Instructions 

Flashing prealigner firmware

  1. Service Documentation
  2. Prealigner
  3. Flashing prealigner firmware

Flashing prealigner firmware #

1. Download #

Download installer for STM32CubeProgrammer from here.

2. Run installer #

Step 1 of 8 #

  • Click Next image

Step 2 of 8 #

  • Click Next image

Step 3 of 8 #

  • Click I accept the terms of the ….
  • Click Next image

Step 4 of 8 #

  • Click Next image
  • Click OK
    image

Step 5 of 8 #

  • Click Next image

Step 6 of 8 #

  • Click Next
    image
  • If this Windows Security warning appears: Click Install this driver software anyway .. image
  • Check off on Always trust software … & Click Install image
  • Repeat this for all drivers from STMICROELECTRONICS image
  • Click Finish
    image
  • Click Next image

Step 7 of 8 #

  • Click Next
    image

Step 8 of 8 #

  • Click Done
    image

3. Connect programmer #

Connect ST-Link programmer USB PC image

4. Flash device #

Flash with STM32CubeProgrammer

  1. Run STM32CubeProgrammer*

  2. Select STLINK
    Click reload button image
    image

  3. If device is found serial number will be displayed
    image

  4. Click Connect
    image

    If error “No debug probe detected.” pops up,
    click Ok and check Connect ST-Link programmer USB PC

  5. Successful connection will display Connected and Target information
    image

  6. Switch to Erasing & Programming panel
    image

  7. Click on Browse and select firmware file
    image

  8. Put a mark on Skip flash erase before programming
    Put a mark on Verify programming
    Click on Start Programming and wait
    image

  9. Successful verification will display this message click OK
    image

  10. Download complete click OK
    image

  11. Disconnect from ST-LINK click Disconnect
    image

  12. Close STM32CubeProgrammer

  13. Power cycle (restart) Prealigner controller

5. Prepare PuTTY connection #

  1. Power cycle (restart) Prealigner controller

  2. Connect Prealigner controller to PC

  3. Open Windows Device Manager

  4. Expand Ports (COM & LPT)
    image

  5. Disconnect Prealigner controller from PC and memorize which port disappear
    image

  6. Connect Prealigner controller to PC and verify that (COM ) port will be listed again*

  7. Run PuTTY

  8. Select Connection type Serial
    image

  9. Enter memorized Serial line COMx and Speed 115200
    image

  10. Select Terminal panel
    image

  11. Put check as shown on the picture
    image

  12. Select Session panel
    image

  13. Type prealigner in Saved Sessions and click Save
    image

  14. Click Open to establish Connection with Prealigner
    image

  15. Verify connection type VER in terminal
    image

Note: If prealigner replies with ?, type ver again in terminal.

6. 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": {
			...
			...
		}
	}
}

7. 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 POW to enable servo power 
    >pow  
>
  4. 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
pow
son

8. 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 :   
>

9. 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  
>

10. Set R limits #

  1. Connect MCDN
  2. Home Prealigner
  3. After homing the pins will be roughly at that position image

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

  2. 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
>

  3. Pins at hard stop
    image

  4. 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
>

  5. Type RCP to read current position

    >rcp
0, -4493
>

  6. Use this round position to set reverse limit

  7. Type _rl r [position]

    >_rl r -4490
>

  8. Type savep to store this position

    >savep
>

Set Forward software limit #

  1. Move the pins with negative 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. Pins at hard stop
    image

  4. 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
>

  5. Type RCP to read current position

    >rcp
0, 9306
>

  6. Use this round position to set reverse limit

  7. Type _fl r [position]

    >_fl r 9300
>

  8. Type savep to store this position

    >savep
>

Set Home offset #

  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
-4490
>_fl r
9300
>upr r
4000

  4. Calculate pin travel center ((_rl r+_fl r)/2)*(65536/upr r)

    ((-4490+9300)/2.0)*(65536/4000) = 39403

  5. Type ho r to store this value

  6. Type savep to store this position

    >savep
>

  7. Home Prealigner

10. 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  
>