Xeryon Multi-axis Driver (XD-M) Revision 1.2 dd. 02/05/2018 © Copyright by Xeryon BVBA, Interleuvenlaan 62, 3001 Leuven, Belgium All rights reserved. No part of this manual may be duplicated, reproduced, stored in an information system or processed or transferred in any other form without prior express written permission of Xeryon BVBA.

1. Introduction The XD-M provides a complete solution for controlling multiple Xeryon stages, in particular Xeryon’s XLS and XRT-U stages, and more in general ultrasonic stages. The controller reads the stage’s integrated encoders, generates and amplifies the driving signals and communicates with a host controller or PC through a simple ASCII protocol. The driver comes with a user-friendly Windows interface and LabVIEW driver to steer the stage in open and closed loop. Important steering parameters can be tuned digitally via the user interface. Specifications: Size: 160 x 165 x 53 mm Power supply:...

On the XD-M driver, following in- and outputs can be found on the front and back panel: * The encoder in the XRT-U rotary stage is single ended and has thus no I - / A - / B - signal. Neither has the XRT-U an encoder error signal. Warning: Do not open the driver. In case of a damaged connector or cable, please contact Xeryon for repair or replacement.

3. Communication A host computer or controller can communicate with the XD-M via the USB configured as a virtual COM port, or via dedicated UART pins on the headers (on the PCB). The baudrate is automatically detected by the driver and can be up to 230400 baud. The protocol uses 8 data bits, 1 stop bit, no parity bit, no handshaking. Format A command line consists of maximally 16 characters followed by a ‘new line’ character (ASCII code 10). The command has the following format: X:DPOS=-12345678       1 character defining the axis, followed by a colon. 4 characters for the command. ‘=’...

omitted, increasing the positive range to 999 999 999. No spaces, commas or periods should be added to the numbers. Only integers are allowed.

AERYDN PRECISION

Info sent back from the XD-M Information is sent back from the XD-M to the master (PC) in ASCII format. The format is as follows: 1. One character identifying the axis, followed by a colon. 2. Four characters describing the type of information 3. '=' sign separating the command from the corresponding value 4. Signed value associated with that information (sign + 8 decimal places). The message is terminated with a 'new line' character (ASCII code 10). e.g. X:EPOS=+12345678 The different types of information:

The on-off button has integrated LEDs that light up when the driver is powered on.

4. User interface To provide the user with a quick way to interact with the driver and the connected stage, a user interface is delivered with the XD-M. This interface comes in several variants depending on the type and number of axes. An example for an XY-stage is shown below. The use is simple and selfexplanatory. It can be used for manual input and to run simple programs. More information regarding this user interface is given in the user manual of the stage. This user interface is not intended for interaction with other programs written in C, Labview, Matlab, etc. These programs should directly...

The User Interface makes use of the following files: • The executable of the User Interface: Xeryon_Dialog.exe • A configuration file named "config.txt". This file should not be edited by the user. • A default settings file named "settings_default.txt". The User Interface reads this file for initial settings at start up. Replace or modify this file to alter the default settings. • A settings file named "settings_user.txt". The user can save and load alternative settings files via the menu. The filename is free to choose, but the file dialog window presents "settings_user.txt" as default filename. •...

Example settings file (settings default.txt) BAUD=115200 % Baudrate 115200 PORT=8 % Select COM-port 8 as default INFO=2 % Select info, identical for all axes % Speed of X-axis % Speed of Y-axis % Proportional control factor for X-axis % Proportional control factor for Y-axis % Lower position limit for X-axis % Upper position limit for X-axis % Lower position limit for Y-axis % Upper position limit for Y-axis % Load on X-axis % Load on Y-axis % Positioning tolerance in X-direction % Positioning tolerance in Y-direction X:ENCD=0 % Encoder direction for X-axis Y:ENCD=1 % Encoder direction...

5. Customer service • Contact: [email protected] • Address: Interleuvenlaan 62, B-3001 Leuven, Belgium • Phone: +32 (0)16 39 48 24 • Website: www.xeryon.com