REQUESTING ASSISTANCE
If you have any difficulties with the 05661, please let us know by calling us at (408) 778-1127, Writing to
us at the address shown on the cover, or emailing us at “info@seagullsolutions.net”. When reporting a
problem, Please have the serial number of your unit available and have a record of all circumstances and
symptoms.
COPYRIGHT NOTICE
Copyright 2000 by Seagull Solutions, Inc. , Morgan Hill, California. Printed in the United States of
America. All rights reserved. Do not reproduce any contents of this publication in whole or in any part in
any form, by any means without the prior written consent of Seagull Solutions, Inc.
TRADEMARKS
05661 is a trademark of Seagull Solutions, Inc.
Seagull Solutions, Inc.
05661 Linear Amplifier
Table of Contents
TABLE OF CONTENTS..............................................................................................................................1
ABOUT THIS MANUAL .............................................................................................................................3
MANUAL CONVENTIONS ........................................................................................................................3
SAFETY CAUTIONS ...................................................................................................................................4
SECTION 1 GENERAL INFORMATION.......................................5
1.1 GENERAL .......................................................................................................................................5
1.2 INTRODUCTION............................................................................................................................5
1.3 OVERVIEW.....................................................................................................................................5
1.4 STANDARD FEATURES ...............................................................................................................6
1.5 SUB-ASSEMBLIES ........................................................................................................................6
1.5.1 FRONT PANEL ASSEMBLY..........................................................................................................6
1.5.2 POWER AMPLIFIER ASSEMBLY.................................................................................................7
1.5.3 PNEUMATICS ASSEMBLY ...........................................................................................................7
1.5.4 MAIN ELECTRONICS ASSEMBLY .............................................................................................7
1.6 OPERATING MODES ....................................................................................................................7
1.6.1 LOCAL MODE.................................................................................................................................7
1.6.2 REMOTE MODE..............................................................................................................................8
1.7 SOFTWARE ....................................................................................................................................8
DIAGNOSTICS................................................................................................................................8
1.8
SECTION 2 SPECIFICATIONS .............................................9
2.1 GENERAL .......................................................................................................................................9
2.2 SYSTEM REQUIREMENTS ..........................................................................................................9
AC INPUT POWER REQUIREMENTS (FACTORY SET)......................................................................9
MAXIMUM OUTPUT POWER...............................................................................................................9
AIR SUPPLY REQUIREMENTS .............................................................................................................9
2.3 MACHINE PARAMETERS............................................................................................................9
PHYSICAL DIMENSIONS ......................................................................................................................9
MOTOR CONTROL SPECIFICATIONS...............................................................................................10
2.4 SAFETY FEATURES....................................................................................................................10
2.5 COMMUNICATIONS...................................................................................................................10
2.6 ENVIRONMENTAL REQUIREMENTS......................................................................................10
SECTION 3 INSTALLATION .........................................11
3.2 INSPECTION.................................................................................................................................11
3.3 RACK INSTALLATION...............................................................................................................12
3.4 AIR CONNECTIONS....................................................................................................................12
3.5 ELECTRICAL CONNECTIONS ..................................................................................................12
3.6 SPINDLE CONNECTIONS ..........................................................................................................13
3.7 APPLYING POWER .....................................................................................................................13
3.8 INITIAL CHECKOUT...................................................................................................................13
SECTION 4 OPERATION..............................................15
GENERAL ......................................................................................................................................15
4.1
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4.2 POWER-UP SEQUENCE..............................................................................................................15
4.2.1 APPLYING AIR .............................................................................................................................15
4.2.2 APPLYING POWER ......................................................................................................................16
4.3 BASIC OPERATING MODES......................................................................................................16
4.3.1 LOCAL MODE...............................................................................................................................16
4.3.2 REMOTE MODE............................................................................................................................17
4.3.3 GPIB ADDRESS SELECTION......................................................................................................17
4.4 REAR PANEL CONNECTIONS ..................................................................................................18
4.5 ENCODER COMMUTATION......................................................................................................18
4.6 SAFETY INTERLOCKS ...............................................................................................................20
4.7 FREQUENCY REFERENCE ........................................................................................................20
SECTION 5
Seagull Solutions, Inc.
05661 Linear Amplifier
5.1 COMMAND SET LISTING ....................................................E
INDEX ..........................................................................................................................................................25
RROR! BOOKMARK NOT DEFINED.
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05661 Linear Amplifier
About This Manual
This manual is divided into the following sections:
SECTION 1 - GENERAL INFORMATION
Contains a brief overview of the 05661, its operating modes, and features.
SECTION 2 - SPECIFICATIONS
Includes the power and operating specifications for all modules.
SECTION 3 - INSTALLATION
Provides information on installing the 05661 and basic checkout information.
SECTION 4 - OPERATION
Details the various modes of operation by describing operating modes, front panel
controls, rear panel connections, and software commands.
SECTION 5 - COMMAND SET
Contains a complete list of the 05661's command set.
Manual Conventions
!! DANGER !! Statement identifies any action or condition that could cause life threatening harm.
!! WARNING !! Statement identifies a condition or procedure that could result in
personal injury.
!! CAUTION !! Statement identifies a condition or procedure that could damage
the equipment or result in data loss.
NOTE Statement identifies helpful or useful information.
"XXXX" Statement references a 05661 command, where XXXX is the
command.
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05661 Linear Amplifier
Safety Cautions
These safety notices should be read and complied with while operating or repairing this
equipment. Failure to do so could result in damage to the equipment or result in personal
injury or death.
GROUNDING
The 05661 is internally grounded through the power cord to Earth Ground. However,
any spindle connected to the Linear Amplifier must also be grounded.
If this equipment is field installed, the installation instructions must be followed. Use the
power cords and cables provided with the equipment; unauthorized substitutions may
violate the safety of the equipment.
ENVIRONMENTAL
The Linear Amplifier must not be operated in the presence of flammable gases or fumes.
ELECTRICAL
Operating personnel must not remove equipment shields and covers. Replacement of
assemblies or components and internal adjustments must be made by qualified personnel.
Do not replace assemblies or components with AC or DC power applied.
SERVICE
Internal service on this equipment should not be performed alone. Another person
capable of rendering first aid or of calling assistance should be present.
VOLTAGES CAPABLE OF CAUSING DEATH OR SERIOUS
INJURIES ARE PRESENT IN THIS EQUIPMENT AND AT THE
MOTOR SUPPLY TERMINALS. USE EXTREME CAUTION WHEN
SERVICING OR PERFORMING INTERNAL ADJUSTMENTS.
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05661 Linear Amplifier
Section 1 General Information
1.1 GENERAL
This manual describes the 05661 Linear Amplifier and its operation. The 05661 is made
up of four subassemblies:
• Front Panel Assembly
• Power Amplifier Assembly
• Pneumatics Assembly
• Main Electronics Assembly
1.2 INTRODUCTION
The 05661 Linear Servo Amplifier is an intelligent brushless DC spindle motor controller
specifically designed for the Seagull product line of precision air and ball bearing
spindles. The 05661 is designed to provide reliable speed control, packaged for 19-inch
rack mounting, and designed to enhance the testing capabilities for any media tester. It
provides extremely accurate spindle speed control, a wide range of operating speeds, and
low electrical noise operation.
Operation of the 05661 can be controlled by a host computer via a GPIB or a RS-232
communication interface (Factory Option). If a host computer is not available or
necessary, the 05661 can be completely controlled by its front panel controls without any
degradation of its performance. The 05661 contains the intelligence to monitor and
control all functions related to spindle motor control once the parameters have been
downloaded or input, and a run command initiated.
1.3 OVERVIEW
Ultimate speed control accuracy is one of the primary design goals, and is addressed by
allowing customer-specific frequency inputs to be supplied to the 05661 via the rear
panel connectors. Accuracy of one part per million is achievable with a stable frequency
reference and a stable encoder feedback frequency.
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1.4 STANDARD FEATURES
The 05661 Linear Servo Amplifier has the following features:
• Specifically designed and packaged for Seagull spindles
•
Speed stability of .001% of commanded RPM (stock configuration)
Speed stability of .0001% achievable with system-spindle matching
• Internal and external RPM control
•
Spin-up and Spin-down rate of 10-10000 RPM/sec2 (dependent on loads)
•
Three-phase sin wave motor drive
•
Amplifier over-temperature shutdown
•
Power loss controlled motor shutdown
•
System isolated AC and DC power sources
•
Operating Range of 0 to 60000 RPM
•
GPIB or RS-232 communications to host computer
•
Integral Pneumatics with auto-shutdown interlock
1.5 SUB-ASSEMBLIES
There are four sub-assemblies in the 05661. They are:
• Front Panel Assembly
• Power Amplifier Assembly
• Pneumatics Assembly
• Main Electronics Assembly
1.5.1 FRONT PANEL ASSEMBLY
Located on the front panel assembly is the LCD display controlled by the front panel
CPU. The front panel assembly contains all the intelligence for the 05661 to operate in
Local Mode. The front panel parses the GPIB communication and feeds it to the Main
Electronics Assembly, where the Motor Controller CPU performs the task. On the front
panel are the push button switches that allow the user to enter the values for speed and
acceleration/deceleration settings, Run/Stop, Clamp/Unclamp, CCW/CW, and
Local/Remote.
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1.5.2 POWER AMPLIFIER ASSEMBLY
The power amplifier assembly supplies the power to the spindle motor. It takes a signal
from the Main Electronics assembly and amplifiies it to the needed power to drive the
spindle as commanded by either the front panel or the host computer.
1.5.3 PNEUMATICS ASSEMBLY
The pneumatics assembly feeds air to the spindle, and the clamp and spindle brake. Air
for the Seagull air bearing spindle is monitored via pressure sensing switches, and
controlled via air regulators in this assembly.
1.5.4 MAIN ELECTRONICS ASSEMBLY
All motor controller intelligence is contained within this assembly. It communicates with
an internal supervising CPU, generates a speed control signal based on the commanded
speed in Local or Remote Mode, and controls spindle motor phase generation based on
the spindle encoder signals.
Control and monitoring of the spindle's clamp and brake are done within this assembly.
During operation, spindle Velocity Error and Tachometer values are monitored to
determine when the spindle is at speed and stabilized. RPM is monitored using the
spindle's commutation encoder outputs.
1.6 OPERATING MODES
The 05661 Linear Servo Amplifier has two major modes of operation: Local and Remote.
Local Mode is usually used for maintenance, adjustments, and troubleshooting. Remote
Mode is the normal operating mode when controlled by a host computer.
1.6.1 LOCAL MODE
Local Mode enables the user to operate the controller from the front panel. The spindle
can be run in either the clockwise or counterclockwise direction; however, the spindle
must be stopped before a direction change is recognized. The disk clamp can also be
operated while in Local Mode, however, safety rules cannot be violated. A disk must be
clamped before the spindle is allowed to rotate. If the Clamp/Unclamp function is
selected while the spindle is rotating, the command will be ignored.
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1.6.2 REMOTE MODE
Remote Mode is used when the 05661 is under the direction of a host computer.
Parameters such as spindle RPM, direction, disk clamping, and run/stop commands are
sent to the 05661 from a host computer via a GPIB or RS-232 communication interface.
The 05661 ensures that all commands are correctly sequenced, safety requires that the
clamp is in the clamped position before the spindle is allowed to rotate.
Regardless of the origination of the commands, the 05661 does not allow safe operation
to be overridden. Safety checks ensure that the spindle's air bearing has sufficient air,
that main line pressure is within the recommended range, and that the clamp has the
minimum air pressure to unclamp the disk.
1.7 SOFTWARE
Software is required for each of the 05661's CPU's to operate. The operating program is
resident in each CPU's EPROM when shipped from the factory. The software revision
level can be verified by issuing the "ID?" command from the GPIB/RS-232
communication interface.
1.8 DIAGNOSTICS
The 05661's Front Panel CPU has built-in diagnostics that automatically perform system
checks during power up.
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Section 2 Specifications
2.1 GENERAL
Contained within this section are specifications for the 05661. Specifications included
are power requirements and physical dimensions.
2.2 SYSTEM REQUIREMENTS
The 05661 requires the following AC input:
AC INPUT POWER REQUIREMENTS (FACTORY SET)
Voltage Frequency Current Fuse(5mmx20mm)
100 VAC 50 Hz 4.8 A 5 A Slo-Blo
120 VAC 50/60 Hz 4 A 5 A Slo-Blo
220 VAC 50/60 Hz 2.2 A 3 A Slo-Blo
NOTE The appropriate fuse must be installed for the AC power input.
MAXIMUM OUTPUT POWER
Amperage Wattage
10 Amps DC (Peak) 720 Watts
AIR SUPPLY REQUIREMENTS
Input Air Line Air Supply Input Air Supply Dew Pt. Filtration
1/4 Inch NPT
Fitting
120 psi Max.
35° F (non-
condensing)
5 micron
2.3 MACHINE PARAMETERS
PHYSICAL DIMENSIONS
Height Width Depth Weight
7 inches 17 inches 15.5 inches 36 pounds
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MOTOR CONTROL SPECIFICATIONS
Speed Stability of .001% or better over full range (stock configuration)
.0001% or better over full range (custom factory component matching)
Programmable from 10 to 18000 RPM
Encoder Commutation
Local or Remote Operation
GPIB or RS-232 Communication Link (Factory Option)
Greater than -65 dB signal-to-noise ratio
Spin-Up and Spin-Down rates of 10-10000 RPM/sec
2
(Dependent on loads)
2.4 SAFETY FEATURES
Input air pressure switches (main air supply)
Spindle bearing pressure switches
Amplifier over-temperature interlock
Electronic spindle position locking
2.5 COMMUNICATIONS
GPIB Communications meeting the IEEE-488.2 standard are allowed for the GPIB
model.
RS-232C Communications (3-wire; Tx, Rx, Gnd) are allowed for the RS-232 model.
2.6 ENVIRONMENTAL REQUIREMENTS
Operating Temperature: 73°F ± 10°F
Storage Temperature: -20°F to 120°F
Operating Humidity: 90% RH Maximum (noncondensing)
Storage Humidity: 0% to 90% RH Maximum (noncondensing)
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Section 3 Installation
This section describes how to install a 05661 Linear Servo Amplifier and how to verify
its operation.
DISCLAIMER
This installation section is not a step-by-step installation procedure. Considerable
experience is required of personnel installing the equipment. It is suggested that the
installer be trained on the 05661 or have experience with similar test equipment. If
there are any questions regarding installation, please call Seagull Solutions's Field
Services before beginning installation.
Each assembly of the 05661 is subjected to extensive testing to ensure correct operation
and to ensure proper installation. Should assistance be required, please use the following
address and telephone numbers for installation and service assistance:
Seagull Solutions, Inc
Field Services Division
15105 Concord Circle
Morgan Hill, California 95037
Phone: (408) 778-1127
Fax: (408) 779-2806
3.2 INSPECTION
When this equipment is first received, thoroughly inspect the shipping container for any
damage. If the container is damaged and it is apparent that the damage was incurred
during shipping, notify the carrier at once. After unpacking the equipment, inspect for
any obvious physical damage such as scratches, nicks, and dents.
Remove the packing list from the container and verify that all listed materials were
received. Should a discrepancy be detected, contact Seagull's Field Services Division
immediately.
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3.3 RACK INSTALLATION
The 05661 installs in a standard 7-inch high rack slot. The unit's fan input vents and
amplifier exhaust must be free of any obstructions, allowing air to flow through and
around the unit, preventing overheating. Select a site that is free of excessive dust,
vibration, condensation, and flammable materials. The ambient temperature should be
within the ranges specified in the Specifications section (Section 2).
3.4 AIR CONNECTIONS
Connect clean, dry air to the "Air In" connection on the rear panel of the 05661.
!! CAUTION !!
Plant air must be conditioned, dehumidified, and filtered to prevent condensation at
operating temperatures. Dew point of the supplied air must be less than 35° F.
Input air pressure must not exceed 120 psi.
3.5 ELECTRICAL CONNECTIONS
AC power to the 05661 is determined by the factory. The AC power cable must have a
ground wire and must connect the 05661 to the plant AC ground. Before connecting the
AC power cable to the 05661, ensure that the power switch on the front panel is off.
NOTE
If intending to use the 05661 with any spindle other than the one supplied by Seagull
Solutions, please contact the Field Services Division before operating the 05661.
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3.6 SPINDLE CONNECTIONS
Any spindle assembly supplied with the 05661 is correctly pre-wired. It should only be
necessary to connect it using the supplied cables to place the system into operation.
Contact Seagull's Field Services Division before using any spindle not supplied by
Seagull.
A spindle contains not only the air bearing, but also a brushless DC motor and a
commutation encoder. The motor and encoder are connected to the 05661 using
appropriate cables.
1. Connect the spindle's air connector to the "Spindle Air" connector located on the rear
panel of the 05661.
2. Connect the spindle's motor cable to the "Motor" connector located on the rear panel
of the 05661.
3. Plug in the encoder from the spindle to the "Encoder" connector located on the rear
panel of the 05661.
3.7 APPLYING POWER
Before AC power is connected to the 05661's input receptacle, ensure that the AC power
switch on the front panel is OFF.
3.8 INITIAL CHECKOUT
This brief checkout only addresses Local Mode operation; Remote Mode operation is
determined by the Host Computer. Refer to Section 5 for a list and description of the
05661's command set.
1. Turn on the 05661's AC power switch.
2. Press the ENTER button to begin local operation.
3. Press the MENU button to set the speed and acceleration. Use the “up” and “down”
arrows to change the value in the selected field. Press the enter button to move to the
next field.
4. Press the MENU button to return to the main display.
5. The cursor should be blinking on the “Enable” status field. Press the “Enter” button
to toggle Run/Stop. After about 3 seconds, the spindle will appear to "jerk"; spin
up to 1000 RPM; stop; then spin to the commanded speed. This only occurs the
first time the spindle is run after power up.
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6. Press the “Enter” button to stop the spindle.
7. Use the “up” and “down” arrow button to select the clamp function.
8. Press the “Enter” button to toggle the state of the clamp.
9. Use the “up” and “down” arrow button to select the brake function.
10. Press the “Enter” button to toggle the state of the brake.
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05661 Linear Amplifier
Section 4 Operation
4.1 GENERAL
Contained within this section are instructions for operating the 05661, an explanation of
its modes and sub-modes of operation, and an explanation of the safety interlocks. This
section of the manual explains basic motor controller operation; other sections of this
manual should be read to understand the how and why of operation.
NOTE
Should any of the 05661's assemblies not operate as stated, call Seagull Solutions's Field
Services Division.
4.2 POWER-UP SEQUENCE
Startup Sequence for the 05661 requires two steps:
1. Applying Air.
2. Applying Power.
4.2.1 APPLYING AIR
Before proceeding, ensure that the following air gauges display the proper pressure levels
necessary for safe air bearing operation. Actual values may vary based on the spindle
used with the 05661. The front panel displays four air gauges.
!! CAUTION !!
Damage to the spindle can occur if the spindle is operated without minimum air
requirements.
Assuming that all connections have been made as indicated in Section 3 (Installation) of
this manual, the 05661 can now be safely operated.
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4.2.2 APPLYING POWER
Apply power to the 05661 by turning the POWER switch on. This supplies AC and DC
power to the unit. When the POWER switch is first turned on, the 05661 will perform
internal system checks if the subsystems pass the diagnostic tests the cursor will blink
in the lower right hand corner of the display.
NOTE
On power-up of the 05661, the first time a RUN command is issued, the spindle will go
through the auto-initialization routine. This ensures proper motor commutation.
4.3 BASIC OPERATING MODES
The 05661 has two basic modes of operation: Local and Remote. Local Mode is usually
reserved for maintenance, adjustments, and troubleshooting. Remote Mode is the normal
operating mode; this mode must be used for operations requiring host computer control.
The 05661 powers up in the remote mode by default.
Regardless of the origination of commands, the 05661 does not allow unsafe operation.
Safety checks also ensure that the spindle has sufficient air for safe operation.
4.3.1 LOCAL MODE
The front panel allows the user to perform motor control functions without the need for a
host computer. To initiate the “Local Mode” control the user must press the Enter button.
The controller will flash a (+) sign signal in the lower right hand corner while it
prepares the system for local operation. When the system is ready for local control a
letter “L” will be displayed in the lower right hand corner and the cursor will be flashing
over the enable status field. The system is now ready for local operation.
1. To select a Speed, Acceleration or Direction.
Press the “Menu” button to view the Input Parameters menu. The cursor should be
flashing over the speed entry field. Use the “up” and “down” arrows to change the
value in the field. I.E. SPEED:02000. Then press the “Enter” button to accept the
changed value. The cursor should now be flashing on the Accel entry field. Use the
“up” and “down” arrows to change the value in the field. Press the “Enter” button
accept the changed value. The cursor will now be flashing on the Direction field.
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Local Mode Continued.
Use the right and left arrows to change the direction command.
Press the “Enter” button to accept the changed value.
Press the “Menu” button to return to the main display screen.
The cursor will be flashing on the enable status field.
Use the “down” arrow to move to the clamp status field.
Press “Enter” button to toggle the state of the clamp.
Use the “down” arrow to move to the brake status field.
Press “Enter” button to toggle the state of the brake.
The main display also shows the direction as sensed by the encoder and displays the
speed in RPM.
4.3.2 REMOTE MODE
Remote Mode is used when the 05661 is under the direction of a host computer. This is
usually the case in media testers. Parameters such as spindle RPM, revolution direction,
disk clamping, and spindle run/stop commands are sent to the controller from a host
computer. The controller ensures that all commands are correctly sequenced.
See Section 5 for a complete list and description of the 05661's command set.
The 05661 utilizes GPIB 488.2 communication protocols. All command strings can
be sent with individual commands delimited by a semicolon. The strings must be
terminated with the ascii character (13) - 0Dh. Commands that generate a response are
return to the host computer terminated by the ascii character (10) - 0Ah.
4.3.3 GPIB ADDRESS SELECTION
The GPIB device address is selected by configuring the address dip switch located on the
upper left hand corner of the front panel PCB. To access the dip switch the user must
remove the top cover of the controller. The dip switch “S7” must be changed with the
controllers power off for the new address to take affect. The dip switch represents a
binary code for addresses between 0 and 15. A switch in the UP or ON position
represents a logic level “1”. The first switch weighted by 1, the second by 2, the
third by 4, the fourth by 8. Select a combination that adds up to the address you
desire.
I. E. The address (3) is selected by setting the switches 1 and 2 to the on position.
The address (5) is selected by setting the switches 1 and 4 to the on position.
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4.4 REAR PANEL CONNECTIONS
A rear panel view is provided to show location of the rear panel connectors, inputs, and
outputs.
Figure 4-2
Rear Panel Connections
4.5 ENCODER COMMUTATION
An encoder is installed below the spindle housing and is directly coupled to the spindle's
shaft. This encoder provides three outputs: Index, Data A, and Data B, which are used by
the Main Electronics Assembly to maintain the spindle's RPM.
The internal 1024 line count encoder is factory aligned to ensure that the spindle motor
windings and the encoder's index track are correctly phased. If any adjustment is made to
the encoder, the encoder must be realigned to the motor; otherwise, the spindle motor
may not operate accurately or perhaps not at all.
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!! CAUTION !!
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05661 Linear Amplifier
Improper alignment of the spindle encoder can damage the 05661's power amplifier
circuitry.
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4.6 SAFETY INTERLOCKS
DC power, AC motor drive power, and the amplifier overtemperature thermistor are
monitored to prevent spindle motor damage caused by excessive current or heat. The air
bearing spindle pressure is monitored for a low pressure condition. The clamp air
pressure is monitored to assure that the clamping mechanism is engaged.
Power supply voltages monitored are +5 Vdc, ±15 Vdc, and motor supply voltage (±V).
Inputs are constantly monitored, and if any or all inputs deviate from their assigned
value, spindle operation is disabled and a fault condition occurs.
4.7 FREQUENCY REFERENCE
The 05661 is shipped from the factory with an internal frequency reference.
The 05661 can accept an external frequency reference, if the user wishes to
synchronize with an external reference. The user must hook up their external
reference to the "Frequency In" connector on the back of the 05661, and select
external frequency from the front panel or through RS232 or GPIB command and
issue a speed command of 10 and an acceleration of 10000 from either the front panel
or the host computer. The 05661 will then track the external reference after the user
issues a run command. The 05661 will use maximum acceleration in tracking the
reference. All other commands will operate normally.
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5.1 05661 COMMAND SET
Command Definition
acc:XXXXX
brakeoff
brakeon
clamp1
clamp2
ccw
cw
dir?
disable
05661 Linear Amplifier
Defines the acceleration rate in RPM/sec.
XXXXX is a 5-digit integer from 00001 to 10000.
00000 is invalid, and will default to 01000.
Communication Response: NONE
Deactivates the spindle brake solenoid, if the spindle is so
equipped.
Communication Response: NONE
Activates the spindle brake solenoid, if the spindle is so
equipped.
Communication Response: NONE
Activates the spindles primary clamp solenoid.
Communication Response: NONE
Activates the spindles secondary clamp solenoid.
Communication Response: NONE
Commands counter clock-wise rotation.
*NOTE: Direction may only be changed while spindle is
stopped.
Communication Response: NONE
Commands clock-wise rotation.
*NOTE: Direction may only be changed while spindle is
stopped.
Communication Response: NONE
Queries the direction status.
Communication Response: Returns ‘CCW’ for
counterclockwise, and ‘CW’ for clockwise.
Decelerates the spindle, disables the spindle motor and
applies the spindle motor brake, if spindle is so equipped.
(See also ‘stop’ command.)
Communication Response: NONE
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en
enable?
fault?
faults?
faults:XX
Initializes the spindle motor if spindle has not been run
before, enables the spindle, and commands the spindle to run
at the last commanded speed, acceleration, and direction.
*NOTE: If no direction, speed, or acceleration has been
commanded, spindle will attempt to maintain zero RPM.
(See also ‘run’ Command.)
Communication Response: NONE
Queries the enable status.
Communication Response: "ENABLED" or "DISABLED".
Queries the system fault status.
Communication Response: "OK" if there are no faults, or
"FAULT" if the controller is faulted.
Queries the controllers fault register.
Communication Response: ‘X’ where X represents a single
binary byte that is decoded as follows:
Bit 1, 0- NO 1- YES (External Air Fault)
Bit 2, 0- NO 2- YES (External Interlock)
Bit 3, 0- NO 4- YES (AMP Over Temp)
Bit 4, 0- NO 8- YES (External Aux Fault)
Bit 5, 0- NO 16- YES (Servo error limit cw)
Bit 6, 0- NO 32- YES (Servo error limit ccw)
Bit 7, 0- NA 64- NA (Always set true)
Bit 8, 0- NA 128- NA
Enables and disables specific controller fault inputs.
‘XX’ represents two ASCII characters that mask the
corresponding faults. Each byte has a decimal range of 0..7
bits 4-8 of both bytes are not used. This allows ASCII fault
masking with predetermined byte boundries. The bytes
decode as follows: (XX) = (Byte 1| Byte 2)
Byte 1
Bit 1, 0- DISABLE 1- ENABLE (External Air Fault)
Bit 2, 0- DISABLE 2- ENABLE (External Interlock)
Bit 3, 0- DISABLE 4- ENABLE (AMP Over Temp)
Byte 2
Bit 1, 0- DISABLE 1- ENABLE (External Aux Fault)
Bit 2, 0- DISABLE 2- ENABLE (Servo error limit cw)
Bit 3, 0- DISABLE 4- ENABLE (Servo error limit ccw)
Communication Response: NONE
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Seagull Solutions, Inc.
05661 Linear Amplifier
id?
inpos?
mp?
pos:XXXX
pos?
ref:X
run
spd:XXXXX
Queries the controllers identification data.
Communication Response: Manufacturer Data, Model
Number, and software revision of the controller.
*NOTE: 9 bytes returned.
Queries the ‘in position’ status.
Communication Response: ‘YES’ if spindle is holding
requested position, ‘NO’ if spindle is not at requested
position. (Used with ‘pos:XXXX’)
Queries the instantaneous spindle motor power usage.
Communication Response: XXX.XX % where XXX.XX
represents the percentage of the maximum power presently
being applied to the spindle motor.
Activates absolute positioning mode. XXXX corresponds to
a rotational position ranging from 0000..4095 as counted
incrementally from the rising edge of index in the counterclockwise direction. When this command is issued the spindle
is rotated to the requested position.
Communication Response: NONE
Queries the spindles current rotational position.
Communication Response: ‘XXXX’ where XXXX represents
the spindles current position. integer ranging from 0000-4095.
*NOTE: The 4 successive character are sent in ASCII format.
Defines the source of the reference frequency.
X can be ‘1’ for internal frequency reference or
X can be ‘0’ for external frequency reference.
Communication Response: NONE
Initializes the spindle motor if spindle has not been run
before, enables the spindle, and commands the spindle to run
at the last commanded speed, acceleration, and direction.
*NOTE: If no direction, speed, or acceleration has been
commanded, spindle will attempt to maintain zero RPM.
(See also ‘en’ Command.)
Communication Response: NONE
Sets the requested speed to XXXXX RPM.
XXXXX is an integer from 00001 to 25000.
Communication Response: NONE
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Seagull Solutions, Inc.
05661 Linear Amplifier
spd?
stat?
stop
unclamp1
unclamp2
zero?
Requests the last commanded speed.
Communication Response: XXXXX, where XXXXX is an
integer from 00001 to 18000.
Requests the controllers status information.
Communication Response:
Returns the status of the controller as two 8-bit binary
registers decoded as follows:
BYTE 1
Bit 1, 0=Not Enabled, 1=Enabled
Bit 2, 0=Not Ready, 1=Ready
Bit 3, 0=No High Voltage, 1=High Voltage Present
Bit 4, 0=Speed not Zero, 1=Speed is Zero
Bit 5, 0=Not at Speed, 1=At Speed
Bit 6, 0=CCW, 1=CW
Bit 7, RESERVED
Bit 8, 0=No Fault, 1=Fault
BYTE 2
Bit 1, 0=Not Clamped, 1=Clamped (Clamp1)
Bit 2, 0=Not Clamped, 2=Clamped (Clamp2)
Bits 3-8 are reserved.
Decelerates the spindle, disables the spindle motor, and
applies the spindle motor brake, if spindle is so equipped.
(See also ‘dis’ command.)
Communication Response: NONE
Releases primary clamp solenoid.
*NOTE: If ‘unclamp1’ command is issued while the spindle
is rotating, the command will be ignored as to not allow
unsafe operation.
Communication Response: NONE
Releases secondary clamp solenoid.
*NOTE: ‘unclamp2’ can be issued at any time.
Communication Response: NONE
Queries the at zero speed status.
Communication Response: ’YES’ if the spindle is stopped or
‘NO’ if the spindle is still rotating.
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Index
Seagull Solutions, Inc.
05661 Linear Amplifier
A
AC Input Power Requirements...........................9
Address
Seagull Solutions's Field Services Division .11
Air Connections................................................12
Air Supply Requirements ...................................9
Applying Power................................................13
Auto-initialization routine ..........................14, 16
C
Clamp/Unclamp..................................................7
Command Set ...................................................20
Commands
ACCEL
XXXXX ...................................................20
BRAKEOFF ................................................. 20
BRAKEON...................................................20
CLAMP ........................................................20
DIR? .............................................................20
DIS ...............................................................20
EN.................................................................20
ENABLE? ....................................................20
FAULT? .......................................................20
ID?................................................................20
RUN .............................................................20
SPD
XXXXX .............................................20, 21
SPD?............................................................. 21
STAT? ..........................................................21
STOP ............................................................21
UNCLAMP ..................................................21
ZERO?..........................................................21
Communications...............................................10
E
Electrical Connections...................................... 12
Encoder Commutation......................................18
Environmental Requirements ........................... 10
EPROM ..............................................................8
F
Figure 4-2 .........................................................18
Frequency Reference........................................19
external ......................................................... 19
Front Panel Assembly ........................................6
G
GPIB.....................................................5, 6, 8, 10
Grounding...........................................................4
I
ID?......................................................................8
Initial Checkout ................................................13
Inspection .........................................................11
Installation ........................................................11
L
LEDs
blinking...........................................................8
Local Mode...................................................7, 16
M
Machine Parameters ...........................................9
Main Electronics Assembly................................7
Maximum Output Power ....................................9
Motor Control Specifications ...........................10
O
Operating Modes ................................................7
Operation ..........................................................15
P
Physical Dimensions...........................................9
Pneumatics Assembly.........................................7
Power Amplifier Assembly ................................7
Power-Up Sequence .........................................15
R
Rack Installation...............................................12
Rear Panel Connections....................................18
Remote Mode ...............................................8, 17
RS-232..................................................5, 6, 8, 10
S
Safety Cautions...................................................4
Safety Features .................................................10
Safety Interlocks...............................................19
Software..............................................................8
Software revision level .......................................8
Specifications .....................................................9
Speed stability ....................................................6
Spindle Connections.........................................13
Standard Features ...............................................6
System Requirements .........................................9
General Information ...........................................5
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05661 Linear Amplifier
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