Revision as of 16:39, 12 May 2012

These studies were done using halldxps1 XPS-C8 controller from Newport.

1. Configuration of the XPS Controller

1.1 Configuration of motor and stage

Building of "stages.ini" file which is located in the "CONFIG" folder of the controller.

• Connect to the XPS Controller halldxps1 using an internet browser.
• Login as Administrator.
• Select STAGE, then "Add Custom Stage" and fill all fields.

I defined Stage1 (Stage_ST55D) Stage for the stepper motor ST55D without encoder and Stage for microscope beam test as follows:

"stages.ini" file :

[Stage1]

SmartStageName=

; Position servo loop type

CorrectorType=NoEncoderPosition

MotionDoneMode=Theoretical

Driver command interface

MotorDriverInterface=AnalogStepperPosition

ScalingCurrent=3

DisplacementPerFullStep=1

PeakCurrentPerPhase=1.3

StandbyPeakCurrentPerPhase=0.6

BaseVelocity=0.

; Motor driver model

DriverName=XPS-DRV01

DriverPWMFrequency=50

DriverStepperWinding=Half

; Position encoder interface

Backlash=0 CurrentVelocityCutOffFrequency=100

CurrentAccelerationCutOffFrequency=100

PositionerMappingFileName=

; Limit sensors input plug

ServitudesType=StandardEORDriverPlug

MinimumTargetPosition=-10000000

MaximumTargetPosition=+10000000

HomePreset=0

MaximumVelocity=400

MaximumAcceleration=100

EmergencyDecelerationMultiplier=4

MinimumJerkTime=0.005

MaximumJerkTime=0.05

TrackingCutOffFrequency=5

; Home search process

HomeSearchSequenceType=MinusEndOfRunHomeSearch

; HomeSearchSequenceType=CurrentPositionAsHome

; HomeSearchSequenceType=PlusEndOfRunHomeSearch

; HomeSearchSequenceType=MechanicalZeroHomeSearch

HomeSearchMaximumVelocity=250

HomeSearchMaximumAcceleration=70

HomeSearchTimeOut=600.

1.2 Configuration of system and motion groups

Building of "sistem.ini" file which is located in the "CONFIG" folder of the controller.

• Select SYSTEM, then "Manual Configuration" and define motion groups and stages on them.

I defined one MultipleAxes group - Mult1 with Stage1 stage as follows:

[GENERAL]

BootScriptFileName =

BootScriptArguments =

[GROUPS]

SingleAxisInUse =

SpindleInUse =

XYInUse =

XYZInUse =

MultipleAxesInUse = Mult1

[Mult1]

PositionerNumber = 1

PositionerInUse = P1

InitializationAndHomeSearchSequence = Together

[Mult1.P1]

PlugNumber = 1

StageName = Stage1

Time flasher filter

TimeFlasherBaseFrequency = 40e6 ; Hz

2. Testing of the XPS Controller by WEB interface

• Connect to the XPS Controller halldxps1 using an internet browser.
• Login as Administrator or User.
• Select "FRONT PANEL", then "Move".
• Select "Initialize" button for the initialization of the positioner (motion system).
• Select "Home" for homing. After initialization, any motion group must first be homed befor any motion can be executed.

After homing the Controller and the Positioner are ready. Now one can select some velocity and number of Absolute or Relative movements and push Go button. "Position" field indicates position of stage during movement.

• Using the "Jog" button under the "FRONT PANEL" I tested the jog motion, where only motion direction and speed are defined.

• The "TERMINAL" tool allows to execute all functions (more 100) of the XPS controller.

• The "STAGE - Modify" tool allows to review and modify all parameters of stage included in the stages.ini file.

• Using the "Positioner errors", "Hardware status", "Driver status" under the "FRONT PANEL" or "Error file display" under the "SYSTEM" one can check errors and statuses of the motion system.

No any problem. Everything is working.

3. Testing of Home search process

After initialization, any motion group must be homed i.e. define an reference point (origin) for the stage. There are different home search processes available in the XPS controller. I tested several types of home searching processes:

• CurrentPositionAsHome. In this option current position is defined as a home. There is no any absolute reference point. We have no idea where is stage after shut down or a power-off cycle. This option works, but it is not useful for us.

The homing procedure is different for the cases with and without encoder. SST55D motor has not an encoder and XPS always defines home searching direction from big position to small position. If After initialization the current position of positioner is more than home switch position we have no problem. But if current position of positioner is less than home switch position we have a big problem. It will be impossible to find home position.

4. Testing of the XPS Controller by EPICS