Newport | CONEX-PP | User manual | Newport CONEX-PP User manual

CONEX-PP
Single-Axis Intelligent
Stepper Motor Controller/Driver
Command Interface
Manual
V1.0.x
CONEX-PP
Command Interface Manual
©2018 by Newport Corporation, Irvine, CA. All rights reserved.
Original instructions.
No part of this document may be reproduced or copied without the prior written
approval of Newport Corporation. This document is provided for information only, and
product specifications are subject to change without notice. Any change will be
reflected in future publishings.
EDH0352En1022 — 12/18
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CONEX-PP
Command Interface Manual
Table of Contents
1.0
Introduction .................................................................................................. 1
1.1
Purpose .................................................................................................................................... 1
1.2
Overview ................................................................................................................................. 1
2.0
Programming ................................................................................................ 2
2.1
State Diagram .......................................................................................................................... 2
2.2
Command Syntax..................................................................................................................... 3
2.3
Command Execution Time ...................................................................................................... 3
2.4
Command Set .......................................................................................................................... 4
AC — Set/Get acceleration .................................................................................................... 6
BA — Set/Get backlash compensation .................................................................................. 7
BH — Set/Get hysteresis compensation................................................................................. 8
FR — Set/Get stepper motor configuration............................................................................ 9
HT — Set/Get HOME search type ....................................................................................... 10
ID — Set/Get stage identifier ............................................................................................... 11
JR — Set/Get jerk time ........................................................................................................ 12
MM — Enter/Leave DISABLE state ................................................................................... 13
OH — Set/Get HOME search velocity ................................................................................ 14
OR — Execute HOME search.............................................................................................. 15
OT — Set/Get HOME search time-out ................................................................................ 16
PA — Move absolute ........................................................................................................... 17
PR — Move relative ............................................................................................................. 18
PT — Get motion time for a relative move .......................................................................... 19
PW — Enter/Leave CONFIGURATION state .................................................................... 20
RS — Reset controller.......................................................................................................... 21
RS## — Reset controller’s address ...................................................................................... 22
SA — Set/Get controller’s RS422 address ........................................................................... 23
SE — Configure/Execute simultaneous started move .......................................................... 24
SL — Set/Get negative software limit.................................................................................. 26
SR — Set/Get positive software limit .................................................................................. 27
ST — Stop motion ............................................................................................................... 28
TB — Get command error string ......................................................................................... 29
TE — Get last command error ............................................................................................. 30
TH — Get set-point position ................................................................................................ 31
TP — Get current position ................................................................................................... 32
TS — Get positioner error and controller state .................................................................... 33
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CONEX-PP
Command Interface Manual
VA — Set/Get velocity ........................................................................................................ 35
VE — Get controller revision information ........................................................................... 36
ZT — Get all configuration parameters ............................................................................... 37
Service Form ........................................................................................................ 39
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CONEX-PP
Command Interface Manual
Single-Axis Intelligent Stepper
Motor Controller/Driver
CONEX-PP
1.0
Introduction
1.1
Purpose
The purpose of this document is to provide the method syntax of each command to
communicate with the CONEX-PP device.
1.2
Overview
The Command Interface is the wrapper class that maintains a list of CONEX-PP
instruments. It exposes methods to communicate with any CONEX-PP device.
NOTE
Each function name is defined with the command code “AA”.
For each command function, refer to the CONEX-PP programmer’s manual.
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CONEX-PP
2.0
Command Interface Manual
Programming
2.1
State Diagram
For a safe and consistent operation, the CONEX-PP uses 6 different operational states:
Not referenced, Configuration, Homing, Ready, Disable and Moving. In each state,
only specific commands are accepted by the CONEX-PP. Therefore, it is important to
understand the state diagram below and to know which commands and actions cause
transitions between the different states. Also see section 2.4 for command/state
information:
Actions in each state when End of Runs is encountered
NOT REFERENCED: No action.
EDH0352En1022 — 12/18
CONFIGURATION:
No action.
HOMING:
Only check at end of HOMING and then change to NOT
REFERENCED state.
MOVING:
Abort motion and then changes to NOT REFERENCED
state.
READY:
Changes to NOT REFERENCED state.
DISABLE:
Changes to NOT REFERENCED state.
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CONEX-PP
Command Interface Manual
2.2
Command Syntax
The CONEX-PP is a command-driven controller. The general format of a command is
a two-letter ASCII word preceded and followed by parameters specific to the
command:
Command format
nn
nn
AA
xx
— Controller address, or
nothing if the issued command addresses all controllers.
AA — Command name.
xx
— Parameter value, or
“?” to query the current value, or
nothing if the command takes no parameter.
Both upper and lower case characters are accepted. Depending on the command, it can
have an optional or required prefix (nn) for the controller address and/or a suffix (xx)
value, a “?” or no suffix at all.
Blank spaces
Blanks are allowed and ignored in any position, including inside a numerical value,
unless enclosed within quotes. The following two commands are equivalent, but the
first example might be confusing:
2P A1.43 6
2PA1.436
Decimal separator
A dot (“.”) must be used as decimal separator for all numerical values.
Command terminator
Commands are executed as either of the command terminator CR or LF (carriagereturn, ASCII 13 or line-feed, ASCII 10) is received. The controller will analyze the
received string. If the command is valid and its parameters are in the specified range,
it will be executed. Otherwise it will memorize an error.
After the command parameters are identified, all remaining characters in the input
string until the first command terminator, if any, will be ignored. Commands from the
PC to the CONEX-PP may still be concatenated in a single string, but each command
must be separated from the next one by a carriage-return or a line-feed.
In case any error occurs, the reported error will be recorded and can be checked using
the TE command. Please refer to the command set in section 2.4 for details.
2.3
Command Execution Time
The CONEX-PP controller interprets commands continuously as they are received.
The typical execution time for a "tell position command" (nTP?) is about 10 ms. Here,
command execution time means the between sending a command and receiving an
answer.
It is important to note that a move command, that may lasts for several seconds, will
not suspend the controller from further command execution. So for an efficient
process flow with many move commands it is recommended to use the PT command
(get time for a relative move), and to query the controller status (TS command) or the
current position (TP command) before any further motion command is sent.
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CONEX-PP
Command Interface Manual
2.4
Command Set
This section describes the supported two-letter ASCII commands used to configure
and operate the CONEX-PP. The general command format is:
Command format
nn
nn
AA
xx
— Optional or required controller address.
AA — Command name.
xx
— Optional or required value or “?” to query current value.
Most commands can be used to set a value (in that case the command name is
followed by the value, represented here as “xx”) or to query the current value (in that
case the command name is followed by a “?”). When querying a value, the controller
responds with the command it received followed by the queried value.
Examples:
1VA10 sets the velocity of the controller #1 to 10 units/second (and sends nothing
back).
1VA? sends back the reply "1VA10", which means: "controller #1's velocity is 10
units/second".
Not every command can be executed in all states of the CONEX-PP and some
commands have different meaning in different states. It is therefore important to
understand the state diagram of the controller, see section 2.1.
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4
CONEX-PP
AC
BA
BH
FR
HT
ID
JR
MM
OH
OR
OT
PA
PR
PT
PW
QC
QD
QI
RS
RS##
SA
SE
SL
SR
ST
TB
TE
TH
TP
TS
VA
VE
ZT
Command Interface Manual
Not Ref. Config.
–

–

–

–

–

–

–

–
–
–


–
–

–
–
–
–
–
–


–

–

–





–

–
–
–

–






–










Disable

–
–
–
–



–
–
–
–
–

–
–
–
–


–
–


–








Ready

–
–
–
–



–
–
–



–
–
–
–


–



–








Motion
–
–
–
–
–
–
–
–
–
–
–
–
–

–
–
–
–


–
–
–
–






–


Description
Set/Get acceleration
Set/Get backlash compensation
Set/Get hysteresis compensation
Set/Get stepper motor configuration
Set/Get HOME search type
Set/Get stage identifier
Set/Get jerk time
Enter/Leave DISABLE state
Set/Get HOME search velocity
Execute HOME search
Set/Get HOME search time–out
Move absolute
Move relative
Get estimated duration of a relative move
Enter/Leave CONFIGURATION state
Set/Get idle current coefficient
Set/Get idle current delay
Set/Get motor’s current limits
Reset controller
Reset controller’s address to 1
Set/Get controller’s RS–485 address
Configure/Execute simultaneous started move
Set/Get negative software limit
Set/Get positive software limit
Stop motion
Get command error string
Get last command error
Get set–point position
Get current position
Get positioner error and controller state
Set/Get velocity
Get controller revision information
Get all axis parameters
Not Ref.
Corresponds to the NOT REFERENCED state (for details see state diagram, section 2.1).
Config.
Corresponds to the CONFIGURATION state.
Disable
Corresponds to the DISABLE state.
Ready
Corresponds to the READY state.
Motion
Corresponds to the HOMING and MOVING states.

Changes configuration parameters. Those changes will be stored in the controller’s memory with the PW1
command and remain available after switching off the controller.

Changes working parameters only. Those changes will get lost when switching off the controller.

Accepted command.
–
Command is forbidden in this state (will memorize an error).
Grey line
Command passed without preceding controller number applies to all controllers (e.g. MM0 disables all
controllers).
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CONEX-PP
Command Interface Manual
AC — Set/Get acceleration
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–



–
xxACnn or xxAC?
Parameters
Description
Range
Units
Defaults
xx [int]
—
Controller address.
nn [float] —
Acceleration value.
xx
—
1 to 31
nn
—
> 10–6 and < 1012
xx
—
None
nn
—
Preset units/s2
xx
Missing:
Error B.
Out of range:
Error B.
nn
Description
Missing:
Error C.
Out of range:
Error C.
In CONFIGURATION state, this command sets the maximum acceleration value
which can then be saved in the controller’s non-volatile memory using the PW
command. This is the maximum acceleration that can be applied to the mechanical
system. It is also the default acceleration that will be used for all moves unless a lower
value is set in DISABLE or READY state.
In DISABLE or READY state, this command sets the acceleration used for all
subsequent moves. Its value can be up to the programmed value in
CONFIGURATION state. This value is not saved in the controller’s memory and will
be lost after reboot.
Returns
Errors
Rel. Commands
Example
EDH0352En1022 — 12/18
If the sign “?” is used instead of nn, this command returns the current value for the
state in which the controller is (either CONFIGURATION or DISABLE/READY).
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
H
—
Execution not allowed in NOT REFERENCED state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
JR
—
Set/Get jerk time.
VA
—
Set/Get velocity.
1AC500
|
Set controller #1 acceleration to 500 units/s2.
1AC?
|
Controller returns 1AC500.
6
CONEX-PP
Command Interface Manual
BA — Set/Get backlash compensation
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–

–
–
–
xxBAnn or xxBA?
Parameters
Description
Range
Units
Defaults
xx [int]
Controller address.
nn [float] —
Backlash value.
xx
—
1 to 31
nn
—
≥ 0 and < 1012
xx
—
None
nn
—
Preset units
xx
Missing:
Error B.
Out of range:
Error B.
nn
Description
—
Missing:
Error C.
Out of range:
Error C.
The BA command sets the backlash compensation value. This is the value that the
controller moves the motor in addition to the commanded distance with any move that
reverses the direction of motion without changing the current position value (TP
command).
The BA command helps compensating for repeatable mechanical defects that appear
when reversing the direction of motion, for instance mechanical wear. The value 0
disables this function. This feature can be only used when the hysteresis compensation
(BH) is disabled.
When a value different from 0 is set, the travel range of the stage is decreased by the
same amount.
Returns
Errors
Rel. Commands
Example
If the sign “?” is used instead of nn, this command returns the current programmed
value.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
H
—
Execution not allowed in NOT REFERENCED state.
J
—
Execution not allowed in DISABLE state.
K
—
Execution not allowed in READY state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
BH
—
Set hysteresis compensation.
1BA0.005
|
Set controller #1 backlash compensation to 0.005 units.
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CONEX-PP
Command Interface Manual
BH — Set/Get hysteresis compensation
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–

–
–
–
xxBHnn or xxBH?
Parameters
Description
Range
Units
Defaults
Description
xx [int]
—
Controller address.
nn [float] —
Hysteresis value.
xx
—
1 to 31
nn
—
≥ 0 and < 1012
xx
—
None
nn
—
Preset units
xx
Missing:
Error B.
Out of range:
Error B.
Floating point:
Error A.
nn
Missing:
Error C.
Out of range:
Error C.
The BH command sets the hysteresis compensation value. When set to a value
different than zero, the controller will issue for each move in the positive direction a
move of the commanded distance plus the hysteresis compensation value, and then a
second move of the hysteresis compensation value in the negative direction. This
motion ensures that a final position gets always approached from the same direction
and distance and helps compensating for non-repeatable mechanical defects like
hysteresis or mechanical stiffness variations.
The value 0 disables this function. The BH command can not be used when the
backlash compensation is enabled (BA command).
When a value different from 0 is set, the travel range of the stage is decreased by the
same amount in the positive direction.
NOTE
The homing set on the positive end of run and hysteresis compensation are not
compatible. Any attempt to use both features together will make the stage fail.
Returns
Errors
Rel. Commands
Example
EDH0352En1022 — 12/18
If the sign “?” is used instead of nn, this command returns the current programmed
value.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
H
—
Execution not allowed in NOT REFERENCED state.
J
—
Execution not allowed in DISABLE state.
K
—
Execution not allowed in READY state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
BA
—
Set backlash compensation.
1BH0.015
|
Set controller #1 backlash compensation to 0.015 units.
8
CONEX-PP
Command Interface Manual
FR — Set/Get stepper motor configuration
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–

–
–
–
xxFRSnn, xxFRM? or xxFRS?
Parameters
Description
Range
Units
Defaults
xx [int]
Controller address.
Mmm [int] —
Snn [float] —
Amount of micro-steps per full step.
Full step displacement length in 1/1000 of unit.
xx
—
1 to 31
mm
—
> 0 and ≤ 2000
nn
—
> 10-6 and < 1012
xx
—
None.
Mmm
Snn
—
—
None.
1/1000 of unit.
xx
Missing:
Error B.
Out of range:
Error B.
mm Missing:
Error C.
Out of range:
Error C.
nn
Description
—
Missing:
Error C.
Out of range:
Error C.
FRM: For compatibility. No effect. Always 128 µsteps.
FRS: This command sets the displacement length per full step in 1/1000 of unit.
Returns
Errors
Example
If the sign “?” is used instead of mm or nn, this command returns the current
programmed value.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
H
—
Execution not allowed in NOT REFERENCED state.
J
—
Execution not allowed in DISABLE state.
K
—
Execution not allowed in READY state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
1FRS10
|
Set controller #1 full step value to 10 milli-units.
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CONEX-PP
Command Interface Manual
HT — Set/Get HOME search type
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–

–
–
–
xxHTnn or xxHT?
Parameters
Description
Range
xx [int]
—
Controller address.
nn [int]
—
Home search type identifier.
xx
—
1 to 31
nn
—
1 use current position as HOME.
2 use MZ switch (mechanical zero) to detect HOME position.
4 use EoR- switch (negative end of range) to detect HOME position.
Units
Defaults
xx
—
None.
nn
—
None.
xx
Missing:
Error B.
Out of range:
Error B.
nn
Description
Missing:
Error C.
Out of range:
Error C.
This command sets the type of HOME search used with the OR command.
NOTE
The homing set on the positive end of run and hysteresis compensation are not
compatible. Any attempt to use both features together will make the stage fail.
Returns
Errors
Rel. Commands
Example
EDH0352En1022 — 12/18
If the sign “?” is used instead of nn, this command returns the current programmed
value.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
H
—
Execution not allowed in NOT REFERENCED state.
J
—
Execution not allowed in DISABLE state.
K
—
Execution not allowed in READY state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
OH
—
Set/Get HOME search velocity.
OR
—
Execute HOME search.
OT
—
Set HOME search time-out.
1HT1
|
Set controller #1 HOME sequence to use current position.
10
CONEX-PP
Command Interface Manual
ID — Set/Get stage identifier
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–



–
xxIDnn or xxID?
Parameters
Description
Range
Units
Defaults
xx [int]
Controller address.
nn [string] —
Stage identifier string.
xx
—
1 to 31
nn
—
1 to 31 ASCII characters.
xx
—
None
nn
—
None
xx
Missing:
Error B.
Out of range:
Error B.
nn
Description
—
Missing:
Error C.
Out of range:
Error C.
The ID command sets the stage identifier in the form of a character string. Any
printable character can be used ; spaces are admissible only if the string is enclosed in
quotes, "like this". If not, spaces and tabs are ignored.
In CONFIGURATION state, this command sets a new value for the stage identifier
which can then be saved in the device's non-volatile memory with the PW command.
It is also the default value that will be used unless a different value is set in DISABLE
or READY state.
In DISABLE or READY state, this command allows setting a new working parameter
for the stage identifier. This value is not saved in the controller’s memory and will be
lost after reboot.
Returns
Errors
Example
If the sign “?” is used instead of nn, this command returns the current identifier string
for the state in which the controller is (either CONFIGURATION or
DISABLE/READY).
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
H
—
Execution not allowed in NOT REFERENCED state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
1ID?
|
1ID URS100CC |
Get stage identifier for controller #1.
Set controller #1's stage identifier to: URS100CC.
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CONEX-PP
Command Interface Manual
JR — Set/Get jerk time
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–



–
xxJRnn or xxJR?
Parameters
Description
Range
Units
Defaults
xx [int]
Controller address.
nn [float] —
Jerk time value.
xx
—
1 to 31
nn
—
> 0.001 and < 1012
xx
—
None.
nn
—
Seconds.
xx
Missing:
Error B.
Out of range:
Error B.
nn
Description
—
Missing:
Error C.
Out of range:
Error C.
Jerk is the derivative of acceleration. The jerk time defines the time to reach the
needed acceleration. A longer jerk time reduces stress to the mechanics and smoothes
motion.
In CONFIGURATION state, this command sets the value for the maximum jerk time
which can then be saved in the controller’s non-volatile memory using the PW
command. It is also the default value that will be used unless a different value is set in
DISABLE or READY state.
In DISABLE or READY state, this command allows setting a new working parameter
for the maximum jerk time. This value is not saved in the controller’s memory and
will be lost after reboot.
Returns
Errors
Rel. Commands
Example
EDH0352En1022 — 12/18
If the sign “?” is used instead of nn, this command returns the current programmed
value for the state in which the controller is (either CONFIGURATION or
DISABLE/READY).
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution impossible (axis in movement).
H
—
Execution not allowed in NOT REFERENCED state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
AC
—
Set/Get acceleration.
VA
—
Set/Get velocity.
1JR0.05
|
Set controller #1 jerk time to 0.05 seconds.
12
CONEX-PP
Command Interface Manual
MM — Enter/Leave DISABLE state
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–
–


–
xxMMnn or xxMM?
Parameters
Description
Range
xx [int]
—
Controller address.
nn [int]
—
Whether to enter (1) or leave (0) the DISABLE state.
xx
—
0 to 31
nn
—
0 changes state from READY to DISABLE.
1 changes state from DISABLE to READY.
Units
Defaults
xx
—
None.
nn
—
None.
xx
Missing:
Out of range:
nn
Description
Change to 0 (will forward this command to all controllers).
Error B.
Missing:
Error C.
Out of range:
Error C.
When the MM command is sent without preceding controller number or the controller
number is 0, the MM command is executed on all controllers.
MM0 changes the controller’s state from READY to DISABLE. In DISABLE state
the control loop is open and the motor is not powered.
MM1 changes the controller’s state from DISABLE to READY. The controller’s set
point position is set equal to its current position and the control loop gets closed
(depending on the closed-loop state). Any residual error is cleared and the motor is
powered.
Returns
Errors
Rel. Commands
Example
If the sign “?” is used instead of nn, this command returns the current state. Refer to
the TS command section for the list of controller states.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
H
—
Execution not allowed in NOT REFERENCED state.
I
—
Execution not allowed in CONFIGURATION state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
PW
—
Enter/leave CONFIGURATION state.
MM0
|
All controllers go to DISABLE state.
13
EDH0352En1022 — 12/18
CONEX-PP
Command Interface Manual
OH — Set/Get HOME search velocity
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–

–
–
–
xxOHnn or xxOH?
Parameters
Description
Range
Units
Defaults
xx [int]
Returns
Errors
Rel. Commands
Example
EDH0352En1022 — 12/18
Controller address.
nn [float] —
HOME search velocity.
xx
—
1 to 31
nn
—
> 10-6 and < 1012
xx
—
None.
nn
—
Preset units/s.
xx
Missing:
Error B.
Out of range:
Error B.
nn
Description
—
Missing:
Error C.
Out of range:
Error C.
This command sets the maximum velocity used by the controller for the HOME
search.
If the sign “?” is used instead of nn, this command returns the current programmed
value.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
H
—
Execution not allowed in NOT REFERENCED state.
J
—
Execution not allowed in DISABLE state.
K
—
Execution not allowed in READY state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
HT
—
Set/Get HOME search type.
OR
—
Execute HOME search.
OT
—
Set HOME search time-out.
1OH50
|
Set controller #1 HOME search velocity to 50 units/s.
14
CONEX-PP
Command Interface Manual
OR — Execute HOME search
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion

–
–
–
–
xxOR
Parameters
Description
xx [int]
—
Controller address.
Range
xx
—
1 to 31
Units
xx
—
None.
Defaults
xx
Missing:
Error B.
Out of range:
Error B.
nn
Description
Missing:
Error C.
Out of range:
Error C.
This command starts the execution of the HOME search according to the algorithm
defined by the HT command.
When in NOT REFERENCED state, for instance after system start, any positioner
must first be homed with the OR command before further motion commands can be
executed.
The OR command is accepted only in NOT REFERENCED state and only when no
hardware error is present (except end-of-runs). Refer to the TS command to get more
information on the possible hardware errors.
Errors
Rel. Commands
Example
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
E
—
home sequence already started.
I
—
Execution not allowed in CONFIGURATION state.
J
—
Execution not allowed in DISABLE state.
K
—
Execution not allowed in READY state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
HT
—
Set HOME search type.
OH
—
Set HOME search velocity.
OT
—
Set HOME search time-out.
1OR
|
Execute HOME search with controller #1.
15
EDH0352En1022 — 12/18
CONEX-PP
Command Interface Manual
OT — Set/Get HOME search time-out
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–

–
–
–
xxOTnn or xxOT?
Parameters
Description
Range
Units
Defaults
xx [int]
Returns
Errors
Rel. Commands
Example
EDH0352En1022 — 12/18
Controller address.
nn [float] —
HOME time-out.
xx
—
1 to 31
nn
—
> 1 and < 1000
xx
—
None.
nn
—
Seconds
xx
Missing:
Error B.
Out of range:
Error B.
nn
Description
—
Missing:
Error C.
Out of range:
Error C.
This command sets the time-out value for the HOME search. When the HOME search
does not finish successfully before this delay elapses, the HOME search is aborted and
an error is recorded.
If the sign “?” is used instead of nn, this command returns the current programmed
value.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
H
—
Execution not allowed in NOT REFERENCED state.
J
—
Execution not allowed in DISABLE state.
K
—
Execution not allowed in READY state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
HT
—
Set HOME search type.
OH
—
Set HOME search velocity.
OR
—
Execute HOME search.
1OT2.2
|
Set controller #1 HOME time-out to 2.2 seconds.
16
CONEX-PP
Command Interface Manual
PA — Move absolute
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–
–
–

––
xxPAnn or xxPA?
Parameters
Description
Range
Units
Defaults
xx [int]
Controller address.
nn [float] —
New absolute position.
xx
—
1 to 31
nn
—
≥ SL and ≤ SR
xx
—
None.
nn
—
Preset units.
xx
Missing:
Error B.
Out of range:
Error B.
nn
Description
—
Missing:
Error C.
Out of range:
Error C.
The PA command initiates an absolute move. When received, the positioner will
move, with the predefined acceleration and velocity, to the new absolute position
specified by nn.
The PA command is only accepted in READY state, AND when the new absolute
position is higher or equal to the negative software limit (SL), AND lower or equal to
the positive software limit (SR).
The controller always rounds the new target position to the closest micro-step
position.
Returns
Errors
Rel. Commands
Example
If the sign “?” is used instead of nn, this command returns the target absolute position
value.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
G
—
Target position out of limits.
H
—
Execution not allowed in NOT REFERENCED state.
I
—
Execution not allowed in CONFIGURATION state.
J
—
Execution not allowed in DISABLE state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
PR
—
Move relative.
PT
—
Get motion time for a relative move.
TH
—
Get set-point position.
TP
—
Get current position.
1PA2.2
|
Move positioner on controller #1 to absolute position 2.2 units.
17
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CONEX-PP
Command Interface Manual
PR — Move relative
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–
–
–

––
xxPRnn or xxPR?
Parameters
Description
Range
Units
Defaults
xx [int]
Controller address.
nn [float] —
Displacement.
xx
—
1 to 31
nn
—
≥ (SL - TP) and ≤ (SR - TP)
xx
—
None.
nn
—
Preset units.
xx
Missing:
Error B.
Out of range:
Error B.
nn
Description
—
Missing:
Error C.
Out of range:
Error C.
The PR command initiates a relative move. When received, the positioner will move,
with the predefined acceleration and velocity, to a new absolute position nn units
away from the current absolute position.
The PR command gets only accepted in READY state, AND when the distance of the
positioner to the software limit in the same direction is longer than the commanded
displacement.
The controller always rounds the new target position to the closest micro-step
position.
Returns
Errors
Rel. Commands
Example
EDH0352En1022 — 12/18
If the sign “?” is used instead of nn, this command returns the target absolute position
value.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
G
—
Displacement out of limits.
H
—
Execution not allowed in NOT REFERENCED state.
I
—
Execution not allowed in CONFIGURATION state.
J
—
Execution not allowed in DISABLE state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
PA
—
Move absolute.
PT
—
Get motion time for a relative move.
TH
—
Get set-point position.
TP
—
Get current position.
1PR2.2
|
Move positioner on controller #1 to a new position 2.2 units away
from the current position.
18
CONEX-PP
Command Interface Manual
PT — Get motion time for a relative move
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–
–



xxPTnn
Parameters
Description
Range
Units
Defaults
xx [int]
Controller address.
nn [float] —
Displacement.
xx
—
1 to 31
nn
—
> 10-6 and < 1012
xx
—
None.
nn
—
Preset units.
xx
Missing:
Error B.
Out of range:
Error B.
nn
Description
—
Missing:
Error C.
Out of range:
Error C.
The PT commands helps evaluating move times for an efficient program flow.
When receiving the PT command, the controller computes and returns the time, in
seconds, necessary to execute a relative move of displacement nn with the current
working parameters (velocity, acceleration, etc.). The controller does not execute any
displacement.
Errors
Rel. Commands
Example
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
H
—
Execution not allowed in NOT REFERENCED state.
I
—
Execution not allowed in CONFIGURATION state.
PA
—
Move absolute.
PR
—
Move relative.
TH
—
Get set-point position.
TP
—
Get current position.
1PT2.2
|
Get time to move positioner on controller #1 by 2.2 units.
1PT0.25
|
Controller returns: 0.25 seconds.
19
EDH0352En1022 — 12/18
CONEX-PP
Command Interface Manual
PW — Enter/Leave CONFIGURATION state
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion


–
–
–
xxPWnn or xxPW?
Parameters
Description
Range
xx [int]
—
Controller address.
nn [int]
—
Whether to enter (1) or leave (0) the CONFIGURATION state.
xx
—
1 to 31
nn
—
1: Go from NOT REFERENCED state to CONFIGURATION state.
0: Go from CONFIGURATION state to NOT REFERENCED state.
Units
Defaults
xx
—
None.
nn
—
None.
xx
Missing:
Error B.
Out of range:
Error B.
nn
Description
Missing:
Error C.
Out of range:
Error C.
PW1 changes the controller’s state from NOT REFERENCED to
CONFIGURATION. In CONFIGURATION state, all parameter settings are saved in
the controller’s memory upon exiting this state and remain available after switching
off the controller. In addition, some settings are only possible in CONFIGURATION
state (e.g. set drive voltage, set Backlash compensation, etc.).
PW0 checks all stage parameters, and if they are acceptable, saves them in the flash
memory of the controller. After that, it changes the controller’s state from
CONFIGURATION to NOT REFERENCED.
The execution of a PW0 command may take up to 5 seconds. During that time the
controller will not respond to any other command.
Returns
Errors
Rel. Commands
Example
If the sign “?” is used instead of nn, this command returns whether we are or not in
the CONFIGURATION state.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
J
—
Execution not allowed in DISABLE state.
K
—
Execution not allowed in READY state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
MM
—
Enter/Leave DISABLE state.
1PW1
|
Changes controller #1 to CONFIGURATION state.
NOTE
The PW command is limited to 100 writes. Unit failure due to excessive use of the
PW command is not covered by the warranty.
The PW command is used to change the default configuration parameters that
are stored in memory, and not working parameters that may be changed on the
fly.
EDH0352En1022 — 12/18
20
CONEX-PP
Command Interface Manual
RS — Reset controller
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion





xxRS
Parameters
Description
xx [int]
—
Controller address.
Range
xx
—
1 to 31
Units
xx
—
None.
Defaults
xx
Missing:
Error B.
Out of range:
Error B.
Description
The RS command issues a hardware reset of the controller, equivalent to a power
cycle.
To go from DISABLE or READY state to CONFIGURATION state, it is also needed
to reset the controller with the RS command, and then to change the controller’s state
with the PW1 command from NOT REFERENCED to CONFIGURATION.
Errors
Example
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
D
—
Execution not allowed.
1RS
|
Reset controller #1.
21
EDH0352En1022 — 12/18
CONEX-PP
Command Interface Manual
RS## — Reset controller’s address
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion





xxRS## or RS##
Parameters
Description
xx [int]
—
Controller address.
Range
xx
—
0 to 31
Units
xx
—
None.
Defaults
xx
Missing:
Out of range:
Description
Change to 0 (will forward this command to all controllers).
Error B.
The RS## command resets the controller’s address to 1. This address needs to be
different for each CONEX-PP when connected on a RS-485 communication network.
Returns
Errors
Rel. Commands
Example
EDH0352En1022 — 12/18
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
D
—
Execution not allowed.
SA
—
Set/Get controller's RS-485 address.
|
Reset all controllers’ addresses to 1.
RS##
22
CONEX-PP
Command Interface Manual
SA — Set/Get controller’s RS422 address
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–

–
–
–
xxSAnn or xxSA?
Parameters
Description
Range
Units
Defaults
xx [int]
—
Current controller address.
nn [int]
—
New controller address (a.k.a. RS422 address).
xx
—
1
nn
—
1 to 31
xx
—
None.
nn
—
None.
xx
Missing:
Error B.
Out of range:
Error B.
nn
Description
Returns
Errors
Rel. Commands
Example
Missing:
Error C.
Out of range:
Error C.
The SA command sets the controller’s RS422 address, also known as the axis number.
This address needs to be different for each CONEX-PP when connected on a RS422
communication network.
If the sign “?” is used instead of nn, this command returns the current programmed
value.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
H
—
Execution not allowed in NOT REFERENCED state.
J
—
Execution not allowed in DISABLE state.
K
—
Execution not allowed in READY state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
RS##
—
Reset controller's address.
1SA3
|
Set controller’s RS422 address to 3.
23
EDH0352En1022 — 12/18
CONEX-PP
Command Interface Manual
SE — Configure/Execute simultaneous started move
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–
–
–

–
xxSEnn, xxSE? or SE
Parameters
Description
Range
Units
Defaults
xx [int]
—
nn [float] —
New target position.
xx
—
0 to 31
nn
—
≥ SL and ≤ SR
xx
—
None.
nn
—
Preset units.
xx
Missing:
Out of range:
nn
Description
Controller address.
Change to 0 (will forward this command to all controllers).
Error B.
Missing:
Error C.
Out of range:
Error C.
The SE command allows starting a move on different controllers at the same time.
The command xxSEnn sets a new target position for the controller nn. But contrarily
to the PA/PR commands, the move is not executed immediately, but only after receipt
of an SE command without preceding controller number nor position value. When
receiving the 2nd SE command, all controllers start moving to their target position.
The xxSEnn command is only accepted in READY state, AND when the new target
position is higher or equal to the negative software limit (SL), AND lower or equal to
the positive software limit (SR). The controller always rounds the new target position
to the closest micro-step position.
The SE command should not be confused with a synchronized move. With a
synchronized move, all positioners start moving simultaneously AND complete their
moves at the same time. The SE command starts a move on all controllers at the same
time, but each positioner moves with its individually defined velocity and
acceleration. Consequently, the different positioners do NOT complete their moves at
the same time.
Returns
Errors
Rel. Commands
Example
EDH0352En1022 — 12/18
If the sign “?” is used instead of nn, this command returns the target position value set
by the SE command, which may not be the target position set by the PA/PR
commands.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
H
—
Execution not allowed in NOT REFERENCED state.
I
—
Execution not allowed in CONFIGURATION state.
J
—
Execution not allowed in DISABLE state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
PA / PR
—
Move absolute / relative.
TH
—
Get set-point position.
TP
—
Get current position.
1SE2.2
|
Prepare controller #1 to move to absolute position 2.2 units.
24
CONEX-PP
Command Interface Manual
2SE3.3
|
Prepare controller #2 to move to absolute position 3.3 units.
SE
|
All controllers start their programmed move, if any.
25
EDH0352En1022 — 12/18
CONEX-PP
Command Interface Manual
SL — Set/Get negative software limit
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–



–
xxSLnn or xxSL?
Parameters
Description
Range
Units
Defaults
xx [int]
Controller address.
nn [float] —
Negative software limit.
xx
—
1 to 31
nn
—
> -1012 and ≤ 0
xx
—
None.
nn
—
Preset units.
xx
Missing:
Error B.
Out of range:
Error B.
nn
Description
—
Missing:
Error C.
Out of range:
Error C.
In CONFIGURATION state, this command sets the negative software limit which can
then be saved in the controller’s non-volatile memory using the PW command. It is
also the default value that will be used unless a different value is set in DISABLE or
READY state.
In DISABLE or READY state, this command allows setting a new working parameter
for the negative software limit. It must be lower than or equal to the set-point position.
This value is not saved in the controller’s memory and will be lost after reboot.
The software limits are useful to limit the travel range of a positioner. There is no
possibility to disable software limits. For an almost infinite motion, for instance with a
rotative stage, set the lowest possible value, which is -999999930400.
Returns
Errors
Rel. Commands
Example
EDH0352En1022 — 12/18
If the sign “?” is used instead of nn, this command returns the current programmed
value.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
H
—
Execution not allowed in NOT REFERENCED state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
SR
—
Set positive software limit.
1SL-100
|
Set controller #1 negative software limit to –100 units.
26
CONEX-PP
Command Interface Manual
SR — Set/Get positive software limit
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–



–
xxSRnn or xxSR?
Parameters
Description
Range
Units
Defaults
xx [int]
Controller address.
nn [float] —
Positive software limit.
xx
—
1 to 31
nn
—
≥ 0 and < 1012
xx
—
None.
nn
—
Preset units.
xx
Missing:
Error B.
Out of range:
Error B.
nn
Description
—
Missing:
Error C.
Out of range:
Error C.
In CONFIGURATION state, this command sets the positive software limit which can
than be saved in the controller’s non-volatile memory using the PW command. It is
also the default value that will be used unless a different value is set in DISABLE or
READY state.
In DISABLE or READY state, this command allows setting a new working parameter
for the positive software limit. It must be greater or equal to the set-point position.
This value is not saved in the controller’s memory and will be lost after reboot.
The software limits are useful to limit the travel range of a positioner. There is no
possibility to disable software limits. For an almost infinite motion, for instance with a
rotative stage, set the highest possible value, which is 999999930400.
Returns
Errors
Rel. Commands
Example
If the sign “?” is used instead of nn, this command returns the current programmed
value.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
H
—
Execution not allowed in NOT REFERENCED state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
SL
—
Set negative software limit.
1SR100
|
Set controller #1 positive software positive to 100 units.
27
EDH0352En1022 — 12/18
CONEX-PP
Command Interface Manual
ST — Stop motion
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–
–
–
–

[xx]ST
Parameters
Description
xx [int]
—
Controller address.
Range
xx
—
0 to 31
Units
xx
—
None.
Defaults
xx
Missing:
Out of range:
Description
Change to 0 (will forward this command to all controllers).
Error B.
The ST command is a safety feature. It stops a move in progress by decelerating the
positioner immediately with the acceleration defined by the AC command until it
stops.
The xxST command with a preceding controller address stops a move in progress on
controller xx. The ST command without any preceding controller address stops the
moves on ALL controllers.
Errors
Example
EDH0352En1022 — 12/18
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
D
—
Execution not allowed.
H
—
Execution not allowed in NOT REFERENCED state.
I
—
Execution not allowed in CONFIGURATION state.
J
—
Execution not allowed in DISABLE state.
K
—
Execution not allowed in READY state.
ST
|
Stop moves on all controllers.
28
CONEX-PP
Command Interface Manual
TB — Get command error string
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion





xxTBnn
Parameters
Description
Range
xx [int]
—
Controller address.
xx
—
1 to 31
nn [char] —
Error code (refer to TE command).
Units
xx
—
None.
Defaults
xx
Missing:
Error B.
Out of range:
Error B.
nn
Missing:
Out of range:
Description
Errors
Rel. Commands
Example
Returns explanation of current error as a literal string.
Error C.
The TB command returns a literal character string that explains the meaning of the
error code nn (see TE command for complete list).
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
TE
—
Get last command error.
[email protected]
|
Get explanation to error code @.
[email protected] No error | Controller returns: @ = means no error.
29
EDH0352En1022 — 12/18
CONEX-PP
Command Interface Manual
TE — Get last command error
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion





xxTE
Parameters
Description
xx [int]
—
Controller address.
Range
xx
—
1 to 31
Units
xx
—
None.
Defaults
xx
Missing:
Error B.
Out of range:
Error B.
Description
The TE command returns the currently recorded error. When a command is not
executable or fails, an error is recorded. This error can be read with the TE command.
After the execution of a TE command, the error buffer is erased and another TE
command will return @, which means "No error". When a new command error is
generated before the previous command error is read, the new command's error will
overwrite the currently memorized error.
For a safe program flow it is recommended to always query the command error after
each command execution.
Errors
Rel. Commands
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
D
—
Execution not allowed.
TB
—
Get command error string.
Example
1TE
|
Get last error memorized on controller #1.
|
Controller returns: [email protected], means no error.
List of errors and corresponding strings (see TB command):
EDH0352En1022 — 12/18
@
—
No error.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Command not allowed.
E
—
Home sequence already started.
G
—
Displacement out of limits.
H
—
Command not allowed in NOT REFERENCED state.
I
—
Command not allowed in CONFIGURATION state.
J
—
Command not allowed in DISABLE state.
K
—
Command not allowed in READY state.
L
—
Command not allowed in HOMING state.
M
—
Command not allowed in MOVING state.
N
—
Current position out of software limit.
S
—
Communication Time Out.
U
—
Error during EEPROM access.
V
—
Error during command execution.
30
CONEX-PP
Command Interface Manual
TH — Get set-point position
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion





xxTH
Parameters
Description
xx [int]
—
Controller address.
Range
xx
—
1 to 31
Units
xx
—
None.
Defaults
xx
Missing:
Error B.
Out of range:
Error B.
Description
Errors
Rel. Commands
Example
The TH command returns the value of the set-point or theoretical position. This is the
position where the positioner should be. In MOVING state, the set-point position
changes according to the calculation of the motion profiler. In READY state, the setpoint position is equal to the target position.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
D
—
Execution not allowed.
TP
—
Get current position.
1TH
|
Get set-point position of controller #1.
1TH0
|
Controller returns: set-point position = 0 units.
31
EDH0352En1022 — 12/18
CONEX-PP
Command Interface Manual
TP — Get current position
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion





xxTP
Parameters
Description
xx [int]
—
Controller address.
Range
xx
—
1 to 31
Units
xx
—
None.
Defaults
xx
Missing:
Error B.
Out of range:
Error B.
Description
The TP command returns the value of the current position. This is the position where
the positioner actually is. In MOVING state, this value always changes. In READY
state, this value should be equal or very close to the set-point and target position.
Together with the TS command, the TP command helps evaluating whether a motion
has completed.
Errors
Rel. Commands
Example
EDH0352En1022 — 12/18
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
D
—
Execution not allowed
TH
—
Get set-point position.
TS
—
Get positioner error and controller state.
1TP
|
Get current position of controller #1.
1TP0
|
Controller returns: actual position = 0 units.
32
CONEX-PP
Command Interface Manual
TS — Get positioner error and controller state
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion





xxTS
Parameters
Description
xx [int]
—
Controller address.
Range
xx
—
1 to 31
Units
xx
—
None.
nn
—
None.
xx
Missing:
Error B.
Out of range:
Error B.
Defaults
Description
Returns
The TS command returns the positioner error and the current controller state.
The TS command returns six characters (1TSabcdef). The first 4 characters (abcd)
represent the positioner error as hexadecimal number. The last two characters (ef)
represent the controller state as hexadecimal number.
Error code (abcd): Convert each hexadecimal to a binary:
C
1
1
1
1
D
1
1
Negative end of run
1
Positive end of run
1
Not used
1
RMS current limit
Driver fault
1
Newport reserved (MZ status)
Driver overheating
B
Not used
1
Homing time out
1
No parameters in memory
1
Not used
1
Not used
1
A
Not used
Not used
Not used
1
Not used
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
0
1111 1110 1101 1100 1011 1010 1001 1000 0111 0110 0101 0100 0011 0010 0001 0000
E
each bit represents one possible error (exception made of bit C1):
NOTE
Bit C1 (MZ status) is not an error. It is reserved for Newport technicians to
diagnose the mechanical zero sensor status during customer support and
servicing.
Examples:
• Error map 0000 = No errors
• Error map 0002 = Positive end of run
• Error map 0048 = Homing time out, RMS current limit
33
EDH0352En1022 — 12/18
CONEX-PP
Command Interface Manual
Controller states (ef):
.
–
0A: NOT REFERENCED from RESET.
–
0B: NOT REFERENCED from HOMING.
–
0C: NOT REFERENCED from CONFIGURATION.
–
0D: NOT REFERENCED from DISABLE.
–
0E: NOT REFERENCED from READY.
–
0F: NOT REFERENCED from MOVING.
–
10: NOT REFERENCED - NO PARAMETERS IN MEMORY.
–
14: CONFIGURATION.
–
1E: HOMING.
–
28: MOVING.
–
32: READY from HOMING.
–
33: READY from MOVING.
–
34: READY from DISABLE.
–
3C: DISABLE from READY.
–
3D: DISABLE from MOVING.
NOTE
The positioner error gets updated periodically, approx. every 1 ms.
The TS command reads the positioner error and clears it at the same time (same
as what the command TE does with command errors). So when launching the TS
command, it is important to process the TS feedback accordingly.
Errors
Rel. Commands
Example
EDH0352En1022 — 12/18
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
TE
—
Get last command error.
1TS
|
Get error and state of controller #1.
1TS00000A
|
Controller returns: no errors and state is NOT REFERENCED
from reset.
34
CONEX-PP
Command Interface Manual
VA — Set/Get velocity
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion
–



–
xxVAnn or xxVA?
Parameters
Description
Range
Units
Defaults
xx [int]
Controller address.
nn [float] —
Velocity value.
xx
—
1 to 31
nn
—
> 10-6 and < 1012
xx
—
None.
nn
—
Preset units/s.
xx
Missing:
Error B.
Out of range:
Error B.
nn
Description
—
Missing:
Error C.
Out of range:
Error C.
In CONFIGURATION state, this command sets the maximum (i.e. cruise) velocity
value which can then be saved in the controller’s non-volatile memory using the PW
command. This should be the maximum velocity that can be applied to the mechanical
system. It is also the default velocity that will be used for all moves unless a lower
value is set in DISABLE or READY state.
In DISABLE or READY state, this command sets the velocity used for all subsequent
moves. Its value can be up to the programmed value set in the CONFIGURATION
state. This value is not saved in the controller’s memory and will be lost after reboot.
Returns
Errors
Rel. Commands
Example
If the sign “?” is used instead of nn, this command returns the current value for the
state in which the controller is (either CONFIGURATION or DISABLE/READY).
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
C
—
Parameter missing or out of range.
D
—
Execution not allowed.
H
—
Execution not allowed in NOT REFERENCED state.
L
—
Execution not allowed in HOMING state.
M
—
Execution not allowed in MOVING state.
AC
—
Set/Get acceleration.
JR
—
Set/Get jerk time.
1VA50
|
Set controller #1maximum velocity to 50 units/s.
35
EDH0352En1022 — 12/18
CONEX-PP
Command Interface Manual
VE — Get controller revision information
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion





xxVE
Parameters
Description
xx [int]
—
Controller address.
nn [string] —
Action.
Range
xx
—
1 to 31
Units
xx
—
None.
Defaults
xx
Missing:
Error B.
Out of range:
Error B.
Description
Errors
Example
This command returns the controller's firmware revision information.
A
—
Unknown message code or floating point controller address.
B
—
Controller address not correct.
1VE
|
Get controller #1 revision information.
1VE FC family controller 2.0.0 | Controller returns revision number
EDH0352En1022 — 12/18
36
CONEX-PP
Command Interface Manual
ZT — Get all configuration parameters
Usage
Syntax
Not Ref.
Config.
Disable
Ready
Motion





xxZT
Parameters
Description
xx [int]
—
Controller address.
Range
xx
—
1 to 31
Units
xx
—
None.
Defaults
xx
Missing:
Error B.
Out of range:
Error B.
Description
The ZT command returns the list of all current configuration parameters.
The ZT command allows a quick review of all current stage parameter and simplifies
the configuration of Newport stages, for instance by copying all the returned values
into a configuration file which can be later fed back to the stage by simply pasting its
contents in the terminal emulator when the stage needs to be quickly reconfigured.
Errors
Example
A
—
Unknown message code or floating point controller address
B
—
Controller address not correct
1ZT
|
Get controller #1 configuration data.
1PW1
1AC320.000000
1BA0.000000
…
1VA80.000000
1PW0
37
EDH0352En1022 — 12/18
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EDH0352En1022 — 12/18
Command Interface Manual
38
CONEX-PP
Command Interface Manual
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39
EDH0352En1022 — 12/18
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www.newport.com
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Tel.: (800) 222-6440
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