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.
SLAC utilizes 3 of the 4 MDrive motor sizes: NMEA 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)
- 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)
They come with a sticker on the side specific to details of that motor the key parts are listed below
MDI3CRL23B7-EQ-N
RED: This is in reference to the I/O set of the motor. we use to MDI3 type which is the expanded version with 8 programmable I/O points the standard version only has 4 programmable I/O points
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
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.
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
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.
