XERYON XD-OEM kontroler

XD-OEM je svestrani industrijski piezo kontroler koji podržava širok raspon slučajeva upotrebe i komunikacijskih opcija za naše aktuatore i...tages. Designed for OEM integration, both single-axis and multi-axis (through EtherCAT) is supported. A Windows GUI is included for plug-and-play testing.

TEHNIČKI PODACI

Kompatibilan proizvoda	XLA series, XLS series, XRT series
Broj osi	Single-axis (multi-axis through EtherCAT, see Ch. 6)
Napajanje	12 – 48 VDC (screw terminal), 10 W per controller
Napajanje (samo za XLA-10)	24 – 48 VDC (screw terminal), 20 W per controller
Raspon temperature	-30°C do +70°C
Dimenzije	111 x 25 x 13.2 mm
Connector to actuator/stage	ZIF | Molex
Vrste kontrole	Zatvorena petlja, otvorena petlja, hibrid
Ključne mogućnosti komunikacije	USB, UART, EtherCAT, GPIO, …
Programska podrška	Windows GUI, C++, Python, TwinCAT, LABView
Prijedlog profile	Trapezoidni od točke do točke
Kompatibilnost kodera	Optički, inkrementalni
Podržane rezolucije	Do 78 nm (linearni), do 3 µrad (rotacijski)
Otkrivanje grešaka	Prekostrujni, toplinski, kratki spoj, …

POČETAK

Svi kontroleri isporučuju se s adapterom za napajanje, USB kabelom i USB stickom sa softverom za upravljanje aktuatorima i...tages (from now on: ‘actuator(s)’) for easy plug-and-play use. To get started, plug the actuator connector into the XD-OEM. Connect the XD-OEM to a computer with the provided USB cable and open up the Windows GUI, press SCAN or MOVE and the actuator will start moving.

Brzi pregledview of the Windows GUI: To control an actuator:

1. Spojite ispravan COM port.
2. Load settings_default.txt from the USB stick.
3. Press “Find Index”. The actuator will start moving and look for the encoder index.
4. You can start controlling the actuator:
   • SCAN: move with continuous speed.
   • STEP: move with specified step size.
   • 0: move to home position.

Using the XD-OEM controller, a Xeryon actuator can be used to create a wide variety of motion patterns, such as:

• Kretanje na kratke ili velike udaljenosti, kretanje velikom ili malom brzinom
• Repetitive or dynamic motion, smooth, continuous motion
• Postavi i zaboravi aplikacije, kontrolirane damping (soft landing) kretanje
• Kombinacija gore navedenog i više od toga

Ugađanje
Xeryon actuators work based on ultrasonic piezo technology. This technology is frequency-based and differs slightly from both a) electromagnetic motors and b) other piezo systems. As a result, motion characteristics may differ from conventional motion systems. Several parameters can be used for fine-tuning motion behaviour. Motion trajectory is split into two zones: bulk move (or ‘scanning’) and final positioning. When experiencing unexpected behaviour, the following simple tuning procedures can be followed (Settings -> Edit). In-depth tuning info can be found in chapter 9.

Ponašanje	Konačno pozicioniranje (zona 1)	Bulk move/scanning (zone 2)
Vibracija	Niži proporcionalni faktor	Niži proporcionalni faktor
Buka	Podesite frekvenciju	Podesite frekvenciju
Preletjeti	Lower deceleration	Lower deceleration
Snaga je preniska	–	Niža frekvencija
Netočno slijetanje	Niža tolerancija pozicioniranja	–

Bilješka: for vertical or inclined use with higher payloads, advanced tuning may be necessary. For assistance, please contact support@xeryon.com. More information about the Windows GUI: ch. 9.

CONTROL OF AN ACTUATOR

Regulatorima se može upravljati na različite načine:

• Using USB / UART: see section 4,
• Using GPIO: see section 5
• Using EtherCAT: see section 6

Za višeosnu upotrebu u nanosekundama preporučuje se EtherCAT. Za brze mikrosekundne impulse: GPIO

COMMUNICATION USING USB / UART
A host computer or controller can communicate with the XD-OEM via the USB configured as a virtual COM port. The baud rate is automatically detected by the controller and can be up to 115200. The protocol uses 8 data bits, 1 stop bit, no parity bit, and no handshaking. This section consists of three parts:

• Format za upute
• Popis naredbi
• Feedback from the controller

Bilješka: To enable UART, send the UART=9600 command and use the following pins: Ground (pin 2), 5V reference (5), Tx (12), Rx (18).

Format za upute
A command line consists of a maximum of 16 characters followed by a ‘new line’ character (ASCII code 10). The command has the following fixed format: X:DPOS=-12345678

• 1 znak koji definira os, nakon čega slijedi dvotočka.
• 4 znaka za naredbu.
• '=' znak koji odvaja naredbu od odgovarajuće vrijednosti.
• Neobavezni znak.
• Decimalna vrijednost do 8 decimalnih mjesta (9 ako je znak izostavljen).
• Maksimalno ukupno 16 znakova.

Znakovi se moraju slati s lijeva na desno, u prample above, starting with ‘X’ and ending with ‘8’. The command tags are in upper case. The instruction should be terminated with a ‘new line’ character (ASCII code 10). The driver processes the instruction immediately after receiving this ‘new line’ character. Some instructions, such as ‘ZERO’ and ‘RSET’ require no value. In that case, it is sufficient to send only the command itself, e.g. ‘ZERO’ followed by the ‘new line’ character.

Raspon vrijednosti
There are 9 characters reserved for the value, including its sign. For signed values, 8 decimal places are available, giving a range from -99 999 999 to +99 999 999. For positive numbers, the ‘+’ sign can be omitted, increasing the positive range to 999 999 999. No spaces, commas, or periods should be added to the numbers. Only integers are allowed.

• X:DPOS=-99999999
• X:DPOS=+99999999
• X:DPOS=999999999

Zatražite vrijednost
To request the value of a certain setting, put ‘=?’ after the parameter for which you want to know the value, e.g., EPOS=? gives the controller a request for the encoder position. FREQ=? asks the controller for the current excitation frequency. This works best with INFO=0; otherwise, the reply disappears in the constant flood of feedback data.

Jedinice su sljedeće:

Tip	Serija XLA / XLS	XRT niz	Rezolucija
Vrijeme, kašnjenja	ms		1 ms
Ciljni položaj, veličina koraka	jedinice kodera		1 inkrement kodera
Ubrzati	µm/s	stupnjeva/s (*)
Frekvencija	Hz		1 Hz

(*) Conversion factor of 100 required: e.g., enter SSPD=10000 for 100 deg/s.

Popis naredbi
Ovo je popis svih mogućih naredbi koje se mogu poslati i njihova upotreba. Ovaj dio je podijeljen na:

1. Prijedlog
2. Rukovanje postavkama
3. Komunikacija
4. Ugađanje
5. Signal (napredno)
6. Postavke smjera (napredno)
7. Izlazi okidača (napredno)

I. PRIJEDLOG
Naredba	Raspon	Obrazloženje
INDX	0, 1	Find the index. A value of 0 or 1 indicates the initial search direction. The controller sets off in the specified direction to search. When a mechanical limit is reached (detected by position error > ILIM) it reverses the search direction. After finding index, actuator is positioned at the index position.
INDA	1 bita	Automatsko otkrivanje indeksa kodera.
DOM	–	Idi na početni položaj. Ovo je jednako DPOS=0.
DPOS	26 bita	Set target position. Closed-loop control is used to reach and maintain the new position. The position is expressed in encoder units. Positive and negative values are allowed within the range of the actuator.
KORAK	26 bita	Move relative to the current position, over a specified distance. When already in closed loop, the current desired position is used as a reference. When before in open loop, the actual position (encoder value) is used as a reference. The command value specifies the step size in encoder increments. Positive values send the actuator towards higher encoder values, negative values send the actuator towards lower encoder values. Closed-loop control is used to reach and maintain the new position.
SKENIRATI	-1,0,1	Continuously move with fixed speed. The speed is maintained by closed- loop control. A positive number sends the actuator towards increasing encoder values, a negative number sends the actuator towards decreasing encoder values. A zero value stops the actuator.
SSPD	24 bita	Set speed. Used as scanning speed (SCAN command) and as target speed towards the next target position (DPOS and STEP). Unit is 1 µm/s or 0.01 deg/s. Default: 10000 (10 mm/s or 100 deg/s).

 

I. PRIJEDLOG
Naredba	Raspon	Obrazloženje
ISPD	24 bita	Postavite brzinu koja se koristi tijekom pretraživanja indeksa. Jedinica je 1 µm/s ili 0.01 deg/s.
ACCE	16 bita	Postavite ubrzanje za Speed ​​Profile. Izraženo u m/s2. Zadana vrijednost: 65500.
DECE	16 bita	Postavite usporavanje za Speed ​​Profile, when approaching target position. Default / maximum value: 65500 for XD-OEM controller.
LLIM	26 bita	Postavite meki graničnik s donje strane. Izraženo u jedinicama kodera.
HLIM	26 bita	Postavite mekani graničnik s gornje strane. Izraženo u jedinicama kodera.
POTEZ	-1,0,1	Kontinuirano kretanje u otvorenoj petlji. Faza i amplitude influence the speed, but speed is not controlled. A positive number sends the actuator towards increasing encoder values, a negative number sends the actuator towards dekretasing encoder values. A zero value stops the actuator.
PHAS	16 bita	Set the phase offset between the excitation signals. Can be used to control the speed in open loop. Input values 0-65535 correspond to a phase shift of 0-360°. Around 16384 the phase corresponds with a MOVE=1 direction, around 49152 (=-16384) it corresponds to a MOVE=-1 direction.
AMPL	16 bita	set ampvrijednost za piezo pobudne signale otvorene petlje.
STOP	–	Zaustavite aktuator.
NASTAVAK	–	Nastavak kretanja nakon naredbe za zaustavljanje.
ENBL	1 bita	Omogući pogon. Ili: Ako je aktuator u modu pogreške, možete se oporaviti od toga slanjem “ENBL=1”. Ovo ponovno osposobljava aktuator.
ENBR	1 bita	Automatsko uključivanje pogona pri uključivanju.
FILE		Filtrira brze varijacije vrijednosti kodera (šum). Zadana vrijednost: 0, postavlja filtar na minimum.
FILG		Izdvaja šiljke iz neobrađenih ulaza kodera. Definira minimalnu širinu impulsa na koju se može odgovoriti. Zadana vrijednost: 0
INTF		Faktor integracije regulatora. Zadana vrijednost: 1. Minimum = 1
DTIM		Determines how long (in ms) the motor must be turned off before it can be turned on again. Ensures that the actuator is not over-excited when landing by switching it on and off too quickly. Default value: 0

MANAGE SETTINGS

II. UPRAVLJANJE POSTAVKAMA
Naredba	Raspon	Obrazloženje
REST	–	Resetirajte upravljački program. Svi piezo signali idu na nulu i postavke se vraćaju na svoje spremljene vrijednosti.
OPTEREĆENJE	–	Učitaj postavke iz memorije.
UŠTEDJETI	–	Spremite postavke u memoriju.
BLCK	0-1	Blocked mode. When blocking mode is enabled (1), the ENBL command should be send to the controller if an error occurs. If blocking mode is disabled (0), the controllers executes the next command even when an dolazi do greške.
TEST	0-1	Testirajte LED indikatore. TEST=1 uključuje sve indikatore. TEST=0 vraća ih na njihovu funkciju.

KOMUNIKACIJA

III. KOMUNIKACIJA
Naredba	Raspon	Obrazloženje
INFO	4 bita	Select type of info to be transmitted from the controller to the master (PC). 0: Stop broadcasting info automatically. 1: SRNO, SOFT, MODEL, STAT, SYNC 2: SRNO, SOFT, MODEL, STAT, FREQ, SYNC, EPOS, DPOS, ZATRAŽENI PARAMETAR*, VRIJEME 3: EPOS, DPOS, STAT 4: EPOS, STAT, DPOS, VRIJEME 5: STAT, FREQ, EPOS, DPOS, ZATRAŽENI PARAMETAR*, VRIJEME 6: ZATRAŽENI PARAMETAR* 7: EPOS, STAT Zadano: 2 npr. INFO=7 naizmjenično će slati EPOS i STAT vrijednosti. * ZATRAŽENA VRIJEDNOST, kada se traži vrijednost parametra (npr. slanjem FREQ=?) vrijednost za parametar bit će vraćena ovdje.
UART	0-76800	Set UART baud rate. To switch UART off: UART=0. To set the baud rate to 9600: UART=9600. The maximum baud rate is 76800. When UART is off, the UART can only be restarted by sending the UART command via USB.
GPIO	0-13	Select the preferred input mode using the GPIO command. For more details see section 5. GPIO=0 Control via IO pins switched off. The controller will only react to text commands sent through USB or UART. GPIO=2 Način pulsiranja i smjera, s pribadačama za usmjeravanje i omogućavanje. GPIO=3 Način rada pulsa i smjera, s pinovima naprijed i nazad. GPIO=4 A quad B način unosa. GPIO=8 PWM kontrola, s pinovima za usmjeravanje i omogućavanje. GPIO=9 PWM kontrola, s pinovima naprijed i nazad. GPIO=12 Analogna kontrola, s pinovima za usmjeravanje i omogućavanje. GPIO=13 Analogna kontrola, s pinovima naprijed i nazad.
STPS	16 bita	Odaberite veličinu koraka za svaki STEP impuls. Veličina koraka se izražava u jedinicama kodera. Zadano: 1 jedinica kodera.
POLI	1-65535	Set polling interval. Specifies the time between data updates. Also defines the polling interval of the analog IO. The interval is expressed in milliseconds. The default value is 97 (97 ms).
IGRAJ SE	16 bita	Sets the delay between the moment the actuator reaches its target position and the moment the ‘position reached’ flag is raised. Expressed in milliseconds. Default: 1 (ms).

UGLAŠAVANJE

IV. UGOĐAVANJE
Naredba	Raspon	Obrazloženje
FREQ	24 bita	Postavite frekvenciju pobudnih signala za zonu 1. Jedinica je Hz.
FRQ2	24 bita	Postavite frekvenciju pobudnih signala za zonu 2. Jedinica je Hz. Također se koristi za skeniranje.
IMOV	16 bita	Proporcionalni regulacijski faktor za zonu 1.
PRO2	16 bita	Proporcionalni regulacijski faktor za zonu 2.
ZON1	26 bita	Širina zone 1: Izražena u mm.
ZON2	26 bita	Širina zone 2: Izražena u mm.
DUCO	1 bita	Ampvrijednost se koristi u zatvorenoj petlji ako je postavljena na 1. Ako je postavljena na 0, fiksna ampkoristi se vrijednost od 50%. Zadano: 1.
ELIM	20 bita	ELIM (ograničenje pogreške) postavlja najveću sljedeću pogrešku. Kada sljedeća pogreška premaši postavljenu vrijednost bij ELIM, tada regulator prelazi u sigurni način rada i signali motora se isključuju. Oporavak: RSET ili ENBL=1. This error may be triggered when trying to move beyond the physical limits of the actuators, or by setting too high a speed. Do not forget to first find the index position (INDX command) to avoid that the actuators travels beyond the end stops and triggers this error. Default: 10000.
ILIM	26 bita	Sets the following error at which the index search algorithm reverses direction. This influences the time the actuator stalls at the end position during an index search.
VITAK	26 bita	Granica zasićenja pogreške
PTOL	16 bita	Position tolerance. When the actuator is within +/- position tolerance of the desired position, the control is switched off and the ‘position reached’ flag is raised. Values are expressed in encoder units and should be in the range 0 – 65535. The range is applied symmetrically with respect to positive and negative position errors. e.g. PTOL=2 allows s errors between -2 and +2 encoder units. Default: 2. See also TOUT and PTO2.
PTO2	16 bita	Second position tolerance, similar to PTOL. Comes into action if first position tolerance PTOL fails within a timeout time TOUT. The default value je 10.
TOUT	16 bita	Set timeout time. To avoid that the actuator keeps vibrating indefinitely around the desired position without ‘landing’, a timeout time can be set. The timer starts when the actuator is near the desired position, within a distance of +/- PTO2. After passing the timeout time, PTO2 becomes the new position tolerance. Vrijeme je izraženo u milisekundama. Zadana vrijednost je 1000 (ms).
TOU2	16 bita	This defines a safety timeout. When the motor is on for a time longer that the value set by TOU2, then the controller goes in safe mode and the motor signals are switched off. Recovery: RSET or ENBL=1 depending on BLCK. Status bit #18 goes up when this timeout is triggered. TOU2=0 disables this timeout. Any other value sets the timeout time in seconds. Minimum value: 1 second. Maximum value: 65535 seconds.
TOU3	16 bita	This defines another safety timeout. When the actuator is trying to “land” to a specific position for longer than the value set by TOU3, then the controller

UGLAŠAVANJE

IV. UGOĐAVANJE
Naredba	Raspon	Obrazloženje
		goes in safe mode. The motor signals are switched off. Expressed in milisekunde.
ENCR	1 bita	Resetirajte koder slanjem "ENCR=1".

SIGNAL OBLIKOVANJE

V. SIGNAL OBLIKOVANJE (ADVANCED KORISTITI)
Naredba	Raspon	Obrazloženje
ENBL	0-3	Omogućiti ampživotni signali. Bit 0 je za piezo signal 1, bit 1 za piezo signal 2. ENBL=3 omogućuje oba amplifiers; ENBL disables both amplifiers. ENBL=1 enables Samo amplifier 1, ENBL=2, enables only amplifier 2.
ENBR	0-1	Omogućiti ampspašivači se automatski uključuju nakon pokretanja kontrolera.
NULA	–	Natjerajte piezo signale na nula volta.
MAMP	16 bita	Postavite maksimum amplituda. Piezo pobudni signali ograničeni su na odgovarajući voltages. MAMP=65535 postavlja ih na maksimalnu voltage of 45 V. MAMP=36400 postavlja maksimum na 25 V. Odnos je linearan.
MIMP	16 bita	Postavite minimum ampvrijednost za piezo pobudne signale. Vidi MAMP za vrijednosti.
PHAC	16 bita	Phase correction. Corrects an imbalance in the motor. Such imbalance may cause a rattling or scratching noise when the actuator moves at low speed. Practical values are in the range of a few 1000, positive or negative. Zadano: 0 (bez ispravka)
OFSA	12 bita	Pomak na piezo signalima na piezo fazi 1. OFSA=4095 odgovara punoj skali (45 V), OFSA=0 ne proizvodi pomak. Odnos je linearan.
OFSB	12 bita	Slično kao OFSB, ali za piezo fazu 2.
FILP	8 bita	Brzina filtera za fazu piezo pobudnih signala. Zadana vrijednost: 1. Maks. vrijednost: 255.
FILA	8 bita	Brzina filtera za ampkoličina piezo pobudnih signala. Zadana vrijednost: 1. Maks. vrijednost: 255.

DIREKCIONALNI POSTAVKE

VI. DIREKCIONALNI POSTAVKE (ADVANCED KORISTITI)
Naredba	Raspon	Obrazloženje
ENCD	1 bita	Set the encoder direction. Set the counting direction with respect to the A/B signals or sin/cos signals of the encoder. Flip this bit to swap left and right, or clockwise and counter-clockwise. Default value is 0.
ENCO	32 bita	Postavlja pomak kodera: udaljenost između indeksne pozicije i željene nulte pozicije. U jedinicama kodera. Zadana vrijednost je 0.
ACTD	1 bita	Set the actuation direction. If not set correctly, the actuator will move away from the desired position. Default value is 0.
PUT	1 bita	Za rotaciju stages samo. Odabire hoće li stage slijedit će najkraći put (PATH=1) do ciljne pozicije ili slijediti linearni pristup, poštujući visoku prema niskoj ili nisku prema visokoj (PATH=0). Zadano: 1 za rotaciju stages, 0 for linear stages.

Feedback from the controller

LED diode statusa
Zelena LED	Power on for controller board
Narančasta LED	Motor uključen
Crveni LED	Disabled (ENBL=1 to enable) OR error (position failure, ampgreška lifiera, istek vremena)

Informacije se šalju natrag s Xeryon kontrolera na master u ASCII formatu. Format je sljedeći:

1. Tag: Četiri znaka koja opisuju vrstu informacije
2. '=' znak koji odvaja naredbu od odgovarajuće vrijednosti
3. Signed value associated with that information (sign + 8 decimal places). The message is terminated with a ‘new line’ character (ASCII code 10).e.g. EPOS=12345678

Različite vrste informacija
Naredba INFO određuje koje se informacije šalju natrag. Vidi bivšegample ispod (INFO=2).

Tag	Obrazloženje
SRNO	Serijski broj drajvera (hardver)
MEKA	Verzija softvera instalirana na upravljačkom programu. npr. 20103 → 2.1.3
[TIP]	Type of motion device (XLA, XLS, XRT) and its resolution e.g. XLS1=312
STAT	Status (vidi dolje)
FREQ	Frekvencija uzbude koja se trenutno koristi
SINKRONIZACIJA	Fiksna vrijednost "12345678". Može se koristiti za otklanjanje pogrešaka u komunikaciji.
EPOS	Položaj kodera
DPOS	Željena pozicija
VRIJEME	Vrijeme svamp: razlučivost 0,1 ms

Značenje STAT(SAD)

Status sadrži 24 bita:

Statusni bit	Ime	Obrazloženje
0	Amplifiers enabled	XRTA only: Ampomogućeni su spasioci za fazu 1 i 2
1	Krajnja stanica	Pogon zaustavljen krajnjim graničnikom
2	Toplinska zaštita 1	Amplifier za fazu 1 ili 3 u toplinskoj zaštiti.
3	Toplinska zaštita 2	Amplifier za fazu 2 ili 4 u toplinskoj zaštiti.
4	Sila nula	Signali motora trenutno su prisiljeni na nulu.
5	Motor uključen	Piezo motor je uključen.
6	Zatvorena petlja	The actuator is currently in closed loop control.
7	Enkoder u indeksu	Indicates whether the actuator is positioned exactly at the encoder index.
8	Koder valjan	Indicates whether the encoder index has been passed and therefore the encoder value reflects the absolute position, not the relative position with respect to the startup position.
9	Indeks pretraživanja	Indicates whether the actuator is currently searching the index position.
10	Pozicija postignuta	Pokazuje da li je ciljni položaj postignut (unutar granica tolerancije).
11	Kompenzacija pogreške	Uključena je kompenzacija pogreške.
12	Greška kodera	Označava pogrešku koju je proizveo koder.
13	Skeniranje	Označava je li aktuator u načinu skeniranja.
14	Lijevi krajnji graničnik	Pokazuje da je lijevi krajnji graničnik prijeđen.
15	Desni krajnji graničnik	Označava da je desni krajnji graničnik prijeđen.
16	Ograničenje pogreške	Označava da je pogreška položaja dosegla granicu koju je postavio ELIM. To može značiti sudar ili mehaničko ograničenje (kraj hoda).
17	Searching optimal frekvencija	Vozač traži optimalnu frekvenciju pobude piezo motora.
18	Sigurnosni istek vremena pokrenut	Ako je ovo postavljeno na "1", aktivirano je sigurnosno vremensko ograničenje. Pogledajte objašnjenje naredbe “TOU2” nekoliko stranica unazad.
19	EtherCAT potvrditi	koristi se samo pri upravljanju putem EtherCAT-a
20	Zaustavljanje u nuždi	ne koristi se
21	Pozicija nije uspjela	Ako je ovo postavljeno na "1", aktivirano je sigurnosno vremensko ograničenje TOU3.

COMMUNICATION USING GPIO

Postoje 4 različite konfiguracije za korištenje digitalnih i analognih IO pinova.

1. Control the position of the actuator using pulses. Each pulse does a step (size) in a certain direction.
2. Control the position of the actuator using an encoder-like signal.
3. Control the speed of the actuator using a PWM input signal.
4. Control the speed of the actuator using an analog input.

Sve ove metode detaljnije su opisane u nastavku. Za odabir metode koristi se naredba “GPIO”. Ovo se može pronaći u odjeljku. Ova se naredba može poslati putem USB-a ili UART-a. Odgovarajuće pinove možete pronaći u odjeljku 6.
GPIO postavke mogu se pohraniti u memoriju pomoću naredbe “SAVE”. Na taj će način GPIO način rada postati aktivan pri uključivanju bez potrebe za slanjem GPIO naredbe putem USB-a, UART-a ili bilo koje druge metode.
GPIO ulaz i naredbe mogu se koristiti zajedno: kontroler će reagirati i na GPIO ulaze i na tekstualne naredbe. Ne morate se vratiti na GPIO=0 da biste poslali tekstualne naredbe. Tekstualne naredbe možete slati i u načinima rada GPIO=2, 3, 4, …. Ali kada prelazite s GPIO unosa na tekstualne naredbe, prvo pošaljite naredbu STOP. Preporučena maksimalna frekvencija pulsiranja: 20 kHz.

Način rada pulsa i smjera

• Ovaj mod se aktivira naredbom GPIO=2 ili 3.
• GPIO=2 enables the input signals: ground (pin 2), pulse (13), direction (14), enable (15), index (16).
• GPIO=3 enables the input signals: ground (pin 2), pulse (13), forward (14), backward (15), index (16)
• Na svakom pozitivnom rubu PULSE signala, ciljani položaj se povećava ili smanjuje s određenom veličinom koraka. Zadana veličina koraka je 1 (1 jedinica kodera). Veličina ovog koraka se može promijeniti naredbom STPS, npr. STPS=10.
• Signal DIRECTION određuje smjer: povećanje ili smanjenje ciljne pozicije. Signal ENABLE omogućuje ulaz, mora biti visok da bi se pokrenuo.
• Alternativa signalima DIRECTION i ENABLE su signali NAPRIJED i NATRAG. Visokim postavljanjem jednog od njih moguće je odabrati smjer kretanja.
• INDEX signal je analogni ulaz koji se koristi kao digitalni ulaz. Kada ide visoko (pozitivni rub) kontroler traži indeks (dovoljno je 3.3 V, maks. 10 V).

Encoder-like signal (A quad B input)

• This mode is activated by the command GPIO=4
• Input signals: ground (pin 2), A (13), B (14), enable (15), index (16).
• Encoder-like A quad B signal used as input to adapt the target position.

Kontrola PWM

• Ovaj mod se aktivira naredbom GPIO=8 ili 9
• GPIO=8 enables the input signals: ground (pin 2), PWM (13), direction (14), enable (15).
• GPIO=9 enables the input signals: ground (pin 2), PWM (13), forward (14), backward (15).
• The frequency of the PWM signal can be set by the command PWMF. PWMF=1000 sets the PWM frequency to 1000 Hz. Default = 1000.
• The speed is proportional to the pulse width. When the pulse width is 50 %, speed is set to 50 % of the speed set by the SSPD command. When the signal is all the time high, then 100 % of SSPD is selected. Speed can be controlled from 0 to 100 %.
• Upotreba signala smjera, omogućivanja, naprijed i natrag ista je kao u pulsnom načinu rada i načinu rada smjera.

Analogne kontrole

• Ovaj mod se aktivira naredbom GPIO=12 ili 13
• GPIO=12 enables the input signals: ground (pin 2), speed (1), direction (14), enable (15).
• GPIO=13 enables the input signals: ground (pin 2), speed (1), forward (14), backward (15).
• Unos brzine proporcionalan je voltage applied to the speed input pin. 10 V corresponds to 100 % of the speed set by the SSPD command.
• Upotreba signala smjera, omogućivanja, naprijed i natrag ista je kao u pulsnom načinu rada i načinu rada smjera.

COMMUNICATION USING ETHERCAT

EtherCAT je visokoučinkoviti industrijski protokol temeljen na Ethernetu koji se koristi za višeosnu, brzu komunikaciju. Xeryon nudi kompatibilnost s EtherCAT-om putem matične ploče s 4 ili 16 osi, što omogućuje više aktuatora ili...tagkoje treba kontrolirati sinkrono. Svi priručnici, tehnički crteži i 3D files, and a TwinCAT 3 demo program can be found in our EtherCAT package available for download from xeryon.com. Vendor ID: 0x0000004E

CONNECTIONS / PIN LAYOUTS

Connection to the actuator

• Actuator connector: ZIF 12 core
• Pin 1 is defined by an arrow on the ZIF connector.
• Connector: FH52E-12S-0.5SH
• WARNING: Make sure to always use an opposing contact ZIF cable

PIN #	SIGNAL	FUNKCIJA	IN/OUT	PIN #	SIGNAL	FUNKCIJA	IN/OUT
1	ENC-	Indeks kodera –	IN	7	ENC+	Indeks kodera +	IN
2	ENC B-	Enkoder B-	IN	8	ENC GND	Encoder ground	IN
3	ENC A-	Enkoder A-	IN	9	P1	Piezo phase 1	VAN
4	ENC PWR	Snaga kodera	VAN	10	P2	Piezo phase 2	VAN
5	ENC A+	Enkoder A+	IN	11	P3	Piezo phase 3	VAN
6	ENC B+	Enkoder B+	IN	12	P4	Piezo phase 4	VAN

Priključak na stage

• Stage connector: (14 pin, 0,1 inch pitch)
• Connector: Molex 702471451
• Pin 1 is defined by an arrow on the connector, see the figure.

PIN #	SIGNAL	FUNKCIJA	IN/OUT	PIN #	SIGNAL	FUNKCIJA	IN/OUT
1	ENC B-	Enkoder B-	IN	8	ŠTIT	ŠTIT	IN
2	ENC B+	Enkoder B+	IN	9	ENC PWR	Snaga kodera	VAN
3	ENC A-	Enkoder A-	IN	10	ENC GND	Encoder ground	IN
4	ENC A+	Enkoder A+	IN	11	P2	Piezo phase 2	VAN
5	ENC I-	Encoder I-	IN	12	P1	Piezo phase 1	VAN
6	ENC I+	Encoder I+	IN	13	P4	Piezo phase 4	VAN
7	/	/	/	14	P3	Piezo phase 3	VAN

Connection to GPIO

• IO pins (0,05 inch pitch)
• connector: CNC Tech 3220-26-0300-00

PIN #	SIGNAL	FUNKCIJA	U/ VAN	PIN #	SIGNAL	FUNKCIJA	U/ VAN
1	AI0	Analogni ulaz brzine	IN	14	U 2	Direction / forward / B*	IN
2	GND	Ground	IN	15	U 3	Enable / backward*	IN
3	GND	Ground	IN	16	U 4	Find index	IN
4	+5V	+5V	VAN	17	U 5	/
5	IZLAZNA SNAGA	Volumen opskrbe međuspremnikomtage **	IN	18	U 6	UART Rx	IN
6	+3,3V	+3,3V	VAN	19	/
7	IZLAZ 1	Izlaz okidača	VAN	20	/
8	IZLAZ 2	Zastavica valjanosti enkodera	VAN	21	/
9	IZLAZ 3	Position reached flag	VAN	22	/
10	IZLAZ 4	Zastavica pogreške	VAN	23	/
11	IZLAZ 5	Trčeća zastava	VAN	24	/
12	IZLAZ 6	UART Tx	VAN	25	GND	Ground	IN
13	U 1	Puls / A / PWM*	IN	26	nSRST	/

• For more details about these pins, see section “7 Communication using digital and analog IO” about the GPIO. Digital signals are 3.3V logic, and analog inputs are max 10V.
• BILJEŠKA: Voltage has to be supplied to this pin for the UART to work. You can connect it to the available 3.3V power pin or the 5V output pin. It is also possible to supply your own voltage (maks. 5 V). Vol.tagBroj izlaznih pinova bit će određen ovim pinom (pin 5).

UGLAŠAVANJE
Xeryon’s actuators are primarily intended for closed-loop control and for this reason already have a position sensor integrated. A control algorithm is implemented on our controller and this algorithm uses multiple control parameters. These control parameters have to be set according to the type of actuators, load and customer-specific motion requirement. These parameters are pre-set by Xeryon upon delivery of the actuators and controller. In most cases, you don’t need to adapt the settings right out of the box. Nevertheless, it may be required that the user modifies these parameters for optimal performance.
Ispod možete pronaći odgovarajuće naredbe za najčešće postavke:

Ispod možete pronaći odgovarajuće naredbe za najčešće postavke:

Postavka	Naredba	Postavka	Naredba
Shortest path	PUT
Zone size, zone 1	ZON1	Zone size, zone 2	ZON2
Frequency, zone 1	FREQ	Frequency, zone 2:	FRQ2
Proportional factor, zone 1	IMOV	Proportional factor, zone 2	PRO2
Position tolerance	PTOL	Ubrzati	SSPD
Position tolerance 2	PTO2	Accel / deceleration	ACCE/DECE
Timeout time	TOUT	Masa	MASA
Ampkontrola nadmorske visine	DUCO	Left soft limit	LLIM
Min / max amplituda	MIMP/MAMP	Right soft limit	HLIM
Korekcija faze	PHAS	Ograničenje pogreške	ELIM

Frekvencije/proporcionalne vrijednosti

• Typically, in zone 1 (closest to the target position), the frequency and proportional factor are both chosen higher. This gives a better ‘landing’ on the target position. For zone 2 (further away from the target position) the frequency is chosen lower to increase speed. At the same time the proportional factor for zone 2 typically has to be chosen lower to avoid instability. Be aware that outside a certain frequency range, the motor will have very limited force (frequency too high) or feature unstable behaviour (frequency too low).
• A typical frequency difference between FREQ and FRQ2 is between 1 and 3 kHz for a 1N motor and between 0.5 and 2 kHz for a 3N, 5N or 10N motor. The proportional factors in zone 1 (PROP) are typically 2-3 times the value of the proportional factors in zone 2.
• When the actuator does not want to land on the target position, despite optimising frequency and proportional factor for zone 1, try to increase the positioning tolerances PTOL and PTO2. See the instruction set for more information.
• To obtain the maximum power out of the actuator, the frequency in zone 2 (FRQ2) should be set as low as possible without drawing too much current, which results an ampgreška lifiera (statusni bit 2 i 3).

Dodavanje mase u stage

• As soon as adding a mass of 100g or more, the MASS parameter can be adapted. For every 100g of mass you add, increase the MASS parameter by 100. Finding the optimal MASS parameters is usually obtained by trial-and-error.
• This parameter is mostly used for heavy payloads on horizontal actuators.

Promjena dinamike
Would you like your actuator to react faster or slower, the following parameters can be adapted to achieve this.

• SSPD is used to set the maximum speed the actuator. Please note, if the frequency in zone 2 is set too high, the speed can’t always be reached.
• ACCE defines the acceleration of the actuator to the set speed in SSPD. The default value of 65500 means no acceleration limitation is taken into account (i.e., full acceleration).
• DECE defines the deceleration of the actuator upon reaching its target. The default value of 65500 means no deceleration limitation is taken into account (i.e., full deceleration).
• PROP & PRO2 are proportional factors used for the closed feedback loop. Both parameters are used for the two different zones (ZON1 and ZON2). Typically, PROP is higher than PRO2. Increase them to get faster positioning times.

When the actuator needs to move with less overshoot, decrease the above mentioned parameters. Higher proportional factors let the controller react strongly and reduce positioning errors, but can also lead to instability or noisy operation when chosen too high.

WINDOWS GUI

Kako bi se korisniku pružio brz način interakcije s kontroliranim i spojenim aktuatorom, uz svaki se kontroler isporučuje Windows GUI. Korištenje je jednostavno i samorazumljivo. Može se koristiti za ručni unos i pokretanje jednostavnih skripti.

Potreban files
Windows GUI koristi sljedeće files:

• Izvršna datoteka Windows GUI-ja: Xeryon_Dialog.exe
• Konfiguracija file pod nazivom “config.txt”. Ovaj file korisnik ne bi trebao uređivati.
• Zadane postavke file pod nazivom “settings_default.txt”. GUI čita ovo file za početne postavke pri pokretanju. Zamijenite ili modificirajte ovo file za promjenu zadanih postavki. Nakon spremanja, te se vrijednosti pohranjuju u upravljački program.
• A postavke file pod nazivom “settings_user.txt”. Ovaj file kreirat će program nakon pritiska na “spremi u file” gumb.
• Demo program. The file dijaloški prozor predstavlja "demo.txt" kao zadani fileime.

Napomena: config.txt mora biti u istoj mapi kao Xeryon_Dialog.exe.

Naredbe za demo program Windows GUI

Naredba	Obrazloženje
BAUD	Postavite brzinu prijenosa za komunikaciju.
DPOL	Delay used when polling for a ‘position reached’ signal after a new target position is set. When DPOL is too small, the Windows GUI may trigger on the ‘position reached’ status flag of the previous target position due to communication delay. In that case, a succeeding WAIT command will start the timer at the start of the movement instead of after the target has been reached.
POMOĆ	Switch help on or off. HELP=1 switches the info tips on. HELP=0 switches the info tips isključeno.
ZAUSTAVITI	Zaustavite program. (Da vas ne zbuni naredba STOP za vozača.)
LABL	Oznaka u programu koji koristi REPT.
LOG	Start or stop logging of data. LOG=1 switches logging on. LOG=0 switched logging off. Data is stored in datalog.csv. When datalog.csv already exists, new data is appended.
MASA	Specifies the mass/inertia of the load on the actuator. The Windows GUI calculates the optimal control parameters to obtain stable operation.
MMAS	Maksimalna masa koja se može odabrati u Windows GUI.
MPRO	Maksimalni proporcionalni faktor koji se može odabrati u Windows GUI.
MSPD	Maksimalna brzina koja se može odabrati u Windows GUI-u.
LUKA	Zadani broj priključka koji će se pojaviti u Windows GUI-u.
REPT	Repeat the above program a specified number of times. The first argument specifies the number of loops. The second argument specifies the label to jump to (label range 0 – 99). If the label does not exist, then the program jumps back to the first line. The REPT command should be placed at the end of the block to be repeated. Nesting of REPT blocks is allowed. Example: REPT=10 2 radi 10 petlji počevši od oznake 2.
ČEKATI	Wait a specified time before proceeding to the next command. Time expressed in milliseconds. When WAIT follows a STEP or DPOS command, the timer is started when reaching the target position.

Example program file (demo.txt)

• SSPD=100 % Set speed to 100 mm/s or 100 degrees/s
• DPOS=0 % Go to position 0
• WAIT=100 % Wait 100 ms after arrival at position
• LABL=2 % Set label 2
• DPOS=60 % Go to position 60 mm or 60 degrees
• WAIT=100 % Wait 100 ms after arrival at position
• SSPD=10 % Set speed to 10 mm/s or 10 degrees/s
• SCAN=1 % Move with constant speed in positive direction
• WAIT=2000 % Wait for 2 s (while scan goes on)
• REPT=3 2 % Repeat 3 times the code above, starting from label 2
• STOP % Stop actuator
• DPOS=0 % Finish in the centre

Funkcija tipki i prikaza statusa

1. Gumb Postavke:
   • Opterećenje od file: odaberite a file za učitavanje vlastitih korisničkih postavki.
   • Uredi: otvorite prozor postavki (pogledajte dolje).
   • Spremi u file: spremite trenutne postavke u novu file.
   • Uštedite na upravljačkom programu: spremite struju u upravljač.
2. Spremi u file: spremite postavke na a file vi odaberete
3. Povežite se s portom: kada je port odabran, spojite se na port i odaberite postavke file
4. Port: Choose COM port of XD-OEM controller.
5. Povezano s upravljačkim programom: uspješno povezano s upravljačem.
6. Pogreška u komunikaciji: pogreška u komunikaciji između računala i kontrolera.
7. Oporaviti: oporaviti regulator nakon greške/pogreške.
8. Reset kodera: reset kodera. Indeks će se morati ponovno pronaći.
9. Pronađi indeks: početak postupka indeksiranja.
10. Amplifier greška: nadstruja, podvoltage ili pogreška kratkog spoja.
11. Pogreška položaja: položaj se ne može postići unutar postavljenog vremenskog ograničenja.
12. Pogreška kodera: koder ne radi ili je oštećen. (obično uzrokovano kratkim spojem)
13. Dostignuta pozicija: dostignuta željena pozicija.
14. Indeks pronađen: indeks ili početna pozicija pronađena.
15. Stop: zaustavite motor.
16. Reset: resetirajte postavke natrag na settings_default.txt i zaustavite motor
17. Pokretanje programa: pokretanje dolje odabranog programa
18. Demo.txt: odaberite demo program
19. Plavi klizač: koristite klizač za promjenu željenog položaja.
20. Scan + X: the actuator will continuously move in the + X direction.
21. Step + X: the actuator will take a step in the + X direction.
22. Gumb 0: pomaknite se na srednji/indeksni položaj.
23. Actual position: current position of the actuator. (can’t be changed here)
24. Desired position: change the position of the actuator here.
25. Veličina koraka: odaberite veličinu koraka.
26. Actual speed: calculated speed of the actuator. (will always be lower than actual speed due to polling delay)

PYTHON, MATLAB, C++ AND LABVIEW
Interakcija s XD-OEM kontrolerom i spojenim aktuatorom moguća je i putem Pythona, MATLAB-a, Laba.VIEW, C++ ili bilo koji drugi programski jezik koji podržava slanje ASCII naredbi preko (virtualnog) COM priključka. Demo programi dostupni za gore navedene programske jezike. Demo uključuje funkcije za napredne naredbe kretanja, statuse grešaka, kontrolu postavki i više.

• Sve knjižnice dostupne su kod nas webweb mjesto pod Preuzimanja.

LaboratorijaVIEW example

PODRŠKA

• Kontakt: support@xeryon.com
• Address: Interleuvenlaan 21, 3001 Leuven, Belgium
• Telefon: +32 (0)16 903 904
• Webstranica: xeryon.com

FAQ

What should I do if the actuator force is too low?

Adjust the force settings in the Windows GUI or refer to the tuning instructions in the manual.

How can I control multiple axes simultaneously?

For multi-axis control, consider using EtherCAT for nanosecond precision or GPIO for fast microsecond pulses.

Dokumenti / Resursi

XERYON XD-OEM kontroler [pdf] Korisnički priručnik XLA-10, XD-OEM kontroler, XD-OEM kontroler, kontroler

Reference

• korisnički priručnik