MS-2000 Operation and Programming Manual.

MS-2000 Operation and Programming Manual.
MS-2000
Operation and Programming
Manual
Applied Scientific Instrumentation, Inc.
29391 W. Enid Rd.
Eugene, OR 97402-9533 USA
Phone: (800) 706-2284
(541) 461-8181
Fax:
(541) 461-4018
Web: www.ASIimaging.com
E-mail: [email protected]
for Controller Firmware Version 8.0, and later
2
Table of Contents
Contents
INTRODUCTION .......................................................................................................................... 5
Features and Capabilities of an MS-2000 System .................................................................. 5
OPERATION ................................................................................................................................. 6
Front Panel Controls ................................................................................................................. 6
XY Joystick .............................................................................................................................. 6
Command Encoder Knob ......................................................................................................... 6
Zero Button .............................................................................................................................. 6
Home Button ............................................................................................................................ 6
@ Button .................................................................................................................................. 6
Rocker Switch - Clutch Enable ................................................................................................ 6
LCD Screen .............................................................................................................................. 7
Back Panel .................................................................................................................................. 9
USB Port .................................................................................................................................. 9
RS-232 Ports ............................................................................................................................ 9
Fuse ........................................................................................................................................ 10
Power Input ............................................................................................................................ 10
X-Y Stage Connector ............................................................................................................. 10
Z-Axis Connector ................................................................................................................... 10
Linear Encoder Connectors .................................................................................................... 10
BNC Connectors .................................................................................................................... 10
Reset Button ........................................................................................................................... 10
Dip-Switches .......................................................................................................................... 11
Dip Switch Settings ................................................................................................................ 11
Special Functions and Features .............................................................................................. 12
Configuration Flags ................................................................................................................ 12
Build Configuration................................................................................................................ 12
Power Down Coordinate Save ............................................................................................... 13
Save Settings to Non-Volatile Memory ................................................................................. 13
Post-Move Control Options ................................................................................................... 13
Multi-Point Save/Move .......................................................................................................... 14
Constant Velocity Moves – (with firmware Version 8.1+).................................................... 14
TTL Controlled I/O Functions ............................................................................................... 15
Automated 1-D or 2-D Scanning ........................................................................................... 15
Synchronous Encoder Reporting ............................................................................................ 16
Tracking Features ................................................................................................................... 16
Safety, Diagnostic and Alignment Features ........................................................................... 16
Clocked Devices ..................................................................................................................... 16
Default Settings, Saved Parameters, Configuration Flags, Limits and Positions .............. 17
Motor Driver Alignment Parameters...................................................................................... 17
Configuration Flags ................................................................................................................ 17
Saved Parameters ................................................................................................................... 17
Saved Stage Positions, Limit and Home Positions ................................................................ 18
Internal I/O connector details ................................................................................................ 19
Electrical Characteristics ............................................................................................................. 20
WARNINGS ................................................................................................................................. 20
Back Panel Connector Pin-outs .................................................................................................. 21
PROGRAMMING ........................................................................................................................ 25
Quick Reference – Main Operating Commands .................................................................. 25
Quick Reference – Customization Commands ..................................................................... 25
MFC-2000 and MS-2000 Command Set................................................................................ 28
Error Codes for MS-2000 Diagnostics ................................................................................... 72
SETUP CONTROL COMMANDS.............................................................................................. 74
LOW LEVEL FORMAT .............................................................................................................. 75
COMMAND LISTING ........................................................................................................... 78
ASI's Five Year Warranty on Automated DC Servomotor Stages ............................................. 91
4
INTRODUCTION
This manual pertains to ASI’s MS-2000 microscope stage control system. The MS-2000 is a
compact, highly functional, computer-controlled stage system that can be configured in several
different ways, depending upon the needs of the user. The basic system consists of the MS-2000
control unit and an XY stage. ASI’s precision Z-axis focus control drive can be incorporated to
create an integrated XYZ system. For ultimate accuracy and repeatability of positioning, the
MS-2000 can be configured with precision linear encoders on any axis. Autofocus and laser
feedback options are also available for automated processes and ergonomic ease of use.
This manual will describe the installation, operation, and programming for basic system
components, plus sections for applicable options. Please contact ASI regarding addition options
if you wish to upgrade your system.
Features and Capabilities of an MS-2000 System
•
Closed-loop DC servo motor control of the X, Y, and Z axes for precise positioning and
highly repeatable focusing
•
Sub-micron repeatability on all axes
•
Wide dynamic speed range with adjustable trapezoidal move profiles
•
Compact ergonomic tabletop control unit is 3½ x 9 x 6½ inches (9 x 23 x 16½ cm)
•
Back-lit LCD display shows X, Y, and Z coordinates
•
Smooth adjustable dual-range joystick control
•
Microprocessor control with RS232-C serial and USB communications
•
Z-axis clutch for easy switching between manual and motor-driven focus control
•
X and Y axis Hall-effect limit sensors
•
Electronic torque limit on drives minimizes damage by runaway stage
•
Configurable autofocus parameters
•
“Zero” button for setting “Home” position
•
Other functions including programmable positioning patterns and scans
5
OPERATION
Front Panel Controls
XY Joystick
The XY Joystick is spring loaded to return to a zero movement center when not in use. The
speed at which the stage moves is linear function of the degree to which the joystick is pushed
away from the center. The direction of deflection can be controlled by the settings of the DIP
switches on the back panel of the box (see Back Panel Controls). Depressing the button on top
of the joystick will toggle the speed range of the joystick. In the high-speed range, the stage will
travel up to the maximum speed of the motors; in the low-speed range, the speed for maximum
deflection is reduced to 5 – 10% of maximum speed. The speed settings for the joystick may be
programmed and saved in firmware. See the JSSPD command.
Command Encoder Knob
The Command Encoder Knob is usually used to control the Z-axis stage. The relative speed of
the knob can be set with the JSSPD command and saved in firmware. The command knob can
be attached to any axis by using the JS command.
Zero Button
The Zero Button allows the user to set all three axes coordinates to zero. Upon pressing the
button, the LCD will display the change. Pressing the button also cancels any and all serialcontrolled movement commands. The zero button also acts as a HALT button to stop undesired
motion. Pressing the zero button briefly will halt motion and zero the coordinates; pressing and
holding down the zero button for more than 1 second will halt motion, but not alter the
coordinate settings.
Home Button
The Home Button sends the stage back to the zero coordinates.
@ Button
The @ Button is programmed for special functions. On most controllers this button is used with
the Multi-Point Save/Move feature (see Special Functions below).
Rocker Switch - Clutch Enable
The Clutch Enable Switch allows the user to disconnect the Z-Axis motor from the microscope’s
fine focus knob by setting the switch to “Disengaged” (no dot on switch). When switching from
“Disengaged” to “Engaged” (white dot on switch), the current position of the Z-Axis is
locked-in, canceling any previously given Move commands. When the drive is “Disengaged,”
the feedback encoder still provides position information for the Z-axis LCD display. In some
system configurations, the rocker switch is not used, or used for other special purposes.
6
LCD Screen
The Liquid Crystal Display (LCD) screen shows the current position coordinates of the axes with
status information displayed to the right. A dim back illumination allows users to clearly view
the screen even in a darkened room without causing light pollution.
The LCD display has four display modes selected by DIP switches 1 & 2 on the back panel. The
display modes have the following characteristics:
Mode 1 - SW 1 & 2 DOWN
Normal Display with Controller Firmware Version Line Shown
X: 23.12345 mm : fB
Y: -3.12345 mm : UM
Z: 1.12345 mm : E
MS2000 v8.8d
This display shows the stage position in millimeters with five digits of precision with the status
indicators on the right side.
Mode 2 - SW 1 DOWN & SW 2 UP Normal Display with Status Line Shown
X: 23.12345
Y: -3.12345
Z: 1.12345
HRR 001:003
mm : s
mm : U
mm : E
00:23:05
The status line at the bottom of the display indicates the command set (H high or L low), the XY
encoder mode (R rotary or L linear), and the Z encoder mode (R rotary or L linear). The next
two numbers show the next position to move-to for ring buffer, and the number of positions
stored, respectively, separated by a colon (:). Controllers with the Auto-Focus option display the
focus value on this line as well. On the right side is a time clock. Some error codes are
displayed in place of the clock for a few seconds after they occur.
Mode 3 - SW 1 & 2 UP
Dual Display with Status Line Shown
X23.12342>23.12345s
Y-3.12340>-3.12345U
Z 1.12345> 1.12345E
HRR 002:003 COD: 22
In this mode, two sets of number are shown for each axis. The number on the left is the current
position reported by the axis encoders. The number on the right is the target position that the
controller is trying to achieve.
Mode 4 - SW 1 UP & 2 DOWN
Dual Display with Firmware Version Line Shown
7
There are several status indicators that may appear on the right side of the axis line display (in
display columns 19 or 20). The meaning of these indicators is listed in the table below.
Table 1: Status Indicators in Order of Priority per Column
Status Letter
D
Meaning
Disabled / Disengaged
Column
19
Priority
highest
Comments
Axis is disabled if run-away
error condition is detected
L
Lower Limit Engaged
19
mid
U
Upper Limit Engaged
19
mid
s
Slow Joystick Control
19
lower
f
Fast Joystick Control
19
lower
E
Clutch Engaged
19
lowest
Microscope Z-drive only
P
Axis in PAUSE state
20
highest
Axis is BUSY while paused.
B
Axis BUSY
20
high
M
Motor Active
20
mid
W
Command Wheel
20
lowest
Servos are turned on.
Used on controllers where the
command wheel may be
switched between axes with the
‘@’ button.
The status indicators can help you understand how the controller is set up and working.
The f, s, & W indicators tell you which axes are being controlled by the manual control devices
as well as the speed range for the devices. Momentarily depressing the joystick button will
switch the speed indicator from ‘s’ to ‘f’ or vise versa.
Should the stage be moved into either a hardware or software limit switch, the ‘U’ or ‘L’
indicators will appear. Further movement into the limit is prohibited.
When a commanded move is issued to an axis via a computer command, the ‘B’ indicator will
appear until the axis reaches target to the accuracy specified by the PC error variable. Should the
stage drift further from the current target by more than the E drift error variable, the motors will
re-engage and the ‘M’ will appear as the right status indicator. The ‘M’ will disappear when the
stage is again within the PC error variable of the target. When using manual input devices
(joystick or knob), the ‘M’ will appear as the motors attempt to keep the XY stage and Z drive at
the location specified by the input devices.
If excessive servo errors are encountered, the axis will be disabled and the ‘D’ will appear. This
is a safety feature to limit motion under run-away conditions or in the event of a stage crash.
8
Back Panel
USB Port
To use the USB port, you need to install the necessary drivers onto your computer. The drivers
are furnished on a CD shipped with the controller and are available for download from
http://www.asiimaging.com/wk_usb_support.html.
To obtain and install the drivers and associated files from the CD, open ...\CP2101 USBSerial\MS2000X\Host Driver Installation Files\WK_USB.zip.
Create a temporary folder on your computer and extract all 20 files from WK_USB.zip into that
folder. Run PreInstaller.exe. This application will step you through two separate installations:
one for the USB low-level driver, and the other for the virtual serial port driver.
With these drivers installed, you can test for correct operation by using your computer’s Control
Panel and its subfunctions System/Hardware/Device Manager/Ports (COM & LPT). Before you
connect and power up your ASI controller, expand the Ports (COM & LPT) listing and note any
COMx devices present. When you power up the connected controller, you will see a new
COMx+1 appear. For example, if you see COM1 before powering up the controller, then after
powering it up you will see COM1 and COM2.
(If you do not see “Ports (COM & LPT)” when the drivers are installed and the controller
connected and powered up, then the computer may not fully support USB and RS-232. Certain
inexpensive laptops have been observed with this defect. The workaround solution for this
problem is to use a Serial Port PCI Card. Alternately, your computer may work with a Keyspan
USA19HS High Speed USB / Serial Adapter. This device, a cable with two connectors, plugs into
your USB port, and the other end is a serial port connector. With either the Keyspan or the
Serial Card, you connect the device to the controller via a serial null modem cable. A serial null
modem cable is furnished with each ASI controller and widely available at computer stores. Note
that if the words “NULL MODEM” are not stamped on the connectors of a serial cable, it is
probably not a null modem cable.)
The USB drivers on your computer will create a virtual serial port whenever the computer is
connected to a powered-up controller. This virtual serial port operates like an RS-232 port as
described below.
RS-232 Ports
The two 9-pin RS-232 ports allow serial commands to talk to and through the MS-2000. The IN
port attaches to the PC computer via a null modem RS-232 Serial Cable to allow serial
commands to control and get information from the MS-2000. The null modem cable switches
the RX and TX lines and terminates possible PC handshaking lines allowing for asynchronous
communication without handshaking. The OUT port is controlled by a second UART on the
microcontroller. As a default it is configured as a “pass though” so serial traffic sent to the
controller from the PC is echoed directly on the OUT port. Special functions are supported that
use this port for dedicated purposes (e.g. triggered encoder reporting).
9
Fuse
The MS-2000 uses a 1A, 250V, fast blow, 5x20mm standard fuse.
Power Input
The MS-2000 uses a 24V 1.25A universal input, switching DC power supply. The power supply
is connected and disconnected from the circuits via the ON/OFF power switch.
X-Y Stage Connector
This DB-25 connector is used to connect the MS-2000 to the X/Y stage via a four-foot cable.
Z-Axis Connector
This DB-15 connector is used to connect the MS-2000 to the Z-Axis drive assembly via a
four-foot cable.
Linear Encoder Connectors
X ,Y & Z linear encoder connectors are located on the back panel. Heidenhain encoders utilize
labeled DB-15F connectors. If the encoders are cross connected, the affected axes will behave
erratically.
BNC Connectors
Two BNC connectors are provided, labeled IN and OUT. The connectors are wired to the
internal board connector SV1. The IN connector is usually wired to IN0, the buffered TTL input
channel. On piezo Z-axis systems, the OUT connector is connected to the analog DAC output
that is used for control of the piezo system. On non-piezo systems, the OUT connector is usually
wired to OUT0, the buffered TTL output channel.
Reset Button
The reset button causes a hardware-level reboot of the microprocessor, which re-initializes the
MS-2000 system.
10
Dip-Switches
The Dip-Switches allow the user to modify the configuration of the MS-2000’s input and output
devices. Switches 1-2 select the LCD screen options. Switches 4 and 5 set up the serial baud
rate for the RS-232 and USB interfaces. Switches 3 & 6 select between linear and rotary
encoders for the XY and Z axes, respectively. Switches 7-8 adjust the deflection of the joystick.
The controller must be reset for most new DIP switch settings to take effect.
Dip Switch Settings
1
SWITCH
2
3
4
5
6
7
8
DOWN
LCD Show Actual
Position Only (normal)
UP
Displays Position
Actual > Target
DIP SW 2
LCD 4th line:
Firmware Version
LCD 4th line:
config / status / clock
DIP SW 3
XY Linear Encoder
XY Rotary Encoder
DIP SW 4
Baud Rate Selector – see chart below
Reset controller after
changing switch
Z Linear Encoder
Z Rotary Encoder
Reset controller after
changing switch
Joystick Y deflection
Reversed
Joystick X deflection
Reversed
Joystick Y deflection
Normal
Joystick X deflection
Normal
Reset controller after
changing switch
Switch 4
Switch 5
Baud Rate
UP
UP
9600
UP
DOWN
19200
DOWN
UP
28800
DOWN
DOWN
115200
DIP SW 1
DIP SW 5
DIP SW 6
DIP SW 7
DIP SW 8
COMMENT
4th line format
depends on specific
firmware build
Reset controller after
changing switch
11
Special Functions and Features
Several special features have been incorporated into the stage control firmware beginning with
version 6.0a. Several of these functions are standard on every controller, others are only
supported with special hardware modifications or options; each are discussed in turn.
Configuration Flags
Beginning with firmware version 8.0, a set of configuration flags are read upon startup which
determines the axis profiles for standard build firmware. These flags determine whether linear or
rotary encoders are to be used, and the type of motor / lead screw combination used for the
various axes. The configuration flags may be changed using the “CCA X” commands or by
switching the encoder DIP switches. When a configuration flag is changed for an axis, new
default parameter settings are used for that axis. On most controllers the “CCA X?” command
will show the existing configuration and show the other configurations available in the firmware.
Build Configuration
Users often request special features for their systems. Often there are special firmware modules
that are included to provide custom functionality. The BUILD X [BU X] command lists the
firmware basic build flavor and all of the special firmware modules that are included in the
controller. The following list describes some of these modules that may be present in your
controller.
LL COMMANDS *
Low Level Command set is included
RING BUFFER *
Internal 50 position Ring Buffer is supported
SEARCH INDEX *
Supports ability to search for the index on linear encoders
TRACKING
Firmware module to support PhotoTrack system
AUTOFOCUS
Video autofocus scanning firmware module
SCAN MODULE
Supports 1-d and 2-d programmable scan patterns.
ARRAY MODULE
Firmware module for x,y moves in array pattern.
SPEED TRUTH
Query on SPEED command returns internal calculated speed used.
CRIFF
Firmware for the CRIFF focus system.
DAC OUT
WRDAC command sends specified voltage to SV1-Pin 5.
PREPULSE
Module to add predictive TTL output trigger pulse
PEDALS
Support for foot pedals to control Z-axis and Zoom systems
MULTIAXIS MOVES
Supports circular and spiral moves directly from the controller
CLOCKED POSITIONS
Supports motorized objective turrets, filter turrets & filter wheels
TTL_REPORT_INT
TTL IN0 used for interrupt-driven encoder position reporting
ENC_INT
Interrupt line is used for encoder pulse counting with the SCAN
MODULE
12
IN0_INT *
TTL IN0 used for a variety of interrupt driven functions selected
using the TTL command.
* These modules are often included in standard builds.
If you see something you want but don’t have, contact ASI.
Power Down Coordinate Save
Beginning with firmware version 8.1, powering down the MS-2000 controller will automatically
cause the current positions to be saved to non-volatile memory so they can be restored upon
startup. The shutdown procedure watches for power failure and immediately turns off the motor
drivers before saving the position coordinates. Any power interruption will shut down operation.
The user can always reset the stage coordinate origin using the ZERO button, however the actual
position of the preset firmware limits remain unchanged with this operation. To reset the
controller with default firmware limits and with zero stage coordinates, press the RESET button
on the back of the controller. With the RESET operation, the current stage position will be lost.
Upon loss of power, the controller will send the character ‘O’ out the serial port. After
successfully saving positions, the controller will send the character ‘K’.
Save Settings to Non-Volatile Memory
The MS-2000 controller allows the user to customize various parameter settings and then save
the settings to non-volatile memory to be used on subsequent power-ups. The controller is
shipped with general purpose default setting suitable for most users. The user can always return
to the default settings unsuitable parameters are saved. See the SAVESET command in the
Programming section of the manual.
Post-Move Control Options
The behavior of the stage and controller at the completion of a move can be controlled with
several programmable parameters. The best method can depend upon the particular application,
the thermal and vibration environment, whether linear encoders are used, speed required, etc.
The various options are set using the MAINTAIN [MA] command codes for each axis. The
Finish Error and Drift Error tolerances are set with the PCROS [PC] and ERROR [E] commands
respectively. The WAIT [WT] command can be used to enter a PAUSE state or control the
motor drivers following a move. The table below shows how the various command options can
be used.
MAINTAIN
code [MA]
0
Description
Default – HYSTERESIS Motor
and servo turns off when position
error is less than the Finish
Error. Motor turns on again
when error is more than the Drift
Error. Drift-out and re-correct
can occur 18 times per 0.5 sec.
before fatal position error is set
Axis STATUS changes
Consequence of
at end of move
setting a WAIT time
[WT]
NOT BUSY
BUSY
PAUSE state is
ε> Drift
ε< Finish
Error [PC]
Error [E] entered at end of
move trajectory.
BUSY state is not
LCD shows LCD
cleared until the
shows
‘B’ until ε<
WAIT expires.
Finish Error ‘M’
13
1
2
3
and motion is halted.
UNLIMITED_TRIES: Like
HYSTERESOUS above, but drift
and re-correction can occur
indefinitely without error.
SERVOS_ON: Servo remains
active and correcting errors until
HALT command is received.
Leaving the servos on
indefinitely will cause the
controller to run warm.
SERVOS_WAIT: Servo remains
active and correcting errors for
the time set by the WAIT
command following the move
completion.
ε< Finish
Error [PC]
Same as above.
ε> Drift
Error [E]
ε< Finish
Error [PC]
Same as above
Never
ε< Finish
Error [PC]
Never
Motor driver and
servo remain active
for the WAIT time
following
completion of the
move – then turn off.
ε is the final position error
Leaving the servos on can improve the positioning, especially on some linear encoded stages,
and especially when a second axis remains in motion after one axis has finished moving.
Turning the drivers off and using error threshold hysteresis means that most of the time there is
no power applied to the motors so they cannot move. This is also the most power efficient mode.
Multi-Point Save/Move
Often there is a need to mark several positions to later revisit. The MS-2000 controller has a
ring-buffer with up to 50 locations that the user can load with position information and then visit
sequentially. The current stage position can be saved to the buffer by depressing the button on
top of the joystick and holding it for longer than one second. (A short tap of the button toggles
the joystick speed) You can move to the next position of interest and again save the position in
the buffer by holding down the joystick button. Continue this procedure to save all positions of
interest.
Save locations can be revisited by pressing the @ button briefly. Each press of the @ button
advances to the next position. When you reach the last position, the next press of the @ button
will take you back to the first position.
Holding the HOME button down for longer than one second will clear all the stored positions in
the ring buffer.
The ring buffer may be preloaded with values via the serial command LOAD. Serial commands
can also be used to advance to the next position as well as to control which axes will be affected
by the move commands. See LOAD, RBMODE, and TTL commands in the Programming
section of this manual. Contact ASI for details.
Constant Velocity Moves – (with firmware Version 8.1+)
The MS-2000 controller now uses a full closed-loop trajectory-driven algorithm for all
commanded moves. This means that the move velocity is controlled as part of the digital
feedback loop. Many users need to have high precision slow speed control. The MS-2000 now
14
provides the smoothest control possible in a motorized stage. To achieve this unsurpassed
control, we have had to impose some small restrictions in terms of the acceptable velocity
values. The controller has a minimum controlled speed of one encoder count per sixteen servo
cycles. The table below shows the slowest controlled speed for various stage configurations:
6.35 mm Pitch
Lead-screw
Stage
1.59 mm Pitch
Lead-screw
Stage
Linear Encoder
equipped Stage
XY Stage:
2 ms servo loop
0.69 μm/sec
0.17 μm/sec
0.63 μm/sec
XYZ Stage:
3 ms servo loop
0.46 μm/sec
0.12 μm/sec
0.42 μm/sec
The controlled stage speed must be an integer-multiple of the minimum speed. For example, an
XYZ stage with 6.35 mm pitch lead-screw could be programmed to move 0.46 μm/s, 0.92 μm/s,
1.38 μm/s, etc., but not values between the integer-multiple of the slowest speed. Be aware that
at the very slowest speeds, the condition and cleanliness of the stage, and the calibration of the
analog stage driver circuitry can have a dramatic effect on the smoothness of operation. Please
request tech note TN120 Slow Speed Considerations for further information.
TTL Controlled I/O Functions
Buffered TTL input (IN0) and output (OUT0) are available on internal connector SV1 pins 1 & 2
respectively. These lines may be connected to the IN and OUT BNC connectors on the
MS-2000 back panel. The TTL command allows the user to select which functions are active
for the IN0 and OUT0 lines. Various functions supported by the TTL command include:
• Triggered moves or Z-stack acquisitions
• Triggered asynchronous serial stage position reporting
• Output pulses upon move completion
• Output gated during constant speed motion.
The TTL input functions require the IN0_INT firmware module. The output functions are
available in all builds.
Automated 1-D or 2-D Scanning
Systems the with SCAN_MODULE firmware addition have some special commands that make
raster scanning very easy and well controlled. With the SCAN, SCANR, and SCANV
commands, you can define a raster area and the number of raster lines. The stage will scan each
line at constant speed, followed by rapid retrace. Hardware line sync signals available on SV1
pin 7 for the X or Y axis, as selected by internal jumper JP1 (1&2 X-axis; 2&3 Y-axis). With the
ENC_INT firmware module encoder transitions can be counted to provide a “pixel” clock for an
external recording device.
15
Synchronous Encoder Reporting
The TTL_REPORT_INT firmware module allow for external TTL synchronized position
reporting. The position reports are sent to the auxiliary serial port on the MS-2000-WK in a
binary format so that rapid, low jitter position reporting is possible for real-time positioning
tasks. Contact ASI for details.
Tracking Features
ASI’s PhotoTrack system uses the TRACKING firmware module along with hardware available
from ASI that allows the stage to latch on and track spots of fluorescent illumination from
labeled organisms. A quadrant PMT is used to provide sensitive and rapid position feed back
information from the illuminated target. Contact ASI for details.
Safety, Diagnostic and Alignment Features
Motor-driver current-limits prevent the motors from fully powering into hard stops. In addition,
the MS-2000 controller is constantly monitoring the positions of the motors under its control.
Situations that may result in run-away conditions (such as reversed polarity motors or encoders),
or situations where the motor is not able to follow the desired move trajectory (e.g., when
mechanical interference limits the motion), cause the controller to detect an error condition. The
motors are immediately turned off and the offending axis is disabled. If this happens, a ‘D’
character is displayed as the status indicator on the LCD display. The user should correct the
problem and then reset the controller to regain control of the disabled axis.
Controllers using firmware Version 6.0 and newer utilize a motor driver circuit where all analog
circuit alignment is done either automatically in firmware, or via serial commands. The user
need not open the case to adjust the drive-circuit feedback and zeroing levels.
The firmware also keeps track of any internal error conditions that may arise during operation
and saves the last 255 error codes in a buffer that may be read out for diagnostic purposes (see
the serial DUMP command). The controller also has a built-in “move buffer” that holds move
dynamic information for up to 200 servo cycles. The user may utilize this buffer to attempt
advanced tuning of the controller for special applications or extremely fast or slow moves.
Please see the section MS-2000 Optimal Alignment Procedures for a full discussion of these
issues.
Clocked Devices
The MS-2000 controller supports clocked rotational devices, such as motorized objective
nosepiece turrets, filter cube turrets, and filter wheels. These devices move to discrete clocked
positions. Manual control is usually via the @ button to advance to the next position. The serial
MOVE command is used to move the devices to a specific integer-value clocked position. The
current position is reported using the WHERE command.
16
Default Settings, Saved Parameters, Configuration Flags, Limits and Positions
The controller keeps track of several sets of flags, parameters and other saved configuration
variables. It is important to understand how changing some of these parameters affect the other
sets. The parameter sets are discussed below, starting with the most permanent settings and
continuing to the least permanent settings.
Motor Driver Alignment Parameters
The motor driver alignment parameters are set with the AA and AZ commands. These
commands set nonvolatile digital potentiometers located in the driver circuitry. These settings
are independent of the other parameters settings and are immediately saved on the digital pots
themselves.
Configuration Flags
The configuration flags are set with the “CCA X=n” command, and by the position of DIP
Switches #3 and #6 (the DIP switches change between linear and rotary mode for the XY stage
and Z-axis drive respectively). The configuration flags allow the loaded firmware to work with a
variety of specific hardware configurations. Specific lead screw pitch, linear encoder resolution,
encoder type, and piezo Z-axis range are some examples of the configurations settings that can
be changed. (See the CCA command for details). The configuration flags are usually only
changed when the controller is first set up for a particular set of hardware, when new firmware is
loaded using the ASI Updater, or when changing between linear and rotary encoder for the stage.
When a configuration flag is changed, it is immediately saved in nonvolatile memory; the
controller must be restarted for the new configuration to be implemented. Whenever any
configuration flag is changed, the controller restores any Saved Parameter settings back to the
Factory Defaults settings.
Saved Parameters
There are many operating parameters that can be changed in the controller. These include such
things as error tolerances (E and PC commands), speed and acceleration times (S and AC
commands), servo parameters settings (KP, KI, and KD commands), and many others. All of
these operating parameters have Factory Default settings that have been determined to be
appropriate for most typical situations. A user may find that a change to some parameter value
will improve the performance of the system for their application. When parameter values are
changed using a serial command, the new parameter immediately becomes active in the
controller. Third party software vendors can change parameter settings “on the fly” using their
software and the changes will remain active as long as the controller remains powered on and not
RESET. Parameter changes can be made persistent using the “SS Z” command, which saves all
parameter settings to nonvolatile flash memory. Users wishing to make a one-time permanent
change to a parameter setting can use a terminal program to communicate with the controller,
make the parameter change, and then make the change persistent with the “SS Z” command.
The new parameters will be used on subsequent power down/up or controller RESET. The user
can restore the Factory Default parameter settings any time using the serial command “SS X”.
17
Saved Stage Positions, Limit and Home Positions
The controller watches the power line voltage so that it can detect when the controller is being
turned off. There is sufficient stored charge in the controller’s power supply to allow the
controller to save the stage position and a few other variables as power is being shut down. The
variables that are saved are the Stage Axis positions, the programmable Upper and Lower limit
locations, and the Home location all expressed in the current coordinated reference system.
When power is restored, the controller loads the saved information into its working memory and
clears the data from the Saved Position nonvolatile memory locations to ready those storage
locations for when power is again shut off. If the controller is RESET (without turning off the
power) current locations are NOT saved, and the controller will come up with axis positions at
zero and default Limit and Home positions; the Saved Position information will be lost.
18
Internal I/O connector details
Special user requirements often require custom external wiring. The MS-2000-WK controller
has an internal board connector with several I/O lines that are often wired to the external BNC
connectors for user connections. There may be occasions where the functions required are not
wired to external connectors. The table below shows the connector wiring and the firmware
modules that are required to take advantage of the I/O functions. The BU X command will list
which modules are present in the loaded firmware. On most controllers the IN BNC is
connected to TTL IN0.
EXT I/O – SV1
PIN DESCRIPTION
1
TTL IN0
2
TTL OUT0
3
4
GND
TTL IN0 - OUT
5
PZ-DAC OUT
6
TTL IN1
7
SCAN SYNC
FUNCTION
FIRMWARE Modules
INPUT –TTL input w/ IN0_INT used for external TTL triggered
processor interrupt
tasks – see TTL command for specific
functions.
(Usually wired to the
ENC_INT use to count encoder pulses
IN BNC)
(selected with JP2) in conjunction with
SCAN firmware.
TTL_REPORT_INT used for triggered
position reporting.
TTL OUTPUT –
All builds – see TTL command for specific
functions.
(Usually wire to the
OUT BNC on systems
without PIEZO)
Ground for all I/O
OUTPUT – IN0
Can be used as buffered encoder pulses
buffered and inverted OUTPUT with ENC_INT.
ANALOG OUTPUT
On systems with a PIEZO axis this is the
from 16 bit DAC
control voltage.
(Wire to OUT BNC on DAC_OUT with WRDAC command,
PIEZO systems)
provides external analog output.
INPUT – Auxiliary
TTL input
OUTPUT for SCAN
SCAN MODULE - selects sync source from
MODULE SYNC pulse JP1 to clock the sync flip-flop.
Internal Jumper JP1 selects the encoder flag signal that is used for the SYNC flip-flop. JP1 1-2
selects the X-axis; JP1 2-3 selects the Y-axis.
Internal Jumper JP2 selects the encoder signals that are counted during scanning. JP2 1-2 selects
the X-axis; JP2 2-3 selects the Y-axis.
Please contact ASI if you need assistance configuring the controller for special functions.
19
Electrical Characteristics
External Modular Power Supply
AC Input:
100-240 VAC, 50/60 Hz,
0.8 A Standard Supply
1.5 A High-Current Supply Option
DC Output:
+24 VDC,
1.25 A Standard Supply
2.5 A High-Current Supply Option
Fuse:
1 Amp
2 Amp
Standard Supply
High-Current Supply
Indoor use only
WARNINGS
1. Ensure power switch is in the OFF position before plugging in the power cord.
2. Do not unplug or plug-in devices / cables when power is on.
3. Do not remove the cover; no user serviceable parts are inside.
4. For indoor use only.
5. Keep clear of moving equipment. ASI Stages have current limits on the motors to
prevent excessive traveler force from doing permanent bodily harm, but pinches can still
be painful.
6. Protection provided by the equipment may be impaired if the equipment is used in a
manner not specified by ASI.
7. In the event of device failure, contact ASI: (541) 461-8181
(800) 706-2284
International: 011-541-461-8181
20
Back Panel Connector Pin-outs
21
X-Y Stage DB-25F Connector
PIN
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
SIGNAL
X Mot X GND
X Enc Ch A
Y Mot Y GND
Y Enc Ch A
N.C.
N.C.
N.C.
X Lim U
+5V
Y Lim U
+5V
X Mot +
+5V
X Enc Ch B
Y Mot +
+5V
Y Enc Ch B
N.C.
N.C.
X Lim L
GND
Y Lim L
GND
INFORMATION
X Motor X Encoder Ground
X Encoder Channel A
Y Motor Y Encoder Ground
Y Encoder Channel A
Not Connected
Not Connected
Not Connected
X Upper Limit
+5V (X-limits)
Y Upper Limit
+5V (Y-limits)
X Motor +
+5V (X-encoder)
X Encoder Channel B
Y Motor +
+5V (Y-encoder)
Y Encoder Channel B
Not Connected
Not Connected
X Lower Limit
Ground (X-limits)
Y Lower Limit
Ground (Y-limits)
Z-Axis Drive & Optional F-Axis
DB-15M Connector
PIN
1
2
3
4
5
6
7
8
9
10
11
12
13
14
SIGNAL
F Enc Ch B
Z Lim L
F Lim L
F Mot Z Enc Ch B
GND
CLTCH
Z Mot +
F Enc Ch A
Z Lim U
F Lim U
F Mot +
Z Enc Ch A
+5V
INFORMATION
F Encoder Channel B
Z Lower Limit
F Lower Limit
F Motor Z Encoder Channel B
Ground
Clutch (+24V)
Z Motor +
F Encoder Channel A
Z Upper Limit
F Upper Limit
F Motor +
Z Encoder Channel A
+5V
22
15
Z Mot -
Z Motor -
RS-232 Serial In DB-9F Connector
PIN
2
3
5
1,4,6-9
SIGNAL
R In
T Out
GND
N.C.
INFORMATION
Receive
Transmit
Signal Ground
Not Connected
RS-232 Serial Out DB-9M Connector
PIN
2
3
5
1,4,6-9
SIGNAL
T Out
R In
GND
N.C.
INFORMATION
Transmit
Receive
Signal Ground
Not Connected
Circular Power Connector
PIN
1
SIGNAL
+24V
2
3
GND C
GND S
INFORMATION
+24V Power From
Modular Supply.
Case Ground
Supply Ground
USB Connector
PIN
1
2
3
4
SIGNAL
VBUS
D+
DGND
INFORMATION
USB VBUS
Data +
Data Ground
XY Axis Linear Encoder (optional)
DB-9M Connector
PIN
1
2
3
4
5
6
SIGNAL
X Enc Ch A
X Enc Ch B
GND
N.C.
+5V
N.C.
INFORMATION
X Encoder Channel A
X Encoder Channel B
Signal Ground
Not Connected
+5V Power
Not Connected
7
8
9
Y Enc Ch A
Y Enc Ch B
N.C.
Y Encoder Channel A
Y Encoder Channel B
Not Connected
Z Axis Linear Encoder (optional)
DB-15F Connector
PIN
1
2
3
4
5-15
SIGNAL
Z Enc Ch
A
GND
Z Enc Ch
B
+5V
N.C.
INFORMATION
Z Encoder Channel A
Signal Ground
Z Encoder Channel B
+5V Power
Not Connected
IN BNC (optional)
PIN
Center
SIGNAL
TTL IN
Outer
GND
INFORMATION
VIH > 3.2V
VIL < 1.3V
Signal Ground
OUT BNC (optional - TTL)
PIN
Center
SIGNAL
TTL OUT
Outer
GND
INFORMATION
VOH > 4.4V
VOL < 0.1V
IO Max: ±50mA
Signal Ground
OUT BNC (optional - Analog)
PIN
Center
Outer
SIGNAL
Analog
OUT
GND
INFORMATION
0-10 VDC
IO Max: ±3mA
Signal Ground
PROGRAMMING
The following section describes the RS-232 serial command set that the MFC-2000 and
MS-2000 controllers use when communicating with a host computer. Please note that the
commands shown here include the XY stage command set. The XY related commands DO
NOT apply to the MFC-2000 unit. If you don’t need to know everything, just use the quick
reference below to get started. Details of each command, including examples, follow.
Quick Reference – Main Operating Commands
<del> or <bs>
Command
CDATE
HALT
HERE
HOME
INFO
MOTCTRL
MOVE
MOVREL
RDSBYTE
RDSTAT
RESET
SPEED
SPIN
STATUS
UNITS
WHERE
ZERO
- Abort current command and flush input buffer
Shortcut
CD
\
H
!
I
MC
M
R
RB
RS
~
S
@
/
UN
W
Z
Description
Returns Date/Time current firmware was compiled
Halts all serial commands being executed
Writes a position to an axis position buffer
Tells stage to go to physical limit switches
Returns a screen full of information about the axis
Enables/Disables motor control for axis
Writes a position to an axis target buffer
Writes a relative position to target buffer
Returns a Status Information byte for an axis
Same as RDSBYTE, in decimal ASCII format.
Resets the MFC-2000 and MS-2000 controller
Sets the maximum velocity/speed of axis
Causes axis to spin motor at given DAC rate
Returns B-Busy, N-Not Busy
Toggles LCD units – mm or in – when DIP switch 2 is down
Returns current position
Sets all axes to zero/set position to origin
Quick Reference – Customization Commands
These commands support setup parameters. In most cases, these commands would be used only
once after the unit is powered up.
Command
ACCEL
BACKLASH
BENABLE
ERROR
Shortcut
AC
B
BE
E
JOYSTICK
JSSPD
MAINTAIN
PCROS
J
JS
MA
PC
SAVESET
SETLOW
SETUP
SS Z
SL
SH
Description
Changes/Displays ramp time in milliseconds
Changes axis backlash correction motion constant
Enables/Disables buttons
Changes/ Displays max position error allowable before the
controller will start re-correcting position.
Enables/Disables/Assigns manual control input for an axis
Sets/Displays % Max speed for joystick ranges
Makes axis hold its position indefinitely.
Changes/Displays position error at which controller considers a
move to be complete
Saves current set-up parameters to FLASH memory.
Sets/Displays lower firmware limit switch for an axis
Sets/Displays upper firmware limit switch for an axis
25
RS-232 Communication
The MFC-2000 and MS-2000 utilize an RS-232 serial link to connect with any computer with an
RS-232 serial port in order to utilize all of the controller’s abilities. The current setup for the
serial link is: 9600 baud, no parity, eight data bits, one stop bit, and no flow control (9600: 8 : N
: 1 : None). This serial control feature can be accessed through terminal programs such as Telix,
ProComm, and HyperTerminal. The MFC-2000 and MS-2000 command set mimics Ludl’s
command set, so that software written with drivers for Ludl stages should be able to run an
MFC-2000 focus controller and MS-2000 stage without modification1. The MFC-2000 and
MS-2000 also have an abbreviated version of the commands that helps cut down on typing time
and serial bus traffic.
Format
The MFC-2000 and MS-2000 control instruction set is implemented using the following format:
COMMAND X=?????? Y=?????? Z=?????? <Carriage Return>
The COMMAND is a string of ASCII characters such as MOVE or HOME, which must be
followed by a space. All commands are case-insensitive.
Next are the axis parameters. (Bracketed “[ ]” parameters are optional.) The axis name is given,
followed immediately by an equal sign and the axis parameter value. Each axis must be
separated from the one before by one blank space. One or more axes may be specified on a
single command line. An axis symbol typed without an “=“ assignment is assumed to mean
“=0”, or the command format may not require a parameter value (e.g., INFO X). Commands
will accept integer or decimal numbers. Internal truncation or rounding will occur if fractional
decimals are of no meaning to the command.
Standard Axis Names: X and Y are stage controls, Z is focus control, F is a special axis and is
used for zoom, rotary, or Piezo-Focus control when there is a standard Z/Focus control drive in
use, potentially giving the user two separate focus controls. On four-axis systems, the fourth axis
may be named F, T, or M depending on the application. Axis names are shown on the LCD.
Valid Examples:
(Typed commands are in THIS TYPEFACE; computer replies are in THIS TYPEFACE.)
MOVE X=1234
MOVE X=1234 Z=1234.5
MOVE X=1234 Y=1234 Z=1234
MOVE X Y Z
(This is evaluated as MOVE X=0 Y=0 Z=0)
All commands are completed with a Carriage Return (ASCII hex code: 0D). The MFC-2000 and
MS-2000 controllers receive ASCII characters one at a time and place them into their memory
buffer. With the exception of single hex code commands like the tilde (~), the controller will not
process a command in the memory buffer until the Carriage Return (<CR>) has been received.2
Unlike the Ludl command set, the MS-2000 and MFC-2000 controllers do not repeat the last command when a <CR> is received
1
without a command. The MS-2000 and MFC-2000 do not use Modul or Point Id’s. Valid axis labels are dependent on the controller. An axis
parameter without an assignment (=) is assumed to be an assignment of zero, unlike the Ludl command set which returns the current setting.
2
ASI’s Control Character Bracketed Command Set, e.g., <Ctrl G><Ctrl H>, cause the memory command buffer to be emptied. This
allows the daisy-chaining of other peripherals, such as ASI’s SC-2 shutter controller, on the RS-232 line without causing unrecognized command
26
Reply
Upon receiving a Carriage Return <CR>, the MFC-2000 and MS-2000 will process the
command stored in its command buffer, clear the command buffer, and return a reply.
When a command is recognized, the MFC-2000 and MS-2000 send back a colon ‘:’ (hex code:
3A) to show that it is processing the command. When processing of the command is complete,
an answer is returned with any requested information, typically beginning with the letter A. In
some cases, the answer part of the reply is delayed until the completion of the command. The
reply is terminated by a carriage return and a linefeed character (<CR><LF>). In the examples
below, the <CR> and <CR> <LF> are implied.
Examples:
MOVE X
:A
WHERE X
:A 0
MOVE X=4 Y=3 Z=1.5
:A
WHERE X Y Z
:A 4 3 1.5
Error Codes
When a command is received that the MFC-2000 and MS-2000 cannot interpret, for one reason
or another, an error message is returned in the following format:
:N<error code>
The error codes are as follows:
-1
Unknown Command
-2
Unrecognized Axis Parameter (valid axes are dependent on the controller)
-3
Missing parameters (command received requires an axis parameter such as x=1234)
-4
Parameter Out of Range
-5
Operation failed
-6
Undefined Error (command is incorrect, but for none of the above reasons)
-7..20 Reserved for filterwheel.
-21 Serial Command halted by the HALT command
-30-39 Reserved
WARNING: When using the MS-2000’s RS232 OUT port to daisy-chain to another device, be aware that the MS-2000 will
monitor all serial communications, responding with a :N-1 error for foreign commands when a <CR> is received. This can be
avoided by using “Control Command” or “Control Command Bracketed” command sets. Any Control Commands (see ASCII
chars 0 - 26) will cause the MS-2000 to delete all characters received in its input buffer, thus avoiding error responses.
Query of Parameters
Most commands used to set parameter values can be queried for the current values using the
question-mark syntax:
errors to be reported back by the MS-2000 and MFC-2000.
27
CMND X? Y? Z? F?
The controller will respond with CMND’s current settings, e.g.
:A X=0 Y=1 Z=10 F=2
This feature is most useful when using a terminal program to change controller parameters to
verify that you have made the changes that you think you did, or to check present settings.
MFC-2000 and MS-2000 Command Set
Command: ACCEL
Shortcut:
AC
Format:
ACCEL [X=time] [Y= time] [Z= time]
Function:
This command sets the amount of time in milliseconds that it takes an axis motor
speed to go from the start velocity to the maximum velocity and then back down
again at the end of the move. At a minimum, this acceleration / deceleration time
must be greater than t_step (the amount of time it takes for the controller to go
through one loop of its main execution code. Use the INFO command to
determine the t_step).
Example:
AC X=50 Y=50 Z=50
:A
AC X? Y? Z?
:X=50 Y=50 Z=50 A
The command in this example will make the controller take 50 milliseconds to
accelerate the motors on each axis during a move command. When the controller
gets within 50 milliseconds of finishing the move, it will begin to decelerate the
motors back down to the start velocity where the pulses take over to bring the
axes within the pulse crossover position error.
28
Command: AALIGN
Shortcut:
AA
Format:
AALIGN X [Y] [Z]
AALIGN X=n [Y=n] [Z=n]
AALIGN X? Y? Z?
Function:
Performs self-calibration of axis motor drive circuit. With just the axis name as
the argument, automatic alignment is initiated. If a value n is specified, the value
is written directly into the axis potentiometer. WARNING – The stage will move
during the AALIGN command.
Example:
AA X? Y? Z?
Queries the current AA parameters.
:A X=83 Y=78 Z=59
Sets the X axis potentiometer to 85.
AA X=85
:A
Command: AFCONT (Requires Autofocus Hardware - See Autofocus Manual)
Command: AFLIM (Requires Autofocus Hardware - See Autofocus Manual)
Command: AFOCUS (Requires Autofocus Hardware - See Autofocus Manual)
Command: AFSET
(Requires Autofocus Hardware - See Autofocus Manual)
Command: AFMOVE (Requires Autofocus Hardware - See Autofocus Manual)
Command: AHOME
(ARRAY firmware module required, Version 8.7+)
Shortcut:
AH
Format:
AH [X=x0] [Y=y0]
Function:
Used with the ARRAY command to set the coordinate location of the first array
position, (1,1). Without arguments, the command set the current location to the
(1,1) location. Otherwise, x0 and y0 are the coordinates expressed in millimeters.
Command: AIJ
(ARRAY firmware module required, Version 8.7+)
Shortcut:
IJ
Format:
Function:
AIJ [X=i] [Y=j]
Used with the ARRAY command to move to array location (i,j), where i and j are
the indices of the desired array location. The AHOME location is position (1,1).
Command: ARRAY
(ARRAY firmware module required, Version 8.7+)
29
Shortcut:
AR
Format:
AR [X=Nx] [Y=Ny] [Z=Δx] [F=Δy]
Function:
The ARRAY command sets up a grid of points that can be traversed
automatically with simple TTL control or with the RBMODE or AIJ commands.
The size of the array is Nx by Ny points, with points spaced apart distance Δx and
Δy. The location of the first point in the array is set with the AHOME command.
Without arguments, the AR command starts self-scanning of the array. When the
stage arrives on target, it will delay for a period of time set by the command RT
Z=time_delay before continuing on to the next position.
Command: AZERO
Shortcut:
AZ
Format:
AZERO [X] [Y] [Z]
Function:
Automatically adjusts the zero balance of the motor drive card.
Command: BACKLASH
Shortcut:
B
Format:
BACKLASH [X= distance] [Y= distance] [Z= distance]
Function:
This command sets (or displays) the amount of distance in millimeters to travel to
absorb the backlash in the axis' gearing. This backlash value works with an antibacklash routine built into the controller. The routine ensures that the controller
always approaches the final target from the same direction. A value of zero (0)
disables the anti-backlash algorithm for that axis.
Example:
B X=.05 Y=.05 Z=0
:A
The command in this example will make the controller move the X and Y axes to
a location 50 microns away from the final target before moving to the final target,
while the anti-backlash algorithm for the Z axis is disabled.
30
Command: BCUSTOM
(Version 9.1+)
Shortcut:
BCA
Format:
BCA [[email protected] Normal Press] [Y = @ Long Press] [ Z= @ Extra Long Press] [F=
Home Long Press] [T= Home Extra Long Press]
Function:
Several MS-2000 modules have functions associated with @ and Home button
presses on the controller. When two or more of these modules are installed in a
system, they contest for the button functions. The BCUSTOM command lets the
user reconfigure the button function in the field as per their convenience.
Example:
The Autofocus system has the following button functionality
On normal @ button press Do Autofocus
On long Home button press Do Auto Calibration
And for RING BUFFER
On normal @ button press Do move to next RING BUFFER position
On long @ button press Do load current position into RING BUFFER
When these modules are shipped together the action that results from a normal @
button press is contested. Using the BCA command this can be resolved.
BCA X? Y? Z? F? T? when issued , will return
X=1 Y=1 Z=1 F=1
7: AT_RING_BUFFER
9: AT_AFOCUS
‘1’ indicates that the current configuration is set at the factory. And the number &
and 9 are symbols for Ring Buffer and Auto Focus respectively. So if the factory
picked RING BUFFER to have button functionality, then all the places where
there is a contest RING BUFFER function has priority over AUTOFOCUS. So
On normal @ button press Do move to next RING BUFFER position
On long @ button press Do load current position into RING BUFFER
But on long Home button press Do Auto Calibration, as it wasn’t contested by
RING BUFFER
So if you wanted normal @ button press to do autofocus instead of RING
BUFFER function, you would set it by issuing the
31
BCA X=9 serial command
Now its
On normal @ button press Do Autofocus
On long @ button press Do load current position into RING BUFFER
On long Home button press Do Auto Calibration
If you set BCA Y=9, long @ button press will NOT do load current position into
RING BUFFER. As this function was given to autofocus , but autofocus doesn’t
have a action for long @ button press, so this will cause the controller not to act
on long @ button presses.
The settings of BCUSTOM are automatically saved in non-volatile memory when
changed, they will be available even on controller restart.
List of Modules and there symbols
Symbol
Module
2
Smart Move
3
Toggle Switches
4
PhotoTrack, Focal Pt and Laser Track
5
Filter Wheel and other Clocked position actuators
6
Array Module
7
Ring Buffer
8
Scan Module
9
Auto Focus
10
CRISP and CRIFF
11
XYZ Knob
12
XYZF Knob
13
ADEPT
14
RAMM load
15
Zoom
32
Command: BENABLE
Shortcut:
BE
Format:
BENABLE [X=Toggle] [Z=Enable_Byte]
Function:
Enables or disables button functions. Toggle=0 disables all buttons and pulses.
Toggle=1 enables all buttons and pulses (default settings). Specific buttons can
be enabled/disabled by explicitly setting the Enable_Byte. The bits are set to one
(1) when enabled or zero (0) when disabled, and are defined as follows:
Bit 0:
Bit 1:
Bit 2:
Bit 3:
Bit 4:
Bit 5:
Bit 6:
Bit 7:
“Zero” Button
“Home” Button
“@” Button
Joystick Button
Reserved
Zero button zeros Z axis only (Version 6.1z and later)
Reserved
Reserved
Command: BUILD
Shortcut:
BU
Format:
BUILD [X]
Function:
This command returns the firmware “Build” version. BU X shows various
configuration options and build-modules that are present in the firmware.
Example:
BU X
STD_XYZ
Motor Axes: X Y Z
CMDS: XYZFTR
BootLdr V:0
Hdwr REV.E
LL COMMANDS
RING BUFFER
SEARCH INDEX
IN0_INT
DAC OUT
shows that the firmware build was for a Standard XYZ system
shows axis names for motor axes
shows argument names pseudo-axis commands
shows version of boot-loader program
shows main-board hardware revision
list of optional firmware modules present
…
…
…
…
33
Command: CDATE
Shortcut:
CD
Format:
CDATE
Function:
This command returns the date and time the current firmware was compiled.
Example:
CD
Dec 19 2008:16:19:59
This example shows that the firmware running was compiled on December 19th
year 2008 at 4:19:59 PM.
Command: CNTS
Shortcut:
C
Format:
CNTS [X=nx] [Y=ny] [Z=nz] [F=nz]
Function:
Changes axis' encoder counts per mm. For example, doubling this number would
cause a given number of mm to be converted internally to twice as many encoder
counts as before. A command to move the stage 2 mm would instead cause it to
move 4 mm. MOST USERS DO NOT NEED THIS FUNCTION!
In version 7.4d and later, this parameter can be saved to non-volatile memory.
In version 7.4d and later, piezo movement is controlled by this parameter. For
piezo only, the formula for calculating this parameter is as follows:
Cnts = (6.5536 * 107) / d
where d is the total range of movement in microns. For example, if the range of
movement is -100um to +100um, then d = 200, and Cnts = 327680.
Note: In version 7.4d and later, for a piezo device, always set CNTS first, then
limits (SL and SU) afterward.
Example
C X=13490.4
:A
Changes the encoder constant on the X-axis to 13490.4 counts/mm. The default
values for this parameter are restored upon reset and should not require user
modification.
34
Command: CUSTOMA
Shortcut:
CCA, CA
Format:
CCA X=n
Function:
Configuration flags are set according to the table below for builds with
STNDRD_XY and/or STNDRD_Z axes profiles. Configuration flags are
changed one at a time for each execution of the CCA command. The changes will
not take effect until the controller is restarted. Issue the RESET command to
activate the new configuration.
version 8.0 + & LX-4000 only.
CCA X=
Description
Display
5
XY Leadscrew Coarse Pitch (6.35 mm - Standard)
B
6
XY Leadscrew Fine Pitch (1.59 mm)
A
7
XY Leadscrew Super Coarse (12.7 mm)
C
8
XY Leadscrew Ultra Fine (0.317 mm)
U
15
XY GTS Motor/Fine Pitch (1.59 mm)
a
16
XY GTS Motor/Coarse Pitch (6.35 mm)
b
17
XY GTS Motor/Super Coarse (12.7 mm)
c
18
XY Leadscrew Ultra Coarse (25.4 mm)
D
28
XY SISKIYOU Motor/Leadscrew
S
21
XY Linear Encoder 10 nm resolution
1
22
XY Linear Encoder 20 nm resolution
2
51
XY Linear Encoder 5nm resolution
K
Ver 9.1+
52
XY Linear Encoder 2.5nm resolution
L
Ver 9.1+
30
XY Limit Polarity – Normally Open
o
Firmware default
31
XY Limit Polarity – Normally Closed
c
9
Z Scope Drive 100 μm/rev. (50 nm enc. resolution)
N
10
Z Scope Drive 200 μm/rev. (50 nm enc. resolution)
Z
19
Z Scope Drive 100 μm/rev. (25 nm enc. resolution)
H
11
Z Leadscrew Coarse Pitch
B
12
Z Leadscrew Fine Pitch
A
13
Z Leadscrew Super Coarse Pitch
C
14
Z Leadscrew Ultra Fine Pitch
U
29
Z SISKIYOU Motor/Leadscrew
S
26
ZF Linear Encoder 10 nm resolution
1
Comment
Firmware default
Firmware default
Firmware default
Leadscrew devices only.
35
27
ZF Linear Encoder 20 nm resolution
2
LE resolution is 50nm
on scope drives.
32
ZF Limit Polarity – Normally Open
o
Firmware defautl
33
ZF Limit Polarity – Normally Closed
c
23
Piezo Range 100 μm
1
35
Piezo Range 150 μm
S
24
Piezo Range 200 μm
2
25
1
Piezo Range 350 μm
XY Linear Encoders Used
3
2
XY Rotary Encoders Used
3
Z Linear Encoders Used
4
Z Rotary Encoders Used
20
Reserved for LX-4000 LE Flag
Reserved for Tracer Enable
26
L
R
L
R
Firmware default
Use DIP SW 3
(See Note 1)
Use DIP SW 3
(See Note 1)
Use DIP SW 6
(See Note 1)
Use DIP SW 6
(See Note 1)
Note 1: Applies to LX-4000 systems only. On MS-2000 and MS-4000 systems, use DIP Switch #3 for XY linear
encoders and DIP Switch #6 for Z-axis linear encoders instead of this CCA setting.
Example:
CCA X=6
Sets to XY stage for 1.59mm pitch lead screws.
Query:
CCA X?
Returns string representing current state of flags
A: XY:RA Z:RN Shows XY stage is rotary encoded, lead screw pitch A (1.59mm)
and Z-drive is rotary encoded, 100μm/turn scope motor drive.
XY:F or Z:F indicate that the XY or Z settings are Fixed by the firmware build and
cannot be changed using the CCA command.
A listing of the valid CCA X configuration flags is displayed for firmware builds where
sufficient space is available.
Example:
A: XY:RB Z:RN PF:2
5
6
7
8
18
21
22
XY
XY
XY
XY
XY
XY
XY
B
A
C
0
D
1
2
PITCH 4/in
PITCH 16/in
PITCH 2/in
PITCH 80/in
PITCH 1/in
XYLE 10nm
XYLE 20nm
9 Z N SCOPE 100u/T
10 Z Z SCOPE 200u/T
11 Z B PITCH 4/in
36
12
13
14
19
Z
Z
Z
Z
A
C
U
H
PITCH
PITCH
PITCH
SCOPE
16/in
2/in
80/in
100u/T 25nm
23 P 1 100um RANGE
24 P 2 200um RANGE
25 P 3 350um RANGE
Format:
CCA Y=n
version 7.3a and later
Function:
Sets number of move repetitions. Default value is zero. That is, a MOVE
command causes the system to initiate one move to the given position. If n > 0, then the move
will be initiated more than once as a means to achieve fine adjustment and a more stable landing.
This parameter is saved in non-volatile memory by the SS Z command.
Example:
CCA Y=3
All moves will be initiated four times.
37
version 7.4d and later.
Format:
CCA Z = n
Function:
Sets system configuration flags according to following table for values for ,
1
X axis movement direction is positive (default). [+]
2
X axis movement direction is negative.
[-]
3
Y axis movement is positive (default)
[+]
Note: In the MS-4000, the default direction value for the Y axis is -1.
4
Y axis movement is negative.
[-]
5
Z axis movement is positive (default)
[+]
6
Z axis movement is negative.
[-]
7
F axis movement is positive.
[+]
8
F axis movement is negative.
[-]
9
Disengage clutch
[D]
10
Engage clutch
[E]
11
Disable LCD display
[F]
12
Enable LCD display
[O]
13
CLOCKED DEVICES take shortest path
[S]
14
“
take commanded path
[L]
Note: A few products have different axis names. When in doubt, call ASI.
Format:
CCA Z?
Function:
Transmits string of sign characters for all active axes, then clutch and display
status characters.
38
Command: CUSTOMB
Shortcut:
CCB
Format:
CCB [X][...] [Y][...] [Z][...]
Function:
Custom Command B, created by request as defined by ASI customers.
Documentation is supplied to the customer requesting the command. Format and
function vary.
Example:
CCB X
Command: DACK
Shortcut:
D
Format:
DACK [X=nx] [Y=ny] [Z=nz]
Function:
Sets motor speed control ratio, in mm/sec, of movement per DAC count. A DAC
count is a value change of one (1) in the 8-bit integer written to the motor speed
control register. MOST USERS DO NOT NEED THIS FUNCTION!
Example:
D X=.055
:A
Incrementing/decrementing the motor speed control register by one DAC count
increases/decreases X-axis stage speed by 0.055 mm/sec.
Command: DUMP
Shortcut:
DU
Format:
DUMP [X] [Y]
Function:
Dump internal buffers to terminal screen. DU, without arguments, dumps the
Trajectory Buffer. DU X clears Trajectory Bbuffer. DU Y dumps Error Buffer.
See the Error Codes for MS-2000 Diagnostics section below.
The MS-2000 controller has several built-in diagnostic capabilities that are useful
for troubleshooting difficulties and for tuning the servo motion parameters. It is
often useful to see how well the servo motion is tracking the theoretical trajectory.
The controller has a built-in buffer that can hold 200 move steps. For best results,
restrict testing to a single axis at a time; otherwise information from multiple axes
will be interleaved in the dump buffer. Any motion from any axis will write
information into the dump buffer until it is full.
Examples:
DU X
[Clears the dump buffers]
Then make a short move, e.g.: M X=12345
[Moves about 1.23 mm]
After the move is complete, you can dump the buffer to the screen:
DU
[Dumps Trajectory Buffer]
39
DU Y
Command: ENSYNC
[Dumps Error Buffer]
(Version 8.5+)
Shortcut:
ES
Format:
ENSYNC [X= position] [Y= position]
Functions:
This command lets the user set a position, in millimeters - absolute, which will
toggle a TTL output when the stage crosses that position. When ENSYNC is
issued, the TTL output is reset low. Whenever the stage crosses the ENSYNC
position, the output will toggle low to high and if crossed again, from high to low.
ENSYNC will only work with one axis at a time, either X or Y and depends on
how JP1 is jumped. (JP1-1&2 = X axis, JP1 – 2&3 = Y axis) The TTL output is
available on pin SV1-7.
Contact ASI for additional details on these
modifications. Warning—units of the position info is millimeters rather than
tenths of microns.
Command: EPOLARITY
Shortcut:
EP
Format:
EP X=value Y=value Z=value F=value
EP X? Y? Z? F?
Function:
Supported by version 8.0 and later. Values are -1 and 1. Adapts the firmware to
the counting direction of the motor encoders. This setting is normally set by ASI
and not changed.
40
Command: ERROR
Shortcut:
E
Format:
ERROR [X= position] [Y= position] [Z= position]
Function:
This command sets the Drift Error setting. This setting controls the crossover
position error (in millimeters) between the target and position at which the
MFC-2000 and MS-2000 controller considers an axis to be too far out of position.
When this limit is reached, the controller will re-attempt to move the axis back
within the Finish Error (PC) limit. The current value for this setting can be
viewed using the INFO command or by placing a ? after the axis name. Entries of
zero value, e.g., ERROR X=0<CR>, are ignored.
Examples:
E X=.0004
:A
Input values equal to or less than zero are acknowledged by ":A ", but ignored.
The command in this example would cause the controller to consider a difference
between the target and the current position greater than 400nm to be too large. If
this large of an error were detected, the controller would re-engage the move
algorithm to place the position error back inside of the Finish Error (PC) limit.
Command: HALT
Shortcut
\
(the backslash character)
Format:
HALT
Function:
This command will stop all active motors.
Reply:
If there are no errors, a positive reply of “:A” will be returned. If the "HALT"
command is given while a commanded move is in motion, the controller will
reply with the :N-21 error.
Example:
HALT
:A
41
Command: HERE
Shortcut:
H
Format:
HERE axis=position [axis=position] [axis=position]
Function:
Assign the specified number to the axis’s current position buffer. The unit of
measurement is in tenths of microns. This defines the current position to be a
specific distance from the origin (0), i.e., the origin may change.
Reply:
If there are no errors, the positive reply “:A” will be sent back from the
controller.
Example:
H X=1234 Y=4321 Z
:A
The X position will change to 123.4 microns from the origin, Y will change to
432.1 microns, and the Z will be zeroed. The LCD display immediately shows
the change.
Command: HOME
Shortcut:
!
(the exclamation point character)
Format:
HOME axis [axis] [axis]
Function:
Move specified axis motors toward their HOME position. The default location
for the HOME position (1000 mm) is far past the positive limit of the stage travel.
If a hardware or firmware limit switch is encountered, the motor will stop.
Reply:
If there are no errors, an “:A” is returned.
Example:
! X Y Z
:A
The X and Y-axis motors will start moving towards the HOME position. A HALT
command can stop the motors.
Note: The stage will be positioned at the limit switches or at the previously
defined HOME position at the completion of this command. See SETHOME.
42
Command: INFO
Shortcut:
I
Format:
I [X] [Y] [Z] [F]
Function:
This command returns the current values of various variables and constants that
control the way the specified axis performs, as well as its current status.
Example:
I X
Axis Name ChX:
Input Device :
Max Lim
:
Ramp Time
:
Run Speed
:
Servo Lp Time:
dv_enc
:
Drift Error :
Finish Error :
Backlash
:
Overshoot
:
Kp
:
Kv
:
Axis Enable :
CMD_stat
:
Current pos :
Target pos
:
enc pos error:
Lst Stle Time:
Home position:
mm/sec/DAC_ct:
Wait Time
:
X
JS_X
110.000
100
5.74553
3
368
0.000400
0.000024
0.040000
0.000000
200
15
1
NO_MOVE
0.0000
0.0000
0
0
1000.00
0.06700
0
[J]
[SU]
[AC] ms
[S]mm/s
ms
[E]
[PC]
[B]
[OS]
[KP]
[KV]
[MC]
mm
mm
mm
mm
mm
mm
ms
mm
[D]
[WT]
Limits Status: f
Axis Profile :STD_CP_ROT
Min Lim
: -110.000
Ramp Length :
25806
vmax_enc*16 :
12520
Enc Polarity :
1
LL Axis ID
:
24
enc_drift_err:
18
enc_finsh_err:
1
enc_backlash :
1815
enc_overshoot:
0
Ki
:
20
Kd
:
0
Motor Enable :
0
Move_stat
:
IDLE
enc position :
0
enc target
:
0
EEsum
:
0
Av Settle Tim:
0
Motor Signal :
0
Enc Cnts/mm : 45397.60
Maintain code:
0
[SL]
enc
[EP]
[KI]
[KD]
ms
[C]
[MA]
The INFO dump shows command shortcuts inside the square brackets,
which you can use to change parameters, where applicable.
43
Command: JOYSTICK
(updated w/ V8.8b)
Shortcut:
Format:
Function:
J
JOYSTICK [X±] [Y±] [Z±] or JOYSTICK [X=dev] [Y=dev] [Z=dev]
This command enables (+) or disables (–) the input from the default manual
control device for the axis (joystick or knob). If you specify an input device
number dev, the axis specified will be connected to that input device. The table
below shows the valid device assignments:
0
NONE
1
DEFAULT
2
Joystick – X deflection
(X-axis default)
3
Joystick – Y deflection
(Y-axis default)
4
Standard Control Knob
(Z-axis default)
5
X-Wheel
(special hardware required)
6
Y-Wheel
“
7
ADC CH1 – For ADC_FOLLOW or ADC_LOCK operation.
8
Foot switch
9
JX and X-wheel combo
(special hardware required)
10
JY and Y-wheel combo
“
11
CRIFF knob
(used for CRIFF system)
Reply:
Example:
If there are no errors, the positive reply “:A” will be returned from the controller.
J X+ Y+ Z:A
The above command enables the default X and Y joystick control and disables the
Z control knob.
J X? Y?
A: X=2 Y=3
Here the query shows that the X & Y axes use the X & Y joystick driver.
Example:
Example:
Versions 8.8e and later: To set a default value that can be saved in nonvolatile
memory, add 100 to the argument. Exceptions are 0 (NONE) and 1 (DEFAULT).
J X=105
:A
This makes X-Wheel the default X axis manual control device. This is a setting
that can be saved with the SAVESET command.
44
Example session:
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
12.
13.
14.
15.
16.
17.
18.
19.
20.
J X?
:A X=2
J X=1
:A
J X?
:A X=2
J X=105
:A
J X?
:A X=2
J X=1
:A
J X?
:A X=5
SS Z
:A
RESET
:RESE?
:J X?
:A X=5
In this session, the default manual input device is changed to X-Wheel in line 7.
Line 11 sets the manual input device to whatever the default value is, which is
now X-Wheel (5). Line 15 saves the settings. After the reset (line 17), the manual
input device is set on startup its new saved default value, X-Wheel.
45
Command: JSSPD
Shortcut:
Format:
Function:
JS
JSSPD [X=high] [Y=low] [Z=knob_speed] [F=xy_knobs_spd] [T=xy_knobs_mul]
This command sets the relative motor speed for maximum deflection of the
joystick to the values specified. Values between 0.1 and 100 (%) are acceptable.
Pressing the Joystick button toggles between the high and low settings.
Knob_speed is a signed value that sets the relative speed and direction of the
encoder knob.
xy_knobs_spd and xy_knobs_mul are used to set the relative speed and range
multiplier of the XY_KNOBS if installed on the system.
Reply:
If there are no errors, the positive reply “:A” will be sent back from the
controller. The query reply tells you which attributes you have set instead of the
standard X Y response.
Query Example:
JS X? Y?
:A JS_FAST=100 JS_SLOW=5
(For CRIFF and AF-DUAL Systems)
Command: KADC
Shortcut:
KA
Format:
KA Z=n
Function:
Adjusts a gain parameter in the servo loop where n is a signed integer. Use to
change the polarity and gain of the feedback. Default n=1, (use n=5 for PZ-2000
CRIFF).
Reply:
“:A” is returned upon receipt of the command.
Query:
KA Z? returns the current value.
:A Z=1
(for example)
Command: KD
Shortcut:
KD
Format:
KD [X=kd] [Y=kd] [Z=kd]
Function:
Sets the servo derivative error term constant, the integer value kd. Usually set to
zero (0). Especially useful when inertia is a factor to improve settling time and
stability. MOST USERS DO NOT NEED TO USE THIS FUNCTION!
46
Command: KI
Shortcut:
KI
Format:
KI [X=ki] [Y=ki] [Z=ki]
Function:
Sets the servo integral error term constant, the integer value ki. Larger values of
ki reduce the time for small errors to be corrected at the finish of a move, but
decreases stability if set too large. MOST USERS DO NOT NEED TO USE
THIS FUNCTION!
Command: KP
Shortcut:
KP
Format:
KP [X=kp] [Y=kp] [Z=kp]
Function:
Sets the servo proportional error term constant, the integer value kp. Larger
values of kp increase the stiffness of the response to loss of position, but
decreases stability if set too large. MOST USERS DO NOT NEED TO USE
THIS FUNCTION!
Command: LCD
Format:
LCD “string”
Function:
Displays the quoted string on the bottom line of the LCD in place of the version
information (DIP SW #2 DOWN).
Command: LED
Format:
(LED DIMMER Firmware Required)
LED [X= 0 to 99]
LED X?
Function:
Sets the brightness of ASIs LED illuminator by generating PWM thru TTL out.
TTL out mode should be set to ‘9’ (i.e. TTL y=9). Enable out from the LED
illuminator should be connected to TTL out on controller. This setting can be
saved in non-volatile memory using the SAVESET command.
Command: LLADDR
Shortcut:
LL
Format:
LLADDR X=xaddr Y=yaddr Z=zaddr
LLADDR X? Y? Z?
Function:
Sets the address of the axis used by the low-level command set. The default
values are X=24, Y=25, and Z=26. Some systems require X=1, Y=2, and Z=3.
This setting can be saved in non-volatile memory using the SAVESET command.
47
Command: LOAD
(RING BUFFER Firmware Module Required)
Shortcut:
LD
Format:
LOAD [X=xposition] [Y=yposition] [Z=zposition]
Function:
The LOAD function places a set of position coordinates in the next available
internal ring-buffer memory location. The position values are expressed as
floating point numbers representing tenths of a micron, the same as the MOVE
command. For example, LOAD Z=0.1 denotes a Z-axis movement of 1/100 of a
micron, or 10 nanometers. Up to 50 position coordinates may be loaded into the
buffer. The coordinates for the next move may be queried by using the command
LD X? Y? Z?. Setting the current buffer position and initiating moves to
locations stored in the buffer can be done using the RBMODE and TTL
commands (see below), or by using a front panel button. The LOAD operation
increments the number-of-positions counter which can be displayed on the LCD
screen (controlled by DIP switch settings). To clear the buffer, type RM X=0.
(See the RBMODE command.)
The current stage position may be loaded into the ring-buffer by pressing the
Joystick button for 3 seconds and releasing.
Command: LOCK
(For CRIFF and AF-DUAL Systems)
Shortcut:
LK
Format:
LK [X] [Y] [Z]
Function:
Without argument, advances to the next system state until the Cal_OK state is
reached. Once a good calibration is obtained, a subsequent LK command initiates
the Lock state in which the servo loop error signal is supplied from the focus
system. For CRIFF the lock is made at current location reference. (See
RELOCK command.)
LK X returns the current system state code.
LK Y returns current focus error signal.
LK Z Unconditionally advances to the next system state.
Reply:
“:A” is returned upon receipt of the command.
Command: LOCKRG
Shortcut:
LR
Format:
LR Z=lock_range
(For CRIFF and AF-DUAL Systems)
Function:
The Z parameter of the LOCKRG command allows the user to control the
maximum excursion of the stage before the system generates an error condition
48
and unlocks. The value lock_range is in millimeters. The default value is
0.050mm.
Reply:
“:A” is returned upon receipt of the command.
Query:
LR Z? returns the status of the lock and the lock range
:A 0.05
(For AF-DUAL Systems)
Command: LOCKSET
Shortcut:
LS
Format:
LS Z=focus_trim
Function:
The command directly sets the focus_trim value normally adjusted with the
control knob after locking.
Reply:
“:A” is returned upon receipt of the command.
Query:
LS Z? returns the current reference value.
:A Z=-48
(for example)
Command: MAINTAIN
Shortcut:
MA
Format:
MAINTAIN [X=code] [Y=code] [Z=code] [F=code]
Query :
MAINTAIN X? Y? Z? F?
Function:
The maintain command specifies the behavior of the controller after move
completion. Move commands complete when the stage moves to within the finish
error tolerance of the target position (PCROS command). The actions for various
code values are:
code = 0 [default] Post-move, when the controller detects drift from target specified by
the drift error value, it will return the stage axis to the target several times (18)
within a timeout period (~0.5 sec.) before declaring a move error code 60 and
giving up further attempts.
code = 1 Post-move, the controller will indefinitely continue to try to reach target when
drifts greater than the drift error are detected.
With codes 0 and 1, the motor drivers are turned off when the stage reaches the
finish error tolerance.
code = 2 The motor drivers remain on and the servo loop remains active. (Version 8.5+)
code = 3 Drivers remain on and servos active for the post-move time set by the WAIT
command. The system BUSY is released when the finish error tolerance is first
achieved. Setting the WAIT time sufficiently long can stabilize post-move drifts
during data recording, but then allow for less power consumption of the driver
amplifiers when waiting between moves.
Reply:
If there are no errors, the positive reply “:A” will be sent back from the
controller.
49
Command: MOTCTRL
Shortcut:
MC
Format:
MOTOCTRL [X±] [Y±] [Z±]
Function:
This command enables (+) or disables (-) the controller’s ability to control the
motor of a certain axis. The motor control voltage is set to zero and the position
feedback control is not monitored when the motor is in disable (-) mode. The
electronics of the controller will attempt to keep the motor from moving while
disabled, however, it should be noted that this is an open-loop brake control only,
and any movement or drift is not corrected.
Reply:
If there are no errors, the positive reply “:A” will be sent back from the
controller.
Example:
MC X+ Y+ Z:A
This example shows that the X and Y motor control is enabled, but disables the Z
motor control.
Command: MOVE
Shortcut:
M
Format:
MOVE axis= position [axis= position] [axis= position]
Function:
Move one or more axis motors to an absolute position. The unit of measurement
is in tenths of microns. If no position is specified, 0 (the origin) is assumed.
For devices with CLOCKED POSITIONS (turrets and filter wheels), the position
is an integer value between one and the number-of-positions.
Reply:
A positive reply of “:A” is sent back when the command is received correctly.
Reception of the reply does not mean the end of execution, and the command
STATUS can be used to determine if the move has been completed.
Examples:
M X=1234 Y=4321 Z
:A
The controller will move the X-axis to position 123.4 microns from the origin
using the maximum set speed (see SPEED). Simultaneously, it will move the Yaxis to position 432.1 microns, and the Z-axis to the zero (0) position.
During this movement, the Joystick and Encoder inputs will be locked-out and
cannot alter the target positions entered. The motors will stop when they have
reached their target or when their limit switch is encountered. To stop the motors
during a serial MOVE command, use the HALT ( \ ) command.
50
Command: MOVREL
Shortcut:
R
Format:
MOVREL axis=distance [axis=distance] [axis=distance]
Function:
Move one or more axis motor a distance relative from its current position. This
command is very similar to the MOVE command. The unit of measurement is also
in tenths of microns.
Reply:
A positive reply of “:A” is sent back when the command is received correctly.
Reception of the reply does not mean the end of execution, and the command
STATUS can be used to determine if the move has been completed.
Examples:
R X=1234 Y=-321 Z
:A
The controller will move the X-axis an additional 123.4 microns in the positive
direction at the maximum set speed (see SPEED). Simultaneously, the Y-axis
will move 32.1 microns in the negative direction, while the Z-axis will not move
at all.
During this movement, the Joystick and Encoder input will be locked-out and
cannot alter the target positions entered. The motors will stop when they have
reached their target, or if their limit switch is encountered. To stop the motors
during a serial MOVREL command, use the HALT ( \ ) command.
Command: PCROS
Shortcut:
PC
Format:
PCROS [X=distance] [Y= distance] [Z= distance]
PCROS [X?] [Y?] [Z?]
Function:
This command sets/displays the Finish Error setting, which controls when the
motor algorithm routines will turn off. The setting controls the crossover position
error (in millimeters) between the target and position at which the MFC-2000 and
MS-2000 controller will stop attempting to move the stage closer to achieving the
position=target. This is value also determines the maximum error allowable
before a move is considered complete. This value is usually set to the value of the
smallest move step size according to the encoder resolution. The current value for
this setting can be viewed using the INFO command.
Example:
PC X=.00005 Y=.00002 Z=.00005
:A
Values equal to or less than zero are acknowledged by ":A ", but ignored.
The command in this example will make the controller consider a MOVE
command complete when the difference between the target and the current
position is 50 nm for X, 20 nm for Y, and 50 nm for Z. Warning: If the PCDOS
value is extremely small, moves may take an excessively long time to complete.
51
(Requires Foot Pedal Hardware/Firmware)
Command: PEDAL
Shortcut:
PD
Format:
PEDAL X=distance Y=rate Z=multiplier
PEDAL [X?] [Y?] [Z?]
Function:
This command sets/displays the dual-pedal footswitch controls for controllers
with this feature. The command is set up as follows: X = Pedal Step Increment
size, in millimeters. Y = Rate when pedal is held down, as an integer proportional
to a speed in millimeters per second, Z = an integer multiplier used when the
pedal controls a zoom axis.
Warning: User must ensure that the Rate given in this command is not greater
than the maximum speed of the axis being controlled by the pedals. Entering an
invalid value may result in unexpected errors and failures.
Reply:
If there are no errors, a positive reply of “:A” followed by the startup sequence.
Examples:
PD X=0.02 Y=8 Z=5
:A
PD X? Y?
:A X=0.02000 Y=8.00000
Command: RBMODE
(RING BUFFER Firmware Module Required)
Supported by firmware version 6.0e and higher.
Shortcut:
RM
Format:
RBMODE [X=control] [Y=axis_byte] [Z=buffer_pointer]
Function:
Provides control of move and save operations involving the controller’s internal
50-position ring-buffer. (Also, see the LOAD command.)
The command, without any arguments, performs the same operation that a TTL
IN0 input pulse would control as determined by the current IN0_mode. See TTL
command.
A move to the Next Position may be initiated by:
1) a TTL pulse when the appropriate IN0_mode is selected (see TTL command,
IN0_INT Firmware Module Required).
2) a short press and release of the @ button (as long as other special functions
are not utilizing the @ button).
3) by the RM command without arguments.
Setting the argument variables has the following effects:
control:
0 - Clears the buffer.
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axis_byte:
1-7: Binary value determines which axes are commanded to move, or which axes
positions are reported using IN0_mode =5. Bit 0: X-Axis; Bit 1: Y-axis; Bit 2: Zaxis. Default is axis_byte=3, XY enabled, Z disabled.
buffer_pointer: sets the pointer to the buffer position for the next move.
Command: RDADC
Shortcut:
RA
Format:
RA [X] [Y] [Z] [F]
Function:
Returns the present values on the MS2000's 4-channel ADC. The X and Y
channels are used for the joystick. The Z and F channels may be used for special
applications, e.g. Autofocus or ADC_LOCK and ADC_FOLLOW modes of
controlling the stage. Special firmware is required for these applications.
Example:
RA X Y
:A 128 128
Shows typical ADC values for a centered joystick.
Reply:
:A Z=135 (for example)
53
Command: RDSBYTE
Shortcut:
RB
Format:
RDSBYTE axis [axis] [axis]
Function:
Requests the MS-2000 to respond with the Status Byte. The number is one byte,
which can be broken down into 8 bits that represent the following internal flags:
Bit 0: 0 = No commanded move is in progress. 1 = A commanded move is in progress. This bit
is synonymous with the STATUS command. If the bit is set, then STATUS
returns 'B', otherwise STATUS returns 'N'.
Bit 1: 0 = The axis is disabled. It can be renabled by one of the following: High Level command
MC <axis>+, cycling the clutch switch for the Z-axis, Low Level StartMotor
command (hex 47), or a system reset. This feature is available in versions 6.2c and
later; 1 = The axis is enabled.
Bit 2: 0 = Motor is inactive (off), 1 = Motor is active (on).
Bit 3: 0 = Joystick/Knob disabled, 1 = Joystick/Knob enabled
Bit 4: 0 = Motor not ramping, 1 = Motor ramping
Bit 5: 0 = Ramping up, 1= Ramping down
Bit 6: Upper limit switch: 0 = open, 1 = closed
Bit 7: Lower limit switch: 0 = open, 1 = closed
Reply:
: <byte as hexadecimal>
Examples:
RB X
:<0x8A>
RB X Y
:<0x8A><0x02>
The X-axis example value of 0x8A means the following:
B7: 1 X Axis is at its lower limit
B6: 0 X Axis upper limit switch open
B5: 0 Ramping down, if ramping
B4: 0 Motor not ramping
B3: 1 Joystick/Knob is enabled
B2: 0 Motor power is off.
B1: 1 X Axis is enabled
B0: 0 -
No commanded move is in progress
Note: Motor power can be on while a commanded move is not in progress and the stage appears
not to be moving. This happens when the motor is either making a final adjustment to a
commanded move or when it is applying a force to maintain the stage position.
54
Command: RDSTAT
Shortcut:
RS
Format:
RDSTAT axis [axis] [axis]
Function:
Same as RDSBYTE, except the data is returned in ASCII decimal format.
Examples:
RS X
:A 138
Command: RELOCK
(For CRIFF and AF-DUAL Systems)
Shortcut:
RL
Format:
RL
Function:
Turns on the CRIFF laser and initiates a LOCK state using previously saved
reference values. Same as LOCK for AF-DUAL systems.
Reply:
“:A” is returned upon receipt of the command.
Command: RESET
Shortcut:
~
Format:
RESET
Function:
This command causes the controller to do a software reset. A software reset
reinitializes all variables back to their pre-assigned values.
Reply:
If there are no errors, a positive reply of “:A”, followed by the startup sequence.
Example:
~
:A
Command: RT
Shortcut:
RT
Format:
RT [X=report_time] [Y=pulse_length] [Z=delay_time] [F=num_aves]
Function:
The X argument Sets the time interval between report events when using
IN0_mode = 5, TTL triggered serial interface asynchronous reporting. The
report_time value has an acceptable range from 20 to 32700 milliseconds. The
default value is 200ms.
The Y argument sets the length of the TTL output pulse when using any
OUT0_mode that triggers a TTL pulse.
The Z argument sets the post-move delay time for sequenced arrays.
55
The F argument sets num_aves, the power-of-two exponent for the number of
samples to be averaged. Used with the CRIFF system.
Reply:
“:A” is returned upon receipt of the command.
Command: RUNAWAY
Shortcut:
RU
Format:
RU X=n
Function:
This command sets the servo loop error limit before the motors will be disabled.
The value n, is the distance in millimeters that the internal servo target and the
actual position can differ before the motor is disabled. Default is 1 to 2 mm. If
spurious disable conditions are encountered, increase this number. For more
sensitive crash protection, decrease this number.
Reply:
A positive reply of “:A” is sent back when the command is received correctly.
Example:
RU X=5
Sets runaway sensitivity to 5mm on all axes.
:A
Command: SAVESET
Shortcut:
SS
Format:
SAVESET Z - saves settings to flash memory
SAVESET Y - restores previously saved settings after a SAVESET X
SAVESET X - will reload factory defaults upon next power-up
Function:
SAVESET allows the user to save current parameters settings to Flash memory.
Reply:
Upon the start of execution of this command, the controller will reply with a “:”.
When the execution is complete, an “A” will follow the colon.
Note 1: During the time interval between the “:” and the “A”, no serial or
manual moves should be given.
Note 2: In Versions 6.1u and later (see VERSION command), limit settings (see
SETLOW and SETUP) are saved if and only if the SAVEPOS command is issued
after the command SAVESET Z.
Example:
SS Z
Saves current settings to flash memory.
:A
56
Command: SAVEPOS
Shortcut:
SP
Format:
SP [X=inhibit]
Function:
Starting with Version 8.1 the axis positions and soft limit locations can be
automatically saved when power is turned off. If this action is not desired, setting
inhibit=1 will prevent power down saves. (Default is inhibit = 0) If the command
is given without argument, a save position shutdown will be initiated whereby the
axes will be halted, positions saved to flash, and the controller placed in a nonresponsive condition until power is cycled.
Reply:
Upon the start of execution of this command, the controller will reply with a “:”.
When the execution is complete, an “A” will follow the colon.
When a power down condition is detected, an “O” is transmitted. After the
positions are successfully saved, a “K” is sent.
Note 1: During the time interval between the “:” and the “A”, no serial or manual
moves should be given.
Note 2: See Note 2 in the SAVESET section.
Command: SCAN
(SCAN firmware required)
Shortcut:
SN
Format:
SCAN [X=scan_axis] [Y=scan_axis] [Z=scan_axis] [F=pattern]
Function:
Sets which axes are to be used for 2-D raster scan. The fast-scanned raster axis
(horizontal) is defined by scan_axis = 1; the slow-scanned axis (vertical) is
defined by scan_axis = 2. Single axis scans (1-D) requires setting the unused
axes scan_axis = 0, and the driven axis as scan_axis = 1.
The scan pattern may be set to 0 for RASTER scans or 1 for SERPENTINE scans.
Without arguments, the command SCAN initiates (or stops) a scan using
parameters set with the SCANR and SCANV commands. (See below.)
57
(SCAN firmware required)
Command: SCANR
Shortcut:
NR
Format:
SCANR [X=start] [Y=stop] [Z=enc_divide] [F= #_pixels]
Function:
Sets up raster scan start and stop positions, with the position values expressed in
millimeters. During scanning, the stage will move past both of these positions
slightly, so that when scanning within the range specified, the scan proceeds with
uniform speed (set by the SPEED command). On units equipped with hardware
position Sync, the output pulse goes high as the stage crosses the start position.
On systems with the ENC_INT firmware module, an output pulse will occur
every enc_divide number of encoder counts. If the user specifies the #_pixels, the
stop position will be calculated based upon the enc_divide and start position.
(SCAN firmware required)
Command: SCANV
Shortcut:
NV
Format:
SCANV [X=start] [Y=stop] [Z=number_of_lines] [F=overshoot]
Function:
Sets up the slow-scan (vertical) start and stop positions, with the position values
expressed in millimeters. The stage will move to the start position before
beginning the scan. The scan range will be divided into number_of_lines lines.
Following a completed horizontal scan, the stage will move vertically to the next
scan line. The processes will conclude when the stage has moved to the vertical
stop position and completed the last horizontal scan. Single axis, 1-D scans will
be repeated number_of_lines times. The overshoot parameter sets the amount of
extra motion to account for the acceleration ramp at the start and stop of the trace.
An overshoot=1.0 sets the pre and post move distances equal to the ramp up and
down distances. Using a larger number will allow for more time to reach constant
speed before the active sweep region.
Command: SECURE
(special hardware and U_SERVO_LK firmware module needed)
Shortcut:
SECURE
Format:
SECURE [X= p]
58
Function:
With stages equipped with Micro Servo lock mechanism, this command is used to
lock or unlock samples on the stage. The value of p determines the position of the
lever arm and can be any decimal number between 0.0 and 1.0. A value of 1.0
fully retracts the lever. The best value for a particular well plate model may vary
and can be determined experimentally.
Example:
SECURE X=1.0
(fully opens lever)
SECURE X=0.25
(closes lever for typical well plate)
Reply:
:A
SECURE
:N-3
(Error at axis required )
SECURE Y=0
:N-2
(invalid axis)
SECURE X?
:N-2
(invalid operation )
Command: SETHOME
(Version 8.0+)
Shortcut:
HM
Format:
HM X= position [Y= position] [Z= position]
Function:
This command sets/displays a fixed hardware HOME location for an axis in units
of millimeters. The HOME position is considered a fixed hardware location and
is adjusted properly when the controller’s coordinate system is altered with the
HERE or ZERO function. The HOME position is automatically remembered and
recalled through a power cycle and does not need to be saved using the SAVESET
command.
Reply:
If there are no errors, a reply of “:A” is returned.
Example:
HM X?
:A X=1000.000
In the above example the default location for the HOME position for the X-axis is
returned.
59
Command: SETLOW
Shortcut:
SL
Format:
SETLOW X= position [Y= position] [Z= position]
Function:
This command sets/displays the lower firmware limit switch for an axis. The
Limit positions are considered fixed hardware locations and are adjusted properly
when the controller’s coordinate system is altered with the HERE or ZERO
function. The Limit positions are automatically remembered and recalled through
a power cycle and do not need to be saved using the SAVESET command. Note:
If this value is equal to or greater than the value for SETUP, then the controller
will operate incorrectly.
Reply:
If there are no errors, a positive reply of “:A” followed by the startup sequence.
For the Z axis only, input values equal to or greater than the current SETUP
parameter value are acknowledged by ":A " but ignored.
Example:
SL X=-50 Y=-50 Z?
:A Z=-110.000
In the above example, the lower limit for the X and Y axes have been set to 50
millimeters from the origin in the negative direction. Note that the Z? resulted in
the controller returning the current position of the Z lower firmware limit switch.
Command: SETUP
Shortcut:
SU
Format:
SETUP X= position [Y= position] [Z= position]
Function:
Same as SETLOW command (see above) but for upper firmware limit switch.
Note: If this value is equal to or less than the value for SETLOW, then the
controller will operate incorrectly.
Command: SI
This command has two distinct functions depending on whether the system uses
linear encoders (SEARCH INDEX) or rotary encoders (SEEK LIMITS).
(For linear encoders: SEARCH INDEX firmware required -- Linear Encoder
Stages & Version 8.4+ Heidenhain XY Encoders only)
This functionality is available by request from ASI. It is not included with
standard firmware.
Shortcut:
SI
Format:
SI [X=center value] [Y=center value] [Z=center value]
60
SI X? [Y?] [Z?]
Function:
This Command searches for the physical centers of the stage and marks it with a
user inputted value. Software limits are reset to default.
Reply:
If there are no errors, a positive reply of “:A” is sent back.
Example:
SI X=0
:A
In the example, the controller searches for the center of X-axis and sets it to zero.
SI Y=20000
:A
In the example, the controller searches for the center of Y-axis and sets it to 2mm.
SI Y=0
:N-5
N-5 indicates center of axes could not be found. This could be because previous
center value is same as the new value, or hardware and software issues.
(For rotary encoders: SEEK LIMITS firmware required -- Rotary Encoder
Stages. This is supported by Version 8.8e and above.)
Format:
SI axis = direction [axis = direction] [axis = direction]
where direction ∈ {1, -1}
If direction is 1, then the stage seeks the upper limit. If direction is -1, then the
stage seeks the lower limit.
Function:
The stage moves to the hardware limit, backs away 3 mm, then approaches the
limit slowly enough to maximize repeatability of the result. The recommended
procedure is as follows, with SI and HERE commands using one or more axis
arguments:
Send SI command.
Poll with STATUS command until ‘N’ is received.
Send HERE command with desired real world position.
Reply:
If there are no errors, a positive reply of “:A” is sent back.
Example:
SI X=1 Y=-1
:A
Command: SPEED
Shortcut:
S
Format:
SPEED [X=maximum_speed] [Y=maximum_speed] [Z=maximum_speed]
SPEED X? [Y?] [Z?]
Function:
Sets the maximum speed at which the stage will move. Speed is set in millimeters
per second. Maximum speed is = 7.5 mm/s for standard 6.5 mm pitch leadscrews.
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Reply:
If there are no errors, a positive reply of “:A” is sent back.
Example:
S X=1.23 Y=3.21 Z=0.2
:A
In the example, the X-axis maximum speed is set to 1.23 mm/s, the Y-axis is set
to 3.21 mm/s, and Z-axis is set to 0.2 mm/s.
Command: SPIN
Shortcut:
@
Format:
SPIN X=rate [Y= rate] [Z= rate]
Function:
Tells controller to ‘spin’ the motor of specified axis at a rate expressed as its DAC
value, a bit value from 0 to 128.
Reply:
If there are no errors, a positive reply of “:A” is sent back.
Example:
@ X=100 Y=-100 Z
:A
This example shows a command that will instruct the X-axis turn at a motor rate
of 100 DAC bits in one direction, the Y-axis at the same rate but in the other
direction, and stop any rotation or motion of the Z-axis.
NOTE: To stop rotation, give a value of zero, or just the type the axis letter
without an assignment as shown in the example above, or use the HALT ( \ )
command.
NOTE: The HALT command will not return an :N-21 when stopping a SPIN
command.
62
Command: STATUS
Shortcut:
/
Format:
STATUS
Function:
Inquires regarding the motor status of all axes. Queries the controller whether or
not any of the motors are still busy moving following a serial command. Using
the shortcut / is the preferred method for rapid polling of the controller for a busy
state. The / is handled quickly in the command parser.
Reply:
The positive reply can come in two forms:
Example:
N
- there are no motors running from a serial command
B
- there is a motor running from a serial command
MOVE X=12345
:A
STATUS
B
/
N
In this example, the command MOVE started the X-axis moving towards the
position 1.2345 millimeters from the origin. The first STATUS command
returned a “B” showing that the motor is still busy moving towards the target.
The second time, the STATUS command returned an “N” signifying that the
MOVE command is finished and there is no longer any motor movement.
Command: STOPBITS
Shortcut:
SB
Format:
STOPBITS X=n
STOPBITS X?
Function:
Sets the number of stop bits, n, to be used for RS232 serial communication. The
default is one (1) stop bit; the other option is two (2) stop bits. Use the
SAVESET Z command to retain the new stop bit setting after power off.
63
Command: TTL
(version 8.5+)
Format:
TTL [X=IN0_mode] [Y=OUT0_mode] [Z=aux_IO_mode] [F=OUT0_polarity]
Function:
The MS2000 controller has a buffered TTL input (IN0) and output (OUT0) port as
well as several unbuffered I/O ports. The signals IN0 and OUT0 are found on the
board connector SV1 pin1 and 2 respectively. On many controllers these signals
are connected to the IN and OUT BNC connectors on the back of the controller.
The IN0_mode and OUT0_mode parameters set with this command determine the
character of the I/O pins.
IN0_mode:
0 - turns off TTL IN0 controlled functions; TTL interrupt DISABLED.
1 – TTL IN0 initiates a Move-to-Next-Position of the stored positions in the Ring
Buffer pointed to by the buffer_pointer. When the buffer_pointer reaches a value
equal to the number of saved positions, it resets to the first position, allowing
cyclic repetitions to the saved locations. See RBMODE and LOAD command.
2 - TTL IN0 repeats most recent relative move (See MOVREL) For example, begin
a session by issuing the command MOVREL X=0 Y=0 Z=0.5, and each
subsequent move to Next Position will cause the Z axis to move 0.05 micron. This
function can be used for repetitive relative moves of any axis or combination of
axes. You may directly set the dZ value with the ZS command’s X parameter.
3 – TTL IN0 initiates an autofocus operation on systems with autofocus installed.
4 – enables TTL IN0 controlled Z-stacks. (See ZS command).
5 – enables TTL IN0-started position reporting via the serial interface.
Information is asynchronously sent out the serial interface every report_time
interval, where report_time is set with the RT command. Data returned in the
serial stream are the elapsed time in milliseconds since the TTL trigger, followed
by the position of each axis enable by the axis_byte. On TRACKING systems,
the PMT sum signal is also reported. Reporting is toggled on and off by the TTL
input pulse.
6 – TTL interrupt ENABLED; use with TTL triggered position reporting.
7 – TTL commanded ARRAY move to next position.
8 – Used with CRIFF. TTL IN0 HIGH required for active lock, otherwise no Z
position change (CRIFF ‘P’ Pause state on LOW).
OUT0_mode: 0 – TTL OUT0 unconditionally set LOW.
1 – TTL OUT0 unconditionally set HIGH.
2 – sends out 10 ms TTL pulse at end of a commanded move (MOVE or MOVREL)
3 – output TTL OUT0 gated HIGH during axis index 0 (X) constant speed move.
4 – output TTL OUT0 gated HIGH during axis index 1 (Y) constant speed move.
5 – output TTL OUT0 gated HIGH during axis index 2 (Z) constant speed move.
64
8 – TTL OUT0 timed arrival pre-pulse output. See RT command. Requires
PREPULSE firmware module
9 – TTL OUT0 PWM and MicroServo Output. See the LED or the SECURE
command. Requires LED_DIMMER or USERVO firmware module
aux_IO_mode: Not Used Yet.
OUT0_polarity: 1 – default polarity, -1 inverts polarity of TTL OUT0.
Command: UM (Units Multiplier)
Shortcut:
UM
Format:
UM [X=n] [Y=n] [Z=n]
Function:
Specifies the multiplier for most serial commands such as MOVE and WHERE.
Default values are 10000 (/mm), setting the default input scaling to 0.1μm/count.
The sign of the Units Multiplier can be used to change the relative direction of
motion for commanded moves. However, using the “CCA Z” command is the
recommended procedure for changing the stage direction. The Units Multiplier
can be saved with the “SS Z” command.
Reply:
If there are no errors, a positive reply of “:A” is returned.
Command: UNITS
Shortcut:
UN
Format:
UNITS
Function:
Toggles between millimeters and inches shown on the LCD display when DIP
Switch 2 is down.
Reply:
If there are no errors, a positive reply of “:A” is returned.
Command: UNLOCK
(For CRIFF or AF-DUAL Systems)
Shortcut:
UL
Format:
UL
Function:
This command unlocks the servo from the focus system and returns control to
encoder feedback from the Z-axis drive. The CRIFF laser is turned off and the
CRIFF system is placed in the Laser_OFF state. Current CRIFF lock reference
values are saved for eventual use by the RELOCK command.
Reply:
“:A” is returned upon receipt of the command.
65
(Version 8.5+)
Command: VB
Shortcut:
VB
Format:
VB [X=binary_code] [Y=TTL IN1 state (read only)] [Z=read_decimal_places]
Function:
Adds serial communication verbose modes for special functions.
The
binary_code is the sum of the bit values for the desired functions from the list
below. The Y argument allows the TTL IN1 input state to be directly queried via
serial command. The number of decimal places for the WHERE command is set
by read_decimal_places.
Bit 0
1
Send character ‘N’ upon completion of a commanded move.
Bit 1
2
Send ‘p’ for joystick quick-press and release, ‘P’ for long-press.
Bit 2
4
Send ‘H’ for TTL IN1 low-to-high transition; ‘L’ for high-to-low.
Bit 3 8
Changes the reply termination for <CR>+<LF> to just <CR>
Bit 4 16
Move and Move Rel will print the new Target Position.
(Ver 8.8+)
Example:
VB X=7
turns on all of the above functions.
Command: VECTOR
(Version 8.5+)
Shortcut:
VE
Format:
VE [X=x_velocity] [Y= y_velocity] [Z= z_velocity]
Function:
The VECTOR command causes the stage to immediately ramp up to the velocity
value specified by the command. The command arguments are expressed in units
of mm/sec. The stage will continue indefinitely at the commanded velocity until
the controller receives another command. A value of zero for the velocity
component will halt motion on that axis. The controller will accelerate the stage
to the commanded velocity at the rate specified by the ACCEL and SPEED
commands until the commanded velocity is obtained.
Query:
VE X? [Y?] [Z?]
Returns the current speed increment for the servo trajectory generator in units of
mm/sec.
Reply:
“:A” is returned upon receipt of the command.
66
Command: VERSION
Shortcut:
V
Format:
VERSION
Function:
Requests controller to report which firmware version it is currently using.
Reply:
If there are no errors, a positive reply of “:A” will be returned, followed by the
version number.
Example:
V
:A Version: USB-8.6a
Command: WAIT
Shortcut:
WT
Format:
WAIT [X=msecs] [Y=msecs] [Z=msecs]
Function:
Sets the length of time msec, in milliseconds, the controller will pause at the end
of a move. The Busy status is not cleared during this Pause state. Additionally, a
“P” is displayed on the LCD display when in the Pause state. During the Pause
state, the servo loop remains actively attempting to position the axis on target.
Example:
WT X=20
:A
Sets the wait time for the X-axis to 20 ms.
Command: WHERE
Shortcut:
W
Format:
WHERE axis [axis] [axis]
Function:
Returns the current position of the device for the axis specified.
Reply:
If there are no errors, a positive reply of “:A” will be followed by the current
position, in tenths of microns.
Example:
W X Y Z
:A 1234.5
432.1 0
In this example, X is 123.45 microns from the origin, Y is 43.21 microns from the
origin, and Z is sitting on the origin.
Notes: No matter which order the X, Y, and Z’s are specified in the WHERE command, the reply
will always be in the order X, Y, Z.
67
The reporting precision of the WHERE command can be changed with the Setup Control
Commands (below). Default includes a single fractional digit, which represents 10 nanometer
precision. If fractional decimals cannot be handled by the user’s software, use the appropriate
Setup Control Command (below) so only integer data is returned (100 nanometer precision).
Command: WHO
Shortcut
N
Format:
WHO
Function:
Inquires the controller to reply with its name. Allows computer software to
automatically determine what stage instrument is attached at the end of the serial
line.
Reply:
If there are no errors, the MFC-2000 and MS-2000 will reply with a positive
response of “:A”, followed by its name.
Example:
N
:A ASI-MS2000-XYBR-Zs-USB
Command: WRDAC (firmware 8.4f+)
Format:
WRDAC X=n
Function:
Lets the user set the voltage on header pin SV1-5 on WK2000 board. The voltage
can be varied between 0 and 10 Volts, with an accuracy of 0.1V. Maximum
Output drive current is 35mA. Input value in volts. Does not work with Piezo
units.
Reply:
If there are no errors, a positive response of “:A” will be returned.
Example
WRDAC X=1.1
:A
(Voltage on PIN SV1-5 is 1.1Volts)
WRDAC X=20 OR -1
:N-4
(Parameter out of range)
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Command: ZERO
Shortcut:
Z
Format:
ZERO
Function:
Writes a zero to the position buffer of all axes. Allows the user to set current
position as the origin.
Reply:
If there are no errors, a positive response of “:A” will be returned.
Example
Z
:A
After the reply, the indicators on the LCD should all be zeros.
Command: Z2B
(revised version 8.6d+)
Format:
Z2B current_axis_letter=new_axis_letter_ascii_code
Function:
Allows the user to change the axis name for a motor axis. The current_axis_letter
must be one of the motor axes names listed with the “BU X” command. The
new_axis_letter_ascii_code must be the decimal ASCII code for the desired axis
name for letters between upper case ‘A’(65) and ‘Z’(90). For the change to take
effect, the new setting must be saved to flash memory using “SS Z”, followed by
a hardware reset. The new axis name will remain in effect unless default settings
are restored to the controller.
Reply:
If there are no errors, a positive response of “:A” will be returned from the
controller.
Z2B Z=66 … change to “B” axis name.
:A
SS Z
… required to save new name setting to flash.
:A
Example
69
Command: ZS
Shortcut:
ZS
Format:
ZS [X=dZ] [Y=n] [Z=mode] [F= stack_timeout]
Function:
Sets parameters for use with TTL triggered Z movement. User must set TTL X=4
for this trigger mode to be active. When a positive TTL edge is detected, the Zaxis is moved by an amount dZ (expressed in 10th microns units). This move
distance is repeated for n TTL triggered moves. If mode=1, the stage will step in
the opposite direction for n moves, then turn around again, repeating a triangular
waveform cycle. If mode=0 the stage will return to the original position after n
moves and repeat a saw-tooth waveform cycle.
The stage will move to the starting position upon receiving the first TTL pulse
after waiting more than stack_timeout milliseconds (default 500ms) from the
previous pulse.
Reply:
If there are no errors, a positive reply of “:A” will be returned.
Example:
ZS X=10 Y=20 Z=1
Setup to do twenty 1 micron slices with triangular
pattern.
:A
70
SETUP CONTROL COMMANDS
Currently, the only way to toggle between the High-Level and the Low-Level command
format is through the Setup Control Commands.
The following are special commands used to setup different properties of the MS-2000 and
MFC-2000. The MS-2000 and the MFC-2000 recognizes these two-byte commands by their
prefix byte 255. These commands mimic the Ludl Interface Control Commands and expand
upon them.
Command
Description
255 65
Alt[255] A
Switch to High-Level Command Format
(note: the post-byte “A” must be in upper-case)
255 66
Alt[255] B
Switch to Low-Level Command Format
255 82
Alt[255] R
Reset Controller
255 72
Alt[255] H
Return hundredth of a micron precision for High Level WHERE command.
255 84
Alt[255] T
Return tenth of a micron precision for High Level WHERE command.
71
Error Codes for MS-2000 Diagnostics
Error codes are dumped to the screen with the last error code shown first using the ‘DU Y‘
command. The table below lists the meanings of the error codes as of this publication.
Error Number* Error Description
1-9
OVERTIME – RECOVERABLE. Error caused by competing tasks using the
microprocessor.
10-12
OVERSHOT – Move overshot the target; happens frequently, not really an error.
15
NEGATIVE LOG – Negative number for Log conversion.
20-22
AXIS DEAD – FATAL. No movement for 100 cycles; axis halted.
24
ENCODER_ERROR
30-32
EMERGENCY STOP – FATAL. Getting further from the target; axis halted.
34
UPPER LIMIT – Upper Limit reached. (axis unspecific)
35
LOWER LIMIT – Lower Limit reached. (axis unspecific)
40-42
PULSE PARAMETER VALUES OUT OF RANGE – code error.
44
FINISH SPEED CLAMP – Reached the maximum allowed move-finishing speed.
45
ADC_LOCK_OOR – Out-of-range error on ADC input.
46
ADC_FOLLOW_ERR – Error attempting to follow an analog ADC input.
50-52
ENCODER ERROR OVERFLOW – FATAL. Error term so large that move intent is
indiscernible; axis halted.
55
EPROM NO LOAD – Saved-settings on EPROM not loaded, compile date mismatch.
60-62
ADJUST-MOVE ERROR – Failed to clear ‘M’ soon enough. FATAL
85
SCAN LOST PULSES – During a scan, missing pulses were detected.
86
SCAN INCOMPLETE – During a scan, terminated before completing the row.
90-92
ERROR_LARGE – RECOVERABLE. Error large. Motor set to FULL SPEED; hope to
catch up.
100-102
INDEX NOT FOUND
140
PIEZO WRITE DAC – Error writing to the piezo DAC.
141
PIEZO READ DAC – Error reading from piezo DAC
142
PIEZO READ POS
143
PIEZO WRITE POS
144
PIEZO MOVE ERR
145
PIEZO READ POS1
146
PIEZO INIT
147
PIEZO POS ERROR
148
Autofocus 200um safety limit Encountered
149
I2C_BAD_BUSY ERROR
173
174
175
176
I2C_AXIS_ENABLE_ERR1
I2C_AXIS_ENABLE_ERR2
I2C_AXIS_MUTE1_ERR
I2C_AXIS_MUTE2_ERR
203
205
255
I2C_NACK_ERROR
ERR_TTL_MISMATCH I2C bus error.
10 MINUTE CLOCK – Provides time reference for error dump list.
300
302
Autofocus Scan failed due to insufficient contrast
Clutch Disengaged, Engage clutch to do Autofocus
*
Where multiple errors are listed, the last digit indicates the axis number that is in error. On three-axis units
X=0, Y=1, and Z=2; on single-axis MFC units, Z=0.
72
FATAL errors cause the controller to halt motion on the axis that has the error. A commanded move will not
be completed to the desired precision if a FATAL error occurs.
RECOVERABLE errors do not stop the controller from attempting to complete a commanded move. Large
numbers of recoverable errors should be taken as a warning. Frequent servo errors (numbers 90-92) often
mean that the speed is near or exceeding the stage maximum. Frequent overtime errors (numbers 1-9) often
mean that competing processes, such as over-frequent serial status requests, are using too much CPU time.
73
SETUP CONTROL COMMANDS
Currently, the only way to access the low level format is through the Setup Control
Commands
The following are special commands used to setup different properties of the MS-2000 and
MFC-2000. The MS-2000 and the MFC-2000 recognizes these two-byte commands by their
prefix byte 255. These commands mimic the Ludl Interface Control Commands and expand
upon them.
For HyperTerminal
Description
Command
255 65
Alt[255] 'A'
Switch to High Level Command Format
(note: the post-byte “A” must be in caps)
255 66
Alt[255] 'B'
Switch to Low Level Command Format
255 82
Alt[255] 'R'
Reset Controller
255 72
Alt[255] 'H'
Return hundredth of a micron precision for High Level
WHERE command.
255 84
Alt[255] 'T'
Return tenth of a micron precision for High Level
WHERE command.
Note: Remote Switch Scanning and Transmission Delay is not supported
For Advanced Serial Port Monitor
Make Sure Special>Character Parsing mode>Parse #XX Hex Code is enabled
Command
#FF#41
#FF#42
#FF#52
Description
Switch to High Level Command Set
Switch to Low Level Command Set
Reset Controller
74
LOW LEVEL FORMAT
This serial RS-232 interface is used to hook up the MS-2000 and MFC-2000 to a PC with a
protocol that imitates the Ludl Low Level command set. The purpose of the low level protocol is
to provide a simple interface between a PC program and the MS-2000 and the MFC-2000,
without ASCII conversion. The high level protocol is designed to allow direct human interface
capability by displaying all numbers and commands in ASCII characters. The high level format
is slow due to the extended transmission of ASCII characters as well as the time consumed
converting back and forth from 3 byte memory stored numbers and multiple byte ASCII
character numbers stored in strings. The low level format deals strictly with numbers that
identify modules, commands, data_size, and data represented in 1 to 6 bytes in 2's compliment
form.
NOTE: These commands apply to MS-2000 Controller firmware version 3.2 and forward.
The low level format is formed by the following 8 bit bytes:
BYTE1: Axis Identification
BYTE2: Command
BYTE3: Number of data bytes to be exchanged for this command
BYTES 4 thru 9: Data Bytes, mostly in 2's compliment form in the order of: Least Significant
Byte, Middle Byte, Most Significant Byte
LAST BYTE: The ASCII colon character (:) flags the end of the serial command
All values specified through this section of the manual use the following format:
000000
0x0000
Ctrl<A>
Alt[0000 ]
'A'
Decimal
Hexadecimal
ASCII character pressed with Ctrl held down
Decimal number typed with Alt held down
ASCII character typed in
RS 232 Timeout: The normal Ludl 2-second timeout is not implemented. The MS-2000 clears
its buffers whenever a colon (:) is received, thereby eliminating any error-prone characters
received serially.
SERIAL DELAY: Due to the use of higher speed computers, there is no longer any need to
delay serial communication replies; therefore, serial delays are not supported by the MS-2000.
WARNING: When using the RS-232 OUT port to daisy chain RS-232 devices, it must be taken
into consideration that the MS-2000 monitors all serial traffic on the line. Although the Low
level command set will not respond with an error to a foreign command like the high level
command set, it is possible for the correct sequence of numbers to be entered which would match
an actual command. This would result in the MS-2000 executing an unwanted command. It is
recommended that the RS-232 OUT port is not used with the low level command set.
75
Commands are generally broken into five groups. In three special cases the number-of-databytes group is omitted to speed up the communication process.
Data values are broken into 8-bit bytes for the data length times, and then each byte is sent out
through serial channel to the interface, from LSB to MSB.
The ASCII colon (:) character is defined as the end-of-command code, and used to terminate the
command loading sequence at which time the controller clears the serial buffer and attempts to
process the command. If the command has errors and cannot be processed and executed, it is
ignored.
Note: The MS-2000 does not support parity check.
Group 1 /Byte 1: Axis Identifier
This one byte character identifies which axis or control function the command is for.
X Axis:
Y Axis:
Z Axis:
F Axis:
Dec: 24 (Hex: 0x18)
Dec: 25 (Hex: 0x19)
Dec: 26 (Hex: 0x1A)
Dec: 27 (Hex: 0x1B)
Keyboard: Ctrl<X>
Keyboard: Ctrl<Y>
Keyboard: Ctrl<Z>
Keyboard: ESC
The following are reserved for future use:
Autofocus
Controller
Scan
Dec:01 (Hex: 0x01)
Dec:03 (Hex: 0x0)3
Dec:03 (Hex: 0x03)
Keyboard: Ctrl<A>
Keyboard: Ctrl<C>
Keyboard: Ctrl<S>
Group 2 / Byte 2: Command Identifier
This is a single byte instruction code. These codes are listed in this manual. If the end-command
':' is received at this point, then the command is aborted and ignored.
Group 3 / Byte 3: Data Size
This is a single byte that gives the number of data bytes for this instruction. This value can also
be found in command listing for different commands. Although the range of this variable is
from 0 to 255, the MS-2000 only supports 0 to 6 up to firmware version 3.3.
Exceptions: There are 3 commands that do not use this data group: '?'-request status, 'G'-start
motor / function, 'B'-stop motor / function.
Group 4 / Bytes 4-?: Data Bytes
This group holds the data for the command whether the command is sending or receiving
information. The number of bytes for this group varies with each command and is stated in
Group 3.
Numerical information is broken down into the 8 bit bytes. These are transmitted in the order of
Least Significant Byte, Middle Byte, then Most Significant Byte. Positive numbers are divided
76
down using the base of 256. Numbers that may go negative are sent in 2's compliment. For
more information, see the examples for individual commands.
Group 5: Last Byte
This is a one-byte end-of-command character ':'. The MS-2000 will not recognize a command
until this character is received. When the ':' is received, the MS-2000 goes to a subroutine which
then pulls Groups 1-4 out of the serial port buffer, and then searches the buffer until the ':' is
found. Any information between Group 4 and the ':' is ignored.
77
COMMAND LISTING
The following are commands formatted by the MS-2000 shown in Decimal, and keyboard /
ASCII form. The first command, Read Status, give examples that explain in depth the
formatting which will be used for the rest of the examples.
Command: Read Status
Dec: 63
Hex: 0x3f
Keyboard: ? Data Size: None
Description: The MS-2000 will respond to this command in the following manor. If the motor
signal is not zero or there is a command being executed and the axis motor is enabled, the
controller will return an upper case B. Otherwise, it will return a lower case b.
Example:
Command: 24 63 58
Reply: 66
The above is an example of a stream of bytes that a PC would send serially to the controller and
the controller’s reply.
In the above example the 24 represents the X axis, the 63 represents the Read Status command
and the 58 is the colon which signifies the end of the command. The reply 66 is the decimal
code for the ASCII character B, which means the axis is currently busy.
Example: Ctrl<X>?:b
The above example shows a way to enter this command using a terminal screen where the
Ctrl<X> means that the Ctrl key is held down while the key capital X is pressed. This enters the
axis identifier for the X axis. The ? stands for the command Read Status and the : signifies the
end of the command.
The b is the controller’s response, which means the axis is not busy. Notice that with the low
level command set there are no spaces, carriage returns or line feeds. Note that, for the sake of
easy recognition of the computer response, all computer responses in this manual will be either
labeled so, or be printed in italics.
Command: Read Motor Position
Dec: 97
Hex: 0x61
Keyboard: a Data Size: 3
Description: Requests the MS-2000 to respond with the current stage position in two's
compliment form using 3 bytes. The response is in tenths of microns.
Example:
Command: 24 97 03 58
Reply in Dec: 160 134 01
78
The above is an example of a stream of bytes that a PC would send serially to the controller and
the controller’s reply.
In the above example the 24 represents the X axis, the 97 represents the Read Motor Position
command. The 3 means that the controller should return 3 bytes of data, and the 58 is the colon,
which signifies the end of the command. In the reply are three bytes: lsb:160, the mb:134, and
the msb:01.
Conversion: 160+(134*256)+(1*256*256)=100000 tenths of a micron or 10 millimeters from the
origin.
The example below shows the same example above as it would appear on a computer serial port
terminal program such as Hyperterminal (see command 63 for this manuals formatting
information). As can be seen the numbers 160 134 01 correspond to non-legible ASCII
characters. For this reason it is next to impossible to use a terminal program with the low level
command set.
<X>a<C>: áå_
Note: As can be seen in the Read Motor Position Command, many low level commands are
incompatible with terminal screens, so no terminal screen example will be given throughout the
rest of the manual for those commands.
Command: Read Increment Value
Dec: 100
Hex: 0x64
Keyboard: d Data Size: 3
Description: Requests the MS-2000 to respond with current setting for the distance of
increment moves. The number is a three byte two's compliment number representing a position
offset in tenths of a micron.
Example:
Command: 24 100 03 58
Reply in Dec: 160 134 01
The above is an example of a stream of bytes that a PC would send serially to the controller and
the controller’s reply.
In the above example the 24 represents the X axis, the 100 represents the Read Increment Value
command. The 3 means that the controller should return 3 bytes of data, and the 58 is the colon,
which signifies the end of the command. In the reply are three bytes: lsb:160, the mb:134, and
the msb:01.
Conversion: 160+(134*256)+(1*256*256)=100000 tenths of a micron or 10 millimeters from the
origin.
79
Command: Read Identification
Dec: 105
Hex: 0x69
Keyboard: i Data Size: 6
Description: Requests the MS-2000 to respond with the identification code for the Axis Id. The
response for X, Y, and Z axis' is EMOT :. The fifth and sixth bytes are spaces (ASCII code 32).
Note: The MS-2000 does not support consecutive 105 commands to read the version
information.
Command: 24 105 58
Reply in Dec: 69 77 79 84 32 58
Reply Converted to ASCII: EMOT :
Example:
The above is an example of a stream of bytes that a PC would send serially to the controller and
the controller’s reply.
The example below shows the same example above as it would appear on a computer serial port
terminal program such as Hyperterminal (see command 63 for this manuals formatting
information).
<X>i:EMOT :
^--there is a space here
Command: Read Motor Position and Status
Dec: 108
Hex: 0x6C
Keyboard: l Data Size: 4
Description: Requests the MS-2000 to respond with the current stage position in two's
compliment form using 3 bytes followed by the status byte. The response is in tenths of microns.
See command 126 (Read Status Byte) for more information on the status byte.
Example:
Command: 24 108 03 58
Reply in Dec: 160 134 01 20
The above is an example of a stream of bytes that a PC would send serially to the controller and
the controller’s reply.
In the above example the 24 represents the X axis, the 97 represents the Read Motor Position
command. The 3 means that the controller should return 3 bytes of data, and the 58 is the colon,
which signifies the end of the command. In the reply are three bytes, the lsb:10, the mb:1, and
the msb:2, plus the status byte. This can be translated as follows:
160+(134*256)+(1*256*256)=100000 tenths of a micron or 10 millimeters from the origin.
See command 126 (Read Status Byte) for more information on the status byte.
80
Command: Read Current Speed
Dec: 111
Hex: 0x6F
Keyboard: o Data Size: 2
Description: Requests the MS-2000 to respond with current instantaneous value of the servo
speed trajectory. The number returned is a signed two-byte number representing the velocity in
μm/s.
Example:
Command: 24 111 02 58
Reply in Dec: 78 02
The above is an example of a stream of bytes that a PC would send serially to the controller and
the controller’s reply.
In the above example the 24 represents the X axis, the 111 represents the Read Current Speed
command. The 02 means that the controller should return 2 bytes of data, and the 58 is the
colon, which signifies the end of the command. The reply is made up of an lsb and msb, which
would convert as follows:
78+(2*256) =590 μm/s
or 0.59 mm/second
Command: Read Ramp Time
Dec: 113
Hex: 0x71
Keyboard: q Data Size: 1
Description: Requests the MS-2000 to respond with current setting for the time to ramp up and
down. This is a one-byte number between 1 and 255. It represents the number of milliseconds
the ramp from start speed to maximum speed at the beginning of a move and from maximum
speed to start speed at the end of a move will take.
Example:
Command: 24 113 01 58
Reply in Dec: 78
The above is an example of a stream of bytes that a PC would send serially to the controller and
the controller’s reply.
In the above example the 24 represents the X axis, the 113 represents the Read Ram Time
command. The 1 means that the controller should return 1 byte of data, and the 58 is the colon,
which signifies the end of the command. The reply 78 means that the controller will allow 78
milliseconds for ramping up and down.
Command: Read Start Speed
Dec: 114
Hex: 0x72
Keyboard: r Data Size: 2
Description: Dummy function. Do not use.
81
Command: Read Maximum Speed
Dec: 115
Hex: 0x73
Keyboard: s Data Size: 2
Description: Requests the MS-2000 to respond with current setting for the maximum speed the
stage is allowed to move. The number returned is a straight two-byte number representing a
speed μm/s.
Example:
Command: 24 114 02 58
Reply in Dec: 78 02
The above is an example of a stream of bytes that a PC would send serially to the controller and
the controller’s reply.
In the above example the 24 represents the X axis, the 115 represents the Read Maximum Speed
command. The 02 means that the controller should return 2 bytes of data, and the 58 is the
colon, which signifies the end of the command. The reply is made up of an lsb and msb, which
would convert as follows:
78+(2*256) =590 μm/s
or 0.59 mm/second
Command: Read Target Position
Dec: 116
Hex: 0x74
Keyboard: t Data Size: 3
Description: Requests the MS-2000 to respond with current target position. The number is a
three byte, two's compliment, number representing a position offset in tenths of a micron.
Example:
Command: 24 116 03 58
Reply in Dec: 160 134 01
The above is an example of a stream of bytes that a PC would send serially to the controller and
the controller’s reply.
In the above example the 24 represents the X axis, the 116 represents the Read Target Position
command. The 3 means that the controller should return 3 bytes of data, and the 58 is the colon,
which signifies the end of the command. In the reply are three bytes: lsb:160, the mb:134, and
the msb:01.
Conversion: 160+(134*256)+(1*256*256)=100000 tenths of a micron or 10 millimeters from the
origin.
82
Command: Read Status Byte
Dec: 126
Hex: 0x7E
Keyboard: ~ Data Size: 1
Description: Requests the MS-2000 to respond with the Status Byte. The number is one byte,
which can be broken down into 8 bits that represent the following internal flags:
Bit 0:
Bit 1:
Bit 2:
Bit 3:
Bit 4:
Bit 5:
Bit 6:
Bit 7:
0 = No Motor Signal, 1 = Motor Signal (i.e., axis is moving)
Always 1, as servos cannot be turned off
0 = Pulses Off, 1 = Pulses On
0 = Joystick/Knob disabled, 1 = Joystick/Knob enabled
0 = motor not ramping, 1 = motor ramping
0 = ramping up, 1= ramping down
Upper limit switch: 0 = open, 1 = closed
Lower limit switch: 0 = open, 1 = closed
Example:
Command: 24 126 58
Reply: 138
The above is an example of a stream of bytes that a PC would send serially to the controller and
the controller’s reply.
In the above example the 24 represents the X axis, the 126 represents the Read Status Byte
command. The 58 is the colon, which signifies the end of the command. The reply can be
broken into its individual bits as follows:
B7: 1
B6: 0
B5: 0
B4: 0
B3: 1
B2: 0
B1: 1
B0: 0
-
Axis is at upper limit
Lower limit switch open
Ramping down if ramping
Not ramping
Joystick is enabled
Pulses are not being used
Servo Encoders are in use
Motors are not turned on
Command: Start / Enable Motor
Dec: 71
Hex: 47
Keyboard: G Data Size: 0
Description: Enables the function. Mainly used to turn on / start / enable the motor for an axis
specified. Does not give or receive data so the data field is omitted and the end character ‘:’
follows directly.
Example:
Command: 24 71 58
Response: There is no response
83
Command: Stop / Disable Motor
Dec: 66
Hex: 42
Keyboard: B Data Size: 0
Description: Disables the function. Mainly used to turn off / stop / disable the motor for an axis
specified. Does not give or receive data so the data field is omitted and the end character ‘:’
follows directly. Starting with firmware version 3.3, a disabled axis / function will reply to the
Status command with a not busy 'b' even if the current position and target position do not match.
Command: 24 71 58
Response: There is no response
Example:
Command: Write Motor Position
Dec: 65
Hex: 0x41
Keyboard: A Data Size: 3
Description: Requests the MS-2000 to write the given position to the current position count
buffer. The position is given in two's compliment form using 3 bytes. The number represents
the position in tenths of microns.
Command: 24 65 03 160 134 01 58
Reply: There is no reply
Example:
The above is an example of a stream of bytes that a PC would send serially to the controller.
The 24 represents the X axis, the 65 represents the Write Motor Position command. The 3
means that the controller should read three bytes of data. The three bytes are: lsb:160, the
mb:134, and the msb:01. The 58 is the colon which signifies the end of the command.
Conversion: 160+(134*256)+(1*256*256)=100000 tenths of a micron or 10 millimeters from
the origin.
Reverse Conversion:
10 millimeters
*10,000 to get tenths of microns
=100,000
lsb = remainder of 100,000 / 256 = 160
mb = remainder of 100,000 / 256 / 256 = 134
msb = remainder of 100,000 / 256 / 256 / 256 =1
84
Command: Write Target Position (move)
Dec: 84
Hex: 0x54
Keyboard: T Data Size: 3
Description: Requests the MS-2000 to write the given position to the target position buffer.
The position is given in two's compliment form using 3 bytes. The number represents the
position in tenths of microns.
Command: 24 84 03 160 134 01 58
Reply: There is no reply
Example:
The above is an example of a stream of bytes that a PC would send serially to the controller. The
24 represents the X axis, the 84 represents the Write Target Position command. The 3 means
that the controller should read three bytes of data. The three bytes are: lsb:160, the mb:134, and
the msb:01. The 58 is the colon which signifies the end of the command.
Conversion: 160+(134*256)+(1*256*256)=100000 tenths of a micron or 10 millimeters from
the origin.
Reverse Conversion:
10 millimeters
*10,000 to get tenths of microns
=100,000
lsb = remainder of 100,000 / 256 = 160
mb = remainder of 100,000 / 256 / 256 = 134
msb = remainder of 100,000 / 256 / 256 / 256 =1
Command: Increment Move Up
Dec: 43
Hex: 0x2B
Keyboard: + Data Size: 0
Description: Requests the MS-2000 to add the Increment Value to the Current Position Value
and place the result in the Target Position Buffer. There is no data or response.
Example:
Command: 24 43 0 58
Reply in Dec: No reply
The above is an example of a stream of bytes that a PC would send serially to the controller. In
the above example the 24 represents the X axis, the 43 represents the Increment Move Up
command. The 0 means that there is no data. The 58 is the end of command character.
85
Command: Increment Move Down
Dec: 45
Hex: 0x2D
Keyboard: - Data Size: 0
Description: Requests the MS-2000 to subtract the Increment Value to the Current Position
Value and place the result in the Target Position Buffer. There is no data or response.
Example:
Command: 24 45 0 58
Reply in Dec: No reply
The above is an example of a stream of bytes that a PC would send serially to the controller. In
the above example the 24 represents the X axis, the 45 represents the Increment Move Down
command. The 0 means that there is no data. The 58 is the end of command character.
Command: Write Increment Value
Dec: 68
Hex: 0x44
Keyboard: D Data Size: 3
Description: Requests the MS-2000 to write the given position to the Increment Value buffer.
The position is given in two's compliment form using 3 bytes. The number represents the
position in tenths of microns. The Increment Value is used for making successive Relative
Moves.
Example:
Command: 24 68 03 160 134 01 58
Reply: There is no reply
The above is an example of a stream of bytes that a PC would send serially to the controller. The
24 represents the X axis, the 68 represents the Write Increment Value command. The 3 means
that the controller should read three bytes of data. The three bytes are: lsb:160, the mb:134, and
the msb:01. The 58 is the colon which signifies the end of the command.
Conversion: 160+(134*256)+(1*256*256)=100000 tenths of a micron or 10 millimeters from
the origin.
Reverse Conversion:
10 millimeters
*10,000 to get tenths of microns
=100,000
lsb = remainder of 100,000 / 256 = 160
mb = remainder of 100,000 / 256 / 256 = 134
msb = remainder of 100,000 / 256 / 256 / 256 =1
86
Command: Write Ramping Time
Dec: 81
Hex: 0x51
Keyboard: Q
Data Size: 1
Description: Requests the MS-2000 to write the given byte to the Ramping Time buffer. Value
Range is from 0 to 256 in the unit of milliseconds. The ramp time sets the stage acceleration at
Max_Speed / Ramp_Time. For short moves the acceleration will be at the same rate as for long
moves, but the duration of the ramp will be less than the full ramp time. To minimize damage to
the servo motors it is recommended that the ramp time always be greater than 50ms when
ramping to full motor speed.
Command: 24 81 01 45 58
Reply: There is no reply
Example:
The above is an example of a stream of bytes that a PC would send serially to the controller. The
24 represents the X axis, the 81 represents the Write Ramping Time command. The 01 means
that the controller should read one byte of data. The 45 is the byte of data which means the ramp
time will be set to 45 milliseconds. The 58 is the colon which signifies the end of the command.
Command: Write Start Speed
Dec: 82
Hex: 0x 52 Keyboard: R
Description: Dummy function – do not use.
Data Size: 2
Command: Write Top Speed
Dec: 83
Hex: 0x53
Keyboard: S Data Size: 2
Description: Requests the MS-2000 to write the given speed to the Top Speed buffer. The
speed is divided down into two 8-bit bytes by dividing the number down by 256. The number
represents the speed in μm/s.
Example:
Command: 24 83 2 112 23 58
Reply: There is no reply
The above is an example of a stream of bytes that a PC would send serially to the controller. The
24 represents the X axis, the 83 represents the Write Top Speed command. The 2 means that the
controller should read two bytes of data. The two bytes are: lsb:112 and the msb:23. This means
the top speed the axis will travel is at 6000 μm/s. The 58 is the colon which signifies the end of
the command.
Conversion: 112+(23*256)=6000 μm/s or 6 mm/s.
Reverse Conversion:
87
6 millimeters/second
*1000 to get microns
=6000 microns/second
lsb = remainder of 6000 / 256 = 112
msb = remainder of (6000 / 256)* / 256 = 23
*drop remainder of first division and take remainder of second division
Command: Write Vector Speed
Dec: 94
Hex: 0x5E
Keyboard: ^ Data Size: 2
Description: Instructs the MS-2000 to immediately ramp motors to given velocity value and
continue at that speed until instructed otherwise. The velocity is a two-byte value. The binary
number represents the velocity in μm/s. The acceleration rate is set by the Write-Ramping-Time
and Write-Top-Speed settings. (see Write-Ramping-Time command).
Example:
Command: 24 94 2 112 23 58
Reply: There is no reply
The above is an example of a stream of bytes that a PC would send serially to the controller. The
24 represents the X axis, the 94 represents the Write Vector Speed command. The 2 means that
the controller should read two bytes of data. The two bytes are: lsb:112 and the msb:23. The
stage ramps to the speed 6000 μm/s. The 58 is the colon which signifies the end of the
command.
Conversion: 112+(23*256)=6000 μm/s or 6 mm/s.
Command: Joystick / Control Device Enable
Dec: 74
Hex: 0x4A
Keyboard: J Data Size: 0
Description: Enables the control device function. Allows enabling a control device such as a
Joystick or Command Knob to be re-enabled.
Example:
Command: 24 74 58 OR 24 74 0 58
The above is an example of a stream of bytes that a PC would send serially to the controller. The
24 represents the X axis, the 74 represents the Enable Joystick command. The data size is 0 and
can either be included or left off on the MS-2000. The 58 is the colon which signifies the end of
the command.
88
Command: Joystick / Controller Disable
Dec: 75
Hex: 0x 4B
Keyboard: K
Data Size: 0
Description: Disables the control device function. Allows disabling a control device such as a
Joystick or Command Knob so that no external signals are allowed to affect move functions
during PC control.
Example:
Command: 24 75 58 OR 24 75 0 58
The above is an example of a stream of bytes that a PC would send serially to the controller. The
24 represents the X axis, the 74 represents the Disable Joystick command. The data size is 0
and can either be included or left off on the MS-2000. The 58 is the colon which signifies the end
of the command.
89
90
ASI's Five Year Warranty on Automated DC Servomotor
Stages
Applied Scientific Instrumentation, Inc., hereafter referred to as ASI, guarantees its
automated XY stages against all defects in materials and workmanship to the original
purchaser for a period of five (5) years from the date of shipment. ASI's responsibility to
this warranty shall not arise until the buyer returns the defective product, freight prepaid,
to ASI's facility. After the product is returned, ASI at its option, will replace or repair
free of charge any defective component or device that it has manufactured. The warranty
set forth above does not extend to damaged equipment resulting from alteration, misuse,
negligence, abuse, or as outlined below:
1. Equipment not manufactured by ASI that is offered as part of complete system carries
the original equipment manufacturer's warranty. This includes the piezo elements and
control electronics in our piezo Z top plate stages. The piezo elements and control
electronics have a one-year warranty from Mad City Labs.
2. The linear encoder option has a two-year warranty.
3. The DC servomotors used in our automated stages have a three-year warranty for
biological applications in routine research.
4. OEM components that are being used in non-routine research such as high throughput
genomic sequencing, or any operation were operation of the equipment exceeds 50
operating hours per week, have a one-year warranty.
5. Damage from corrosive materials such as saline solution or other extreme
contamination within the bearings and leadscrew assemblies.
THE WARRANTY AND REMEDIES SET FORTH ABOVE ARE IN LIEU OF ALL
OTHER WARRANTIES. APPLIED SCIENTIFIC INSTRUMENTATION, INC.
EXPRESSLY DISCLAIMS ALL OTHER WARRANTIES WHETHER EXPRESSED,
IMPLIED OR STATUTORY, INCLUDING THE WARRANTIES OF
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AND
AGAINST INFRINGEMENT.
In no event will ASI be liable for incidental or consequential damages, even if ASI has
been advised of the possibility of such damages howsoever, arising out of the sale or use
of the products described herein.
91
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