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Recurring issue across hutches: motor bodies and circuit boards (brains) are being used interchangeably when they cannot actually be used that way without generating an issue one the controls side. This page will suss out the problems we have seen so the right ones are ordered and installed in the right spot. 


HARDWARE

SLAC utilizes 3 of the 4 MDrive motor sizes: NMEA NEMA 17, 23, and 34. 

  • 17: 42 mm (mostly used as slits for steppers, linear actuator version used on things like IPM/PIM)
  • 23: 57 mm (mostly used for Parker/generic steppers for injectors)
  • 34: 85 mm (definitely used for larger moves like mode change ex. CXI has two "pointings" so the entire beamline is shifted from the bottom with these depending on what focus we run in)

...

ORANGE: This is in reference to the motor size so the 23 is interchangeable with the other motor sizes (14–not used here, 17, or 34) and the 7 is standard across them which is the input voltage in 75 VDC so 7 for 75 VDC. Note the underline because if it is a quad motor length (see blue section) this number is 6 for 60 VDC instead but we don't really use this so not important

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GREEN: The C is in reference to the Power and I/O terminals which are wire crimp the RL is in reference to the serial connector which is the friction lock wire crimp variety. More specifically this pertains to the IP rating (IP20 for our uses), control type (programmable motion control which we want), the communications interface (Serial 422/485 10 position wire crimp connector), and communications protocol (Mcode OS)

BLUE: This part has four types A, B, C, D and refers to the motor length single, double, triple, quadrouple respectively. As the letter goes up the physical size of the body increases keep note because not every size body is compatible with all placements. Other parts to this include the holding torque A= 64 N-cm, B= 102 N-cm, C= 169 N-cm, D= 200 N-cm. 

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PINK: This portion is in reference to the encoder type that the circuit board looks for and there are two circuit board types EQ or EE. THIS IS EXTREMELY IMPORTANT TO GET CORRECT AS IT CREATES A CONTROLS PROBLEM IF THE WRONG ONE IS USED. The EQ type is a circuit board that looks for an internal encoder which means its encoder is the shaft itself which is physically different on the EQ motor body which is why bodies are notable to be swapped around. The EE type circuit board looks to an external encoder pack (almost always the Renishaw encoder pack). See photos below for the physical difference. 

  • SPECIAL NOTE: With an EE circuit board the body is a 4 programmable I/O while the EQ is 8 programmable I/O this is why you cannot switch them they are different 

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PURPLE: The dash N is just indicating the motor has a knob or does not have a knob. The knob can be used to move the motor by hand. 


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There are also MForce drives. We use the MForce micro drive with an external encoder reading (MFI3CRL17N4-EE). These are housed inside an MForce chassis and connect to a specific type of motor protection board that is wired to a burndy connector and serial port on the chassis. 


Motor Protection Boards


Each type of motor has its own motor protection board linked below. A few notes:

  1. There are two types for MDrive 23 and this is entirely dependent on if it is installed to be used with a Parker Brake or not
  2. The MDive 23 schematic for motor protection boards that is published IS NOT CORRECT it puts the additional connector that plugs into the brain as red in P3-1 and black in P3-2 but it should be the reverse. This means that when it comes from lupe's shop they make it by the drawing and you will need to flip the connector to make it right (example of what you get straight from Lupe's shop with the red power in P3-1 and black ground in P3-2). If you don't do that you will fry the circuit board and the body will produce smoke. Don't be alarmed if this happens just get a new circuit board and the motor still works fine.

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  1. Motor protection boards are not specific to EQ/EE 
  2. You can see damage on a motor protection board usually as brown spots if the board has been fried
  3. The same boards are used for steppers and linear actuator motor just match it up to the motor drive type