4.6.3. Controller status
    • 4.6.3.1. Movement status
    • 4.6.3.2. Motor power supply status
    • 4.6.3.3. Encoder status
    • 4.6.3.4. Motor windings status
    • 4.6.3.5. Position status.
    • 4.6.3.6. Controller power supply status and temperature.
    • 4.6.3.7. Status flags
    • 4.6.3.8. Digital signals status.
  • 4.6.4. Connection autorecovery
    • 4.6.4.1. USB connection autorecovery
    • 4.6.4.2. Ethernet connection autorecovery
• 4.7. Software compatibility
  • 4.7.1. MicroManager
    • 4.7.1.1. Preparation
    • 4.7.1.2. Getting started with MicroManager
      • 4.7.1.2.1. Run MicroManager
      • 4.7.1.2.2. Configure hardware
      • 4.7.1.2.3. Device usage
  • 4.7.2. TANGO
    • 4.7.2.1. Overview
    • 4.7.2.2. Declaring the device, configuring and starting device server