C. Harper June
6, 2001
1.
Before
beginning always check:
-cable connections (power, encoder)
-CN numbers (1,1)
-correct axis (E)
2.
Load
slitmask.dmc or TestE.dmc program. Remember to stop Dean’s code with ST and
reset the controller if there is an error light on using either RS or manually
resetting the controller. Use XQ0 to execute the program. OE and ER are used to
make sure the motor doesn’t run away and the stage moves smoothly. 20000 is a
good speed to use.
VF 10.4 scaling
numbers
KDE=404 PID
number
KPE=79 PID
number
KIE=30 PID
number
OE ,,,,1 off
on error
ER ,,,,500 error
limit
TLE=3 torque
limit
CB 9 turns
on home fiducial
CB 41 turns
on all other fiducials
FLE=2147483647 disables
forward software limit
BLE= -2147483648 disables
reverse software limit
CN 1,1 sets
limit and home switches
SPE=20000 or speed
JGE=20000 jog
speed
SHE motor
on
EN end
of program
3.
Always
start by checking these 3 things:
-fiducial works and the stage moves in the correct
direction towards it
- motor count = direction, i.e. “+” direction = “+”
encoder counts
-limits work and the “+” direction = fwd limit, “-”
direction = rev limit (test first manually)
4.
Check
home fiducial, Forward Primary Limits and Reverse Primary Limits manually with
the status box before trying to move into them. CB 9 turns the fiducial on, SB
9 turns it off.
5.
Define
“0” and backlash. First use JGE=5000; FEE and drive in the “+” direction to
find the edge, then TPE. For backlash, change JGE=500; FEE; BGE; TPE (backlash
amount). Next define “0” by DPE=0. Do FEE again to give backlash in the other
direction.
6.
After
setting home to zero, run the stage out to one of the primary limits. Record
the encoder counts, then run the stage out to the other primary limit. Record
the counts and check for repeatibility. MG _LRE, _LFE will tell you if it’s in
a primary limit or not. Also check the status on axis box.
1 = not in limit
0 = in limit
7.
Test
secondary limits by using the fiducial/limit switch test connector on 1236R
interconnect box JB 3 to disable the primary limits. First test by manually
pressing the limit switch while moving slowly. Make sure these limits shut off
motor power and IN9 changes states.
MG @IN[9]
1 = in secondary limit
0 = not in secondary limit
8.
Check
the other fiducials: CB41 turns them on, SB41 turns them off (channel 16 = CB41
on)
Mask In Place 1 (science end) Mask In Place 2 (science end)
MG @IN[60] MG
@ IN[58]
1 = not blocked 1
= not blocked
0 = blocked 0
= blocked
End Of Travel (science end) Masks
Misaligned (door fiducial)
MG @IN[67] MG@
IN[59]
1 = not blocked 1
= not blocked (correct position)
0 = blocked 0
= blocked
shuts
off motor power
Masks Aligned (LED)
MG @IN[61]
1 = blocked
0 = not blocked
9.
Check
switches:
-Slit Cassette Closed (right side of door, shuts off
power to the motor)
Test by pushing in switch
MG @IN[57]
1 = switch not held in
0 = switch held in
-Insertion Solenoid (left side of door, interlock:
won’t allow hot dog insertion if door is open)
Move with air. Connect paddle to JB9 cable end and
power. Test by moving hot dog in and out. Then open door and make sure it won’t
move while door is open.
-Foot Retracted (upper left side of door)
Connect paddle to JB9 cable end and power. Test by
moving hot dog in and out. If the foot isn’t retracted it won’t allow movement.
MG @ IN[62]
1 = not retracted
0 = retracted (hot dog near door)
10.
Check
bimbas:
These are magnetic switches located along the upper
side of the cassette.
Bimba Out Bimba
In
MG @IN[63] (science side) MG @IN[64] (cassette side)
1 = In position 1
= Out position
0 = Out position 0
= In position
Cassette side (arm) Science
side
MG @IN[63] = 0 MG
@IN[63] = 1
MG @IN[64] = 1 MG
@IN[64] = 0
11.
Air
Solenoids:
CB/SB 45 and CB/SB 44 work in tandem to move the
slitmask IN and OUT. i.e. One must be clear and the other set to work properly.
To move IN: CB
45 to science side
SB
45 pressure off, do before
returning to OUT
(SB44) correct order
(CB45)
To move OUT: CB
44 cassette side
SB
44 pressure off, do before
returning to IN
(SB45) correct order
(CB44)
Always turn off the solenoids with SB after 1-2
seconds so they don’t burn out.
12.
Misc.
MG @ IN[x] reads inputs
MG @ OUT[x] reads
outputs
1 = not blocked = 0v active
low limit switches
0 = blocked = +5v
·
If
a master reset is done accidentally it will cause the relays to start clacking.
You must set bits SB 1-16 and SB 25-48
to get back to the correct start up variables. To set them all at once:
CO7
OP #FFFF,$FFFFFF
Slitmask only:
SB44
SB45
·
the
dispatcher will not allow you to run Galil commands. Open an xterm and enter:
telnet
192.168.1.4 2006
Then
hit return and a : prompt should appear
:RS starts
bekins
:arriba! Dean’s
everything is running ok message
:enter
galil commands
helpful
commands are TPE (tell position), TSE (tell status), SC (stop code), ST (stop)
To exit :
telnet>
quit
· If no Lantronix connection is allowed check the cabling and power cycle the
Lantronix. Check the Lantronix connection by using telnet 192.168.1.4 (only, no 200x).
·
If
it won’t servo do a CB41 to turn on the fiducials and check the states of the
motor
off
interlocks to determine which one is cutting motor power:
MG
@IN[9] secondary
limit, should be = 0 (not in a limit)
MG
@IN[59] Masks
Misaligned, should be = 1 (not blocked)
MG
@IN[57] Slit
Cassette Closed, should be = 0 (switch held in)
MG
@IN[62] Foot
Retracted, should be = 0 (retracted)
\\LOELHOST\C_Loelhost\My Documents\DEIMOS_Docs\Slit
Mask\Slit Mask Cassette Testing.doc