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Model 6000 Inchworm Motor Controller Instruction Manual

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Model 6000 Inchworm Motor Controller Instruction Manual MODEL 6000 'nchworm%otor Controller 'nstruction Manual CONTENTS PAGE Chapter 1 - Introduction Chapter 2 - System Overview Chapter 3 - Installation Location 3-1 Connecting Inchworm Motors 3-1 Connecting The Model 6003 Joystick 3-1 Interfacing To Encoders 3-1 Selecting Display Resolution 3-2 Une Voltage Selection 3-2 Line Voltage Conversion 3-2 Chapter 4 - Operation Front Panel 4-1 Model 6003 Joystick 4-2 Model 6005 Handset 4-3 Chapter 5 - Interfacing Level I TTL Open Loop Interface 5-1 Level I Closed Loop Interface 5-4 Level II Closed Loop Interface 5-6 Function Table 5-9 Extended Function Table 5-10 Changes Effecting All 6000 Controllers 5-13 Chapter 6 - Trouleshooting Appendix A - Specifications Appendix B - Hardware Conflguration Chapter 1 - Introduction Burleigh Instruments Inc. thanks you for choosing INITIAL TEST our Model 6000 Inchworm Motor ControUer. It's design has been optimized for the operation of IMPORTANT: Before plugging in the line cord Burleigh's 700 series and LTS/LTO series Inchworm confirm that the rear panel voltage selector position Motors. matches the available line voltage. Incorrect settmg can cause permanent damage to the system. Burleigh Instruments introduced Inchworm Motor systems in the early 1970's. These unique Do NOT connect an Inchworm Motor to the piezoelectric devices produce ultra-high resolution Controller until you have read the Installation linear motion with no backlash or leadscrew errors. section of this manual and followed the instructions They have been found indispensable in a wide range contained therein. This initial test is performed with of applications including fiber optic alignment, disk nothing but the line cord connected to the Controller. drive media verification, and ceUular recording. After connecting the line cord turn the instnunent on Please take time to familiarize yourself with the 6000 using the toggle switch located on the rear panel. The system by reading this manual and examining each of POWER and HV LEDs on the front panel should be the system components as it is described. Failure to illuminated. correctly install and operate the system may result in damage to the controller and/or motors and can Should your instrument fail this initial check please create hazards to personnel. contact Burleigh Instruments, Inc. or your local representative for further instructions. CAUTION: The 6000 Controller is a high voltage, high current device. Contact with internal high BURLEIGH QUALITY CONTROL voltage components can be extremely dangerous. NEVER service the controUer, cabling, or other Your Model 60(X) Inchworm Controller has been connected components with the line power inspected, tested, calibrated, and burned-in at connected. elevated temperatures before shipment. It is conservatively designed and should provide years of CAUTION: The 6000 Controller will maintain high trouble free operation. In the event of any problem voltage levels for some time after the power is please contact Burleigh for instructions. Our removed. Always wait at least 60 seconds after Customer Service Department is always ready to disconnecting power before removing any covers, help with advice, parts, and repair ser\dces. circuit boards, cables, etc. for service. CAUTION: During normal operation certain intemal components of the 6000 ControUer may become hot. Use care during service operations to avoid bums. CAUTION: Never connect or disconnect ANY cables from the 60(X) while the power is on. This includes Inchworm Motor cables. Encoder cables, Communication cables, etc. Failure to observe this caution may result in damage to the 6000 and/or associated computer systems. Burleigh Instruments assumes no liability for this type of damage which will additionally void the product warranty. Chapter 2 - System Overview There are four general configurations of 6000 series The Level II Closed Loop system is designated Inchworm Motor ControUers, namely Open Loop, Model 6200. Level II is used only in the closed loop Level I Closed Loop, Level II Closed Loop, and configiu-ation as the enhanced interface would be of OEM. They differ mainly in how they interface with littie benefit in an open loop configuration. Level II control devices. includes a more sophisticated port which allows bi-directional information transfer. An external The first type of system is the Open Loop system, control device can have greater control over the designated Model 6000. This system is interfaced via movements of the Inchworm Motor. In addition to the Manual Port. Inputs to this port are TTL level receiving position information from the encoder the signals which actuate the primitive Inchworm Motor port permits monitoring of limit switches, Inchworm operations. This port directly interfaces with the Motor status, jumper positions, and a nimiber of model 6003 Joystick and the model 6(X)5 handset for other useful peu-ameters. manual control. Note that all clock signals controlling motor operation are generated extemally Models 6100 and 6200 may be operated via signals to all 6000 series controllers. The Manual Port provided by the Model 660 PCIC interface card accepts inputs only. No data is output. which is easily installed in an IBM-PC/XT or compatible. In the case of a model 6200 controller Closed Loop controUers accept input from a position this provides high level language control aUowing the encoding device which monitors displacements of an development of sophisticated motion control Inchworm Motor or the attached load. The systems programs. Note that communication is performed permit taking steps of known length and the over a Burleigh specified bus and that RS-232 or maintenance of position imder varying load. The IEEE-488 communication is not available on the &ont panel buttons and display permit setting and 6000 family of controUers (though these functions monitoring the various parameters. can often be obtained through the host computer if it is necessary to communicate with other equipment). The Level 1 Closed Loop system is designated Model 6100. TTL control of primitive functions is similar to The fourth and fmal configiu-ation of the 60(X) Series that described for the Model 6000 controller. ControUers is the OEM module form. The power Several additional input lines are provided on the supply and all cards are available separately for Manual Port however communication is still instaUation m OEM equipment. Many different unidirectional. Extemal control capabilities in these configurations are possible. Contact Burleigh for two configurations are quite limited. For full more details. extemal control the Level II system or one of the 7000 series controllers is recommended. Chapter 3 - Installation CAUTION: Never attach an Inchworm motor to a CONNECTING THE ControUer with the power switched on. Permanent MODEL 6003 JOYSTICK damage may occur to both systems. Turn ofT power to the Controller. Plug one end of CAUTION: Before switching on the ControUer be the cable into the ControUer's rear panel MANUAL sure that the proper line voltage selection has been PORT connector and secure it using the two capture made and that the proper fuse is instaUed. screws located on the connector. Plug the other end of the cable into the connector located at the rear of LOCATION the Joystick and secure it in the same manner as the other cable end. The Model 6000 Inchworm ControUer should be located in a convenient location observing the CONNECTING THE foUowing restrictions: MODEL 6005 HANDSET 1. Be sure that there is sufficient room around the Turn ofT power to the Controller. Plug the chassis for proper cooling and that the vents are connector on the Handset cable into the Controller's not blocked. rear panel MANUAL PORT connector. Secure the connector with the two capture screws located on the 2. If the unit is to be operated with the Burleigh connector. Model 6(X)5 Handset or Model 6(X)3 Joystick note that the cables for those devices are 6 feet in INTERFACING TO ENCODERS length. Locate the ControUer, experiment, and operator positions to permit adequate access to The Model 6000 ControUer can interface with three aU components. different types of quadrature encoder signals, namely Differential TTL, Analog, and Single-Ended TTL. 3. Inchworm motors are suppUed ^th 6 foot long Quadrature Analog is standard with the other cables. If the experiment requires that motors be interfaces avaUable from the factory or as user operated at greater distances from the ControUer instaUed conversion kits. a Model 7011-xx Motor Extension Cable must be used, "xx" signifies cable length to a maximum of NOTE: The rear panel connectors are labeled as to SO feet. See the catalog for available lengths. encoder type but are otherwise identical. It is important that the user check that the proper 4. If Encoders are located more than 6 feet from the encoder/interface combinations are used. ControUer the Remote Encoder Box Option must be used (Closed Loop systems only). DIFFERENTIAL QUADRATURE ANALOG INTERFACE CONNECTING INCHWORM MOTORS AU Burleigh 0.5 micron encoders use this interface. Turn off the power switch located on the rear panel The interface may be identified by observing that of the controller. (This is the rocker switch on the there is a piggyback circuit board instaUed on the lower left side of the rear panel when viewed from Counter/CPU circuit board. In addition the back the rear.) Push the connector on the Inchworm panel of the ControUer may have an ANALOG label motor's cable onto one of the connectors on the rear indicating the type of interface. Connection is made of the ControUer marked DEVICE. Be sure to push by plugging the encoder's 9 pin connector into the the connectors fuUy together so that the latches on appropriately labeled rear panel connector on the the connectors lock. ControUer, as always with the power discotmected. For Closed Loop systems push the connector on the The maximum cable length from encoder to Encoder's cable onto the rear panel chassis ControUer is 2 meters.
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