Instructions 

Setup HFP-812

  1. Documentation
  2. Prealigners
  3. Setup HFP-812

1. Initial Setup #

Setup Prealigner for the first time or Reset all saved Prealigner settings

  1. Type _APPD in terminal to save default settings 
    >_appd  
>
  2. Type -CONFIG to verify correct configuration 
    >-config
{
	"DEVICE_PARAM": {
	... 
	...
	},  
	"CONSOLE": {
	...
	...
	},  
	"AXIS_PARAM": {
		"T": {
			...
			...
		},
		"R": {
			...
			...
		}
	}
}
    ``
  3. Power cycle (restart) Prealigner controller

2. Connect MCDN #

  1. Type ARM 2 to activate human readable mode 
    >arm 2  
>
  2. Type MCDN 9 to establish communication with MCDN 
    >mcdn 9  
Connected with 1250000  
>
  3. Type READP to read axis parameters. 
    >readp  
>
  4. Type POW to enable servo power. 
    >pow  
>
  5. Type SON to enable servo. 
    >son  
>

Troubleshooting: MCDN communication check

Note: If you type SON before executing MCDN 9 and POW, it will be execute following sequence of commands:
mcdn 9
readp
pow
son

3. Verify I/O #

Verify Inputs and Output functionality

Output command out #

  1. Type OUT , which will print Output states

    >out  
0. ValChuck  : 1  
1. ValPins   : 1  
2. MotPinsUp : 1  
>

    Format:

    number. name : state ( 1-enable / 0-disable )

    number name description state 1 (enable) state 0 (disable)
    0 ValChuck Chuck vacuum valve Valve open Valve closed
    1 ValPins Pins vacuum valve Valve open Valve closed
    2 MotPinsUp Pins up/down Pins Up Pins down

  2. Enable/disable output type OUT [Output Number] [ 1 = enable / 0 = disable ]

    • Example: enable ValChuck (Chuck vacuum): 
      >out 0 1  
>
    • Example: disable (lower) MotPinsUp (Pins up/down) if they are enable (pins up): 
      >out 2 0  
>

  3. Check that we have vacuum line to prealigner and make sure that we have vacuum.

  4. Check MCDN communication is enable and working without errors. MCDN communication check

  5. Enable/Disable ValChuck, ValPins and manually check correct vacuum present/not present

  6. Enable/Disable MotPinsUp and visually check correct pins up/pins down

Input command inp #

  1. Type INP , which will print Input states

    >inp  
0. SenChuck : 0  
1. SenPins  : 0  
2. FlgPins  : 0  
3. FlgHomeR : 0  
>

    Format:

    number. name : state ( 1-active / 0-inactive )

    number name description state 1 (active) state 0 (inactive)
    0 SenChuck Chuck vacuum sensor active inactive
    1 SenPins Pins vacuum sensor active inactive
    2 FlgPins Pins Moving Pins Flag between up/down sensors ( Pins in motion ) Pins Flag cover up or down sensor ( Pins not moving)
    3 FlgHomeR Home R flag Home R Flag covers the sensor Home R Flag doesn’t cover the sensor

  2. Adjust Chuck and Pins vacuum sensor using the trimers
    Note: Make sure that vacuum line is connected to and we have vacuum. image
    The leds on the boards should correspond the actual state

  3. Type INP and check that we have matching state in the firmware too

  4. Cover Home R sensor manually
    image

  5. Type INP and check that we have matching state in the firmware too

    >inp  
1. SenChuck :   
2. SenPins  :   
3. FlgPins  :   
4. FlgHomeR : 1  
>

  6. Uncover Home R sensor
    image

  7. Type INP and check that we have matching state in the firmware too

    >inp  
0. SenChuck :   
1. SenPins  :   
2. FlgPins  :   
3. FlgHomeR : 0  
>

  8. FlgPins is not possible to be detected using the console because it will be active only during Pins UP/DOWN movement In case they are not properly connected it will display after completing the movement

    >inp  
0. SenChuck :   
1. SenPins  :   
2. FlgPins  : 1  
3. FlgHomeR :   
>

4. Home Prealigner #

  1. Connect MCDN if is not already connected Connect MCDN
  2. Type HOM and check that we have matching state in the firmware too 
    >hom  
>Axis T : 0002  
0x0002 : Stopped  
Axis R : 0002  
0x0002 : Stopped  
>

5. Set R Home offset #

  1. Connect MCDN

  2. Home Prealigner

  3. After homing the pins will be roughly at that position
    image

  4. Move the pins with negative steps until you hit the hard stop

  5. Type mvr r [negative distance in microns]

    >mvr r -4000
>Axis T : 0002
0x0002 : Stopped
Axis R : 0002
0x0002 : Stopped
>mvr r -500
>Axis T : 0002
0x0002 : Stopped
Axis R : 0002
0x0002 : Stopped
>

  6. Pins at hard stop
    image

  7. Move the pins 100 microns in opposite direction to move away form hard stop.

    >mvr r 100
>Axis T : 0002
0x0002 : Stopped
Axis R : 0002
0x0002 : Stopped
>

  8. Type UPR R [unit per revolution] and memorize this UPR value

    >upr r
4000
>

  9. Change UPR R to 65536 (from this point all position reading will be in encoder counts)

    >upr r 65536

>upr r
65536
>

  10. Type RCP R to read current position in encoder counts.

    >rcp r
13386

  11. Type _HO R to set this position to be zero.

    >_ho r 13386
>rcp r
0

  12. Restore original UPR R 4000 (all position will be in microns again).

    >upr r  4000
>rcp r
0
>

  13. Type SAVEP to store this configuration.

    >savep
>

  14. Power cycle (restart) Prealigner controller

6. Set R limits #

  1. Connect MCDN
  2. Home Prealigner
    Warning: During this procedure is possible to reach Max Position Error Exceeded status of R axis.
    See: Restore From Max Position Error Exceeded

Set Reverse software limit #

  1. Type _RL R -50 to set reverse limit. 
    >_rl r -50
>
  2. Type savep to store this position. 
    >savep
>

Set Forward software limit #

  1. Move the pins with positive steps until you hit the hard stop

  2. Type mvr r [positive distance in microns]

    >mvr r 8000
>Axis T : 0002
0x0002 : Stopped
Axis R : 0002
0x0002 : Stopped
>mvr r 2000
>Axis T : 0002
0x0002 : Stopped
Axis R : 0002
0x0002 : Stopped
>

  3. Move the pins slightly (50 microns) in opposite direction to move away form hard stop.

    >mvr r -50
>Axis T : 0002
0x0002 : Stopped
Axis R : 0002
0x0002 : Stopped
>

  4. Type RCP to read current position

    >rcp
0, 16300
>

  5. Use this round position to set reverse limit

  6. Type _fl r [position]

    >_fl r 16300
>

  7. Type savep to store this position

    >savep
>

Set Custom home #

  1. Connect MCDN

  2. Set R limits

  3. Read R axis reverse _rl r , forward _fl r limits, and units per revolution upr r

    >_rl r
-50
>_fl r
16300

  4. Calculate pin travel center ((_rl r+_fl r)/2)

    ((-50+16300)/2.0) = 8125

  5. Type _ch r to store this value

    >_ch r 8125
>

  6. Type savep to store this position

    >savep
>

  7. Home Prealigner

7. Disconnect MCDN #

  1. Type SOF to disable servo 
    >sof  
>
  2. Type NOP to disable servo power 
    >nop  
>
  3. Type mcdn - to disconnect communication with MCDN 
    >mcdn -  
>

Troubleshooting #

Restore from Max Position Error Exceeded #

>Axis T : 0002
0x0002 : Stopped
Axis R : 00A2
0x0002 : Stopped
0x0020 : Max Position Error Exceeded
0x0080 : No Servo
  • Check for mechanical obstacle which prevent motor to reach that position
  • Type son to enable again servo power

MCDN communication check #

Type -state to check the state of communication

>-state  
MCDN: Connected 1250000 baud, Poll 2000 Hz,  Polling, NoError  
>

Type -error to check how many packet fail

>-error  
MCDN: Checksum PASS: 2777821, FAIL: 1  
>