User Manual
Contents
1. series Active LOW M HV is switched off fast and no ramping is 3 HV_OFF l wee ria ec allowed also the Hand Control is disabled SCRAM switches HV_out off immediately SCRAM from external When SCRAM is HIGH only ONE Channel 10 SCRAM i NED approach security electronics in ONE Direction can be activated specified by SCRAM SEL O 3 11 SCRAM_SEL 0 SCRAM Channel Number of HV_out 111 Only HV out allowed Only the selected Channel 110 Only HV out6 allowed 12 SCRAM SEL 1 l 5V 1 Number is allowed when SCRAM is activated 001 Only HV_out1 allowed Stored on the rising edge of 000 Only HV outO allowed 13 SCRAM SEL 2 S STEP or C STEP SORON con 0 POS 1 NEG Polarity NORMAL 14 SCRAM_SEL 3 l 5V 1 g EA Depends also on the Sawtooth Polarity Stored on the rising edge of switch of the selected channel S STEP or C STEP E i 15 CLK SEL 0 111 f saw CLK RAMP 1024 110 f saw 7 ca 1kHz fix Ramp clock source selection 101 f saw 7 ca 500Hz fix e variable f saw via external 100 f saw 7 ca 250Hz fix 16 CLK SEL 1 SM tl CLK RAMP orfixedf saw 011 f saw ca 125Hz fix from internal clock 010 f saw ca 62 5Hz fix 001 f saw 7 ca 31 3Hz fix 000 f saw 7 ca 15 6Hz fix 17 CLK SEL 2 18 GND Power OV Housing PMC 19 CLK RAMP 0V 0 peng HOUR for the f saw CLK RAMP 0 4MHz 1024 sawtooth 20 GND Power OV Housing PMC 21 AD_SEL l 5V 1 Analog or Digital HV set 1 HV analog se2. 5 Ss amp C_STEP E amp o Ne o e READY Control L 5 RAMPING Logic NT 5 STEP_CNT ES A 8g HC OVR HEAT RESET 8 bit POL SEL 0 7 fi SCRAM 01234567 Sawtooth Polarity Switch manual l SCRAM SEL 0 3 4 bit b Z Figure 9 The simplified block diagram of the PMC and its interconnections to the outer world The Computer Control connections are located on the left side and its signals make interconnections to all of the three main blocks of the PMC Fig 9 presents the simplified block diagram of the PMC It shows how the simple computer interface works with bidirectional digital TTL signals and if needed also with analog 0 10 V signals Via the dedicated digital signals the desired sawtooth HV amplitude HV D 0 7 the channel number CH No 0 2 the moving direction DIR and the repetition frequency CLK SEL 0 2 can be selected A single step or continuous stepping of the selected piezo motor can be started by activating the corresponding signal S STEP for a single step and C STEP for continuous stepping On the rising edge of one of these start signals S STEP or C STEP the following CC data are registered CH_No 0 2 DIR SCRAM_SEL 0 3 and also the combination of the Sawtooth Polarity switch on the rear panel During stepping changes of these parameters are completely ignored To modify these parameters the computer has first to deactivate the start signal S STEP or C STEP then alte
3. A minimum and a maximum high voltage can be programmed by two pluggable resistors inside the HCU At shipping these two resistors are zero which corresponds to the full amplitude range of 0 V 400 V Further details see the chapter 8 1 Disassembly of the HCU section A Frequency potentiometer to adjust the repetition frequency nonlinear in the range of about 1 Hz up to the maximum frequency of normally 4 kHz It can be reduced by the trimmer fmax 5 Figure 6 Top view of the PMC Hand Control Unit not to scale 5 Trim potentiometer to adjust the maximum repetition frequency fmax from about 100 Hz ccw to max 4 kHz cw At shipping the maximum repetition frequency of 4 kHz is adjusted 6 LEDs to display the status of the PMC on the HCU Ready LED green During Ramping the LED Ready is turned off Failure LED red Overcurrent Red LED is blinking Overheat red LED is continuously turned on 7 lt x Thru a drilling on the rear side of the HCU the optical reflex photo sensor can detect objects outside its housing To prevent from wrong switching due to ambient light or placing the HCU on a white table the drilling is covered by a light shielding clip Nevertheless strong direct light to the bottom of the HCU can unintentionally activate it If a finger covers the sensor drilling at the bottom of the HCU it gets activated The green LED Ready on the HCU is turned on and the green LED Ready CC on the PMC i
4. Voltages up to 400V A N x3 Group 3 gt Group 2 z2 y2 y1 gt Group 1 y3 x2 xt z1 HV out HV out5 HV out4 HV out7 HV out3 HV out2 HV out HV outO NC GND GND GND NC 13 12 11 10 9 8 7 6 5 4 3 2 1 25 24 23 22 21 20 19 18 17 16 15 14 NC Not Connected onoondnonoooono 222222222222 oO GOGOGOGOGOOOGOG Figure 4 Pin assignment of the piezo motors connector HV out All GNDs are on the same potential and are connected to the PMC housing and to the shield of the D sub connector CAUTION Lethal high voltages are present on HV out during ramping damages to the PMC never operate the piezo motors in the corona vacuum pressure To prevent flashovers at the piezo motors and its interconnections and consequential range between 10 mbar and 10 mbar PMC User s Manual SP 869 Physics Basel Page 7 of 19 3 Selection of the desired NORMAL INVERTED sawtooth polarity for each of the eight HV output channels see Fig 5 Programmed via the octal DIP switch Sawtooth Polarity POS Direction lt lt POS Direction J P NORMAL INVERTED NEG Direction JwP NEG Direction Figure 5 Shows the direction POS or NEG and the corresponding shape of the HV sawtooth for both the NORMAL and the INVERTED switch position The mechanical movement of a piezo motor can easily be reversed by switching the corresponding switch to the INVERTED position 4 4 mm b
5. delays are possible under the circumstances explained above When the C STEP signals gets low the actual running cycle is properly terminated until HV out reaches 0 V again The rising edge of the READY signal indicates that the PMC is ready to process the next instruction Continuous Stepping Mode CH No 0 2 EE C STEP Mum EE MEM t R delay HV out 0v STEP CNT 64 us RAMPING t READY Figure 10b Simplified timing diagram of the main signals if the PMC is computer controlled in the continuous stepping mode C_STEP While the C_STEP signal is high a continuous and seamless sawtooth is generated on the selected HV output channel Data specified in the most top trace are stored on the rising edge of the C_STEP signal those are ignored thereafter To change the direction for example one has to stop the ramping first and restart it with the inverted DIR signal The status of the PMC can be read back via several status signals READY RAMPING OVR_CUR OVR_HEAT HC The step count output signal STEP_CNT releases a 64 us long positive TTL pulse for each sawtooth step generated by the PMC it can be used for counting the total number of steps All status signals as well as the step count output STEP_CNT are also available if the PMC is operated by the Hand Control Unit For more details see Fig 12 This SCRAM option is implemented to easily connect an external approach security electronics which prevents
6. 1 Hz 1 300 Hz Load capacitance 15 nF 0 nF 15 nF 6 push buttons for three axis x ty z Three position group switch 1 2 3 Two potentiometers for frequency and voltage adjustment Ergonomic housing for one hand manipulation Optical reflex photo sensor to activate the Hand Control Unit 4m cable length Overcurrent and Overheat indicated by LED and beeper 85 264 VAC 50 Hz 60 Hz 1 6 A slow blow 5 mm x 20 mm 70 W maximal PFC according to IEC EN 61000 3 2 Class A Desktop Cooling slots at bottom and rear panel Width 343 mm Height 95 mm Depth 310 mm Without handles 265 mm ca 4 kg Individual selectable polarity for each channel Passive air cooled no fans Status LEDs on frontpanel Analog meter for indication of the high voltage HV on frontpanel HV output connector 25 pin D sub compatible with MSCU from the company Omicron Nanotechnology GmbH Audible step Physics Basel Page 3 of 19 4 Operation Conditions Indoors dry laboratories only Ambient temperature between 5 C 41 F and 40 C 104 F Altitude up to 2 000 m 6 561 ft Maximum relative humidity 80 for temperatures up to 31 C 88 F decreases linearly to 50 at a temperature of 40 C 104 F e Pollution degree 1 no pollution or only dry and non conductive pollution 5 Introduction and Overview The Piezo Motor Controller PMC offers the flexible and robust operation of up to eig
7. Piezo Motor Controller PMC SP 869 User s Manual Physics Basel Documentation Version 1 7 Mai 2006 PMC User s Manual SP 869 Physics Basel Page l of 19 1 Safety Precautions e The Piezo Motor Controller PMC is designed for indoors dry laboratory use by qualified and authorized persons only e Read this manual carefully before installing and using the PMC all the safety precautions must be respected CAUTION Lethal Voltages up to 1400V e ATTENTION During operation lethal voltages up to 400 V are present at the connector HV out 0 7 to piezo motors on the rear panel of the PMC e ATTENTION At the slip stick piezo motors and its interconnections lethal voltages up to 400 V are present during motion e For wiring the HV out 0 7 connector to the slip stick piezo motors shielded and isolated cables which are specified for this high voltage application must be used e Never connect or disconnect any cables during operation make sure all cables are tightly connected and fixed by the bolts e Do not open the PMC main housing since lethal voltages are present inside Service and adjustments can be carried out only by the manufacturer e Don t cover the cooling slots at the bottom and on the rear panel e Do not operate the PMC or the slip stick piezo motors in explosive atmospheres The PMC does not provide any explosion protection from static discharges or arcing components e Always switch off and di
8. anana jack grounding connection to the housing of the PMC The PMC housing is already grounded via the mains cord there is no need to ground it by this 4 mm banana jack connector 5 Cooling slots Do not cover 6 Serial number of the PMC PMC User s Manual SP 869 Physics Basel Page 6 of 19 8 Hand Control Unit HCU SP 869a The PMC Hand Control Unit HCU is connected to the PMC via a flexible four meter long cable Make sure that the PMC is always switched off before connecting or disconnecting the HCU To activate the HCU insert your forefinger inside the light shielding clip at its bottom Then the optical reflex photo sensor will trigger and the green LED Ready on the HCU will be turned on The top view of HCU is shown in Fig 6 and detailed description of the numbered elements is given below 7 rear side 1 2 3 4 Six push buttons for bidirectional movement in three axes tx ty z A single step is carried out immediately after pressing one of the push buttons continuous stepping is reached by pressing the same button for longer than half a second To address the eight channels in total three different groups 1 2 3 can be selected by a toggle switch Group 1 and 2 provide three axes each x1 tyl z1 and x2 ty2 22 and the group 3 provides two axes x3 y3 Voltage potentiometer to adjust linearly the amplitude of the sawtooth voltage in a range of 0 V 400 V
9. cted The analog HV actual output 0 10 V HV actual output is permanently working independent of the signal AD SEL and irrespective if the PMC is controlled by the Hand Control Unit or via the computer interface A high TTL level at the input HV OFF switches off the high voltage immediately and no ramping is allowed by HCU as well as via computer control while this input signal is high If the RESET pin is pulled down low the PMC is reset since this signal is also internally activated pulled down with an open collector or use a Schottky Diode in series Do not force the RESET signal to a high TTL level Fig 11 shows the pin assignment of the Computer Control connector on the front panel of the PMC The connector also supplies 5 V with a maximum output current of 100 mA this output voltage can be used to supply a small self made interface electronics if necessary The 5 V supply and the GND 0 V output pins are also foreseen for direct wiring the input control signals to a defined high 5 V or low level GND ev S S s B 8 l e E x o zd b to d a o TO lu 5 LI x p y Siig amp x a e D co a ocor amp tawa coo o a a z 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 Q x Q E z S VVVVVVS KReOKOXHROHYMNNYT SO A TS ESSqQ Fr s ul ro Ou RE a QE gat S 2o PE A o l T Figure 11 The pin assignment of the Computer Control connec
10. ctor is high otherwise the AV is digitally programmed HV actual output Analog read back output voltage in a range of 0 V to 10 V corresponding to the actual HV of the sawtooth 0 400 V The connected divce must have an input resistance of gt 10 kOhm This analog output is steadily working independent of the AD SEL signal and of the PMC control mode by HCU or via the computer interface 8 4 mm banana jack grounding connection to the housing of the PMC The PMC housing is already grounded via the mains cord there is no need to ground it by this 4 mm banana jack connector PMC User s Manual SP 869 Physics Basel Page 6 of 19 7 Rear Panel troller 869 PHYSICS BASEL 23 A i f N ISN 08690000002 A 5 MADE IN SWITZERLAND zezuxwero o 0 o oou o 4 98STTTTSYTTII 1 Figure 3 The rear panel of the Piezo Motor Controller not to scale A detailed description of all elements arranged on the rear panel of the PMC is given below number corresponds to Fig 3 1 Mains voltage inlet connector with integrated fuses one active one spare Standard mains inlet connector Voltage range 85 VAC 264 VAC 50 60 Hz Fuse 1 6A slow blow 5 mm x 20mm Disconnect the PMC from mains before replacing the fuse 2 Sawtooth HV output connector to wire the piezo motors Female D sub 25 pin connector on PMC Pay attention High Voltage see chapter Safety Precautions LAN Lethal High
11. description of all elements is given below number corresponds to Fig 2 1 Main power switch ON is also indicated by the white backlight of the analog meter 4 2 Connection to the Hand Control Unit HCU Female D sub 9 pin connector on PMC Proprietary interface which can only be used for communication with the HCU Before connecting disconnecting the HCU switch off the main power switch 3 Bidirectional digital Computer Control CC Interface TTL Female D sub 37 pin connector on PMC See detailed description in chapter Computer Control 4 Analog meter for indication of the applied HV of the sawtooth Only a rough reading error about 20 Scale 0 10 gt 0 400 V sawtooth amplitude 5 Status display Ready CC LED green Ramping LED yellow Overcurrent LED red blinking Overheat LED red continuous 6 Piezo beeper for audible user information A click for each piezo motor step and a short beep if the Hand Control Unit gets activated finger at the bottom of the HCU Overcurrent intermittently beeping Overheat continuous beeping 7 Analog input output signals 0 10 V LEMO 00 Mating LEMO connectors Crimp FFS 00 250 CTCE31 Solder FFA 00 CTAC29 HV set input The HV of the sawtooth 0 400 V can be programmed by an analog input voltage from 0 V to 10 V Input resistance is gt 30 kOhm This analog input control is only active if the TTL signal AD_SEL on the Computer Control conne
12. e functional principle of the PMC electronics and its interaction with the controls and the analog and digital interface signals The complete PMC electronics is supplied by a 35 W switching power supply with a single output voltage of 12 7 V All other voltages needed for the electronics 5 V 15 V including also the variable bipolar high voltage 0 V 400 V are generated locally on the printed circuit board via DC DC converters The positive Vs O V 400 V and the negative high voltage Vs 0 V 400 V are produced by two high voltage DC DC converters from the company EMCO Two separate controller circuits HV Supply Controllers perform the regulation and the current limitation of each of the two high voltage DC DC converters The set value of the high voltage is wired in parallel to both of the two HV Supply Controllers resulting in a symmetrical bipolar high voltage HV in a range of 0 V 400 V The bipolar HV supply is connected to the HV Power Stage where the high voltage and high speed signals are generated and thereafter distributed via the HV Output Channel Selector to the selected HV output cannel HV out 0 7 The HV Power Stage is a push pull power stage formed by two high speed high voltage n channel MOS FETS with two high power 22 Ohm resistors in series These two resistors limit the maximum peak current during the very fast discharge of the load capacitance The two gates of the power MOS FETs are drive
13. e of the HCU The range of the sawtooth high voltage HVmin to HVmax which is adjustable by the potentiometer on the HCU can be hard programmed by two pluggable resistors inside the HCU At shipping these two resistors are zero which gives the full possible amplitude range of 0 V 400 V Due to voltage restrictions given for example by the ceramic material of the piezo motors it may be necessary to limit the possible voltage range The values in 2 of these two range resistors Rmin sets HV min and Rmax sets HV max are given by the following equations 400V Rmin 2 10kQ e 400V 400V HV min HV max R max 10kQ Ronin r V max HV max is the desired maximum peak sawtooth voltage HV min is the desired minimum peak sawtooth output voltage if a HV min of O V is demanded the resistor Rmin must be zero The resistors are standard 0 5 W film resistors 1 DIN0207 with a 10 16 mm folding adjusted by the HCU is restricted Via the computer interface still the full output T By installing these two resistors only the sawtooth output voltage which can be voltage range of 0 V 400 V is programmable B Adjusting the Optical Sensor Sensitivity The sensitivity of the optical reflex sensor finger detection can be adjusted by a trim potentiometer inside the HCU see Fig 8 To increase its sensitivity turn the trim potentiometer Optical Sensor Sensitivity clockwise Normally a re adjus
14. ht slip stick piezo motors It allows a bidirectional movement in up to eight axis channels whereas only one axis can be driven at the same time The PMC can drive a wide range of piezo motor capacitances from zero up to 15 nF For load capacitances smaller than 10 nF the sawtooth output voltage of the PMC has a fast back jump slip rise fall time of only 1us This leads to efficient and reliable operation of slip stick piezo motors The applied sawtooth high voltage HV can be varied in a wide range from zero minimum 20 V for proper waveform up to 400 V the output voltage is referred to one common GND for all piezo motors For flexible and precise positioning the continuous stepping frequency can be adjusted in a large range from about one step per second 1 Hz up to 4 000 steps per second 4 kHz The maximum stepping frequency depends on the total load capacitance connected to the PMC it is given by the piezo motor capacitance plus the capacitance from the interconnection cable For total load capacitances smaller than 5 nF the whole frequency range up to 4 kHz can be used for 10 nF the maximum frequency is about 2 kHz and for 15 nF the maximum frequency shrinks to about 1 3 kHz Fig shows two typical HV sawtooth output voltages with different parameters 400V 0v 400V HV out Figure 1 Two different sawtooth HV output voltages HV out with varied amplitudes frequencies and slopes directions The upper wavef
15. n by two transformers which perform a galvanic isolation between the HV power stage and the driving circuit The following explanations are given for a positive sawtooth To generate the linear HV ramp a 1 MHz square wave signal is amplitude modulated and then transmitted via the transformer to gate of the loading MOS FET upper MOS FET Thus the capacitance at the HV output is continuously loaded by a vast series of small 1 MHz current pulses which result in a fine stepped linear HV ramp at the output To enable that this principle works for different load capacitances and independent of the MOS FET parameters the linear ramp is generated by using a closed feedback loop The amplitude modulation is steered by a PI Controller which gets the actual value of the HV output via a Voltage Divider 200 The sawtooth reference signal is generated by a multiplying 10 bit DAC connected to a 10 bit counter located inside the PMC Chip The analog reference signal of the multiplying DAC is derived from the actual HV amplitude This scheme leads to a sawtooth DAC output signal with an amplitude proportional to the adjusted HV When the linear ramp reaches its maximum positive output voltage Vs a fast back jump has to discharges the loaded capacitance to the negative output voltage Vs in a very short time around 1 ys This is performed by an exactly timed discharge pulse feed to the gate of the discharge MOS FET lower MOS FET After the fast di
16. orm has an amplitude of 100 V and the slope direction is negative the lower waveform shows a positive slope direction with the maximum amplitude of 400 V In both diagrams the fist part shows a single step and the second part the continuous stepping mode PMC User s Manual SP 869 Physics Basel Page 4 of 19 The PMC has only one HV sawtooth generator which is followed by an HV output channel selector where the sawtooth voltage is multiplexed via eight relays to the eight output channels Non driven piezo motors are short cut to GND via 47 Ohm resistors If the PMC isn t used for longer than four seconds the last used HV output channel is also deactivated now the PMC is in the idle state This means that all relays of the output channel multiplexer are switched off and so all piezo motors are short cut to GND via 47 Ohm resistors The PMC can be manually operated by the remote Hand Control Unit HCU or it can be easily controlled and monitored via the built in Computer Control CC interface This is normally attached to a computer equipped with a digital TTL or mixed analog digital interface card Under all conditions the HCU has the highest priority and signals from the CC interface are immediately interrupted if the HCU gets activated The HCU is activated by a finger of the operator which has to be placed at the bottom of the HCU the presence of the finger is detected by an optical reflex photo sensor The HCU is connected to the PMC
17. ping frequency to leave this overcurrent condition Overcurrent is indicated by the blinking red LED on the PMC Overcurrent as well as on the Hand Control Unit Failure further an intermittent beeping is generated by the PMC The PMC will not be damaged by this overcurrent condition and no fuse will blow If the device is forced to continuous ramping for a long time near its maximum output power at the maximum frequency given by the load capacitance it may overheat If the PMC overheats it automatically stops ramping and disables the HV until it has cooled down again During overheat the red warning LED on the PMC Overheat is turned on and the unit starts beeping Further more on the Hand Control Unit the red LED Failure lights up There is no damage to the PMC due to this overheating The PMC comes in a desktop housing with passive air cooling via slots at the bottom and on the rear panel The bumper feet at the bottom allow a good air circulation inside the housing and they must not be removed If the PMC has to be mounted in a 19 rack an optional rack mount kit is available nevertheless make sure that the cooling slots at the bottom and on the rear panel aren t covered PMC User s Manual SP 869 Physics Basel Page 5 of 19 6 Front Panel Piezo Motor Controller SP 869 Figure 2 Front panel top view of the Piezo Motor Controller not to scale The main elements to operate the PMC are arranged on the front panel A detailed
18. r the parameter s and then turn on one of the start signals again The exact mapping of the signals CH No 0 2 SCRAM_SEL 0 3 DIR etc is shown in Fig 12 it gives a compressed overview of all digital I O signals on the 37pin D sub connector Computer Control PMC User s Manual SP 869 Physics Basel Page 12 of 19 With the clock selection inputs CLK SEL 0 2 seven different preprogrammed repetition frequencies in the range of 15 Hz up to 1 kHz can be selected the exact numbers can be found in the table of Fig 2 For variable and own specific repetition frequencies all clock selection inputs CLK_SEL 0 2 must be set to a high level high if left unconnected Now the repetition frequency is given by an external applied TTL clock signal CLK_RAMP in a range from 0 4 096 MHz the sawtooth repetition frequency is given by external clock frequency divided by 1 024 The clock frequency as well as the HV amplitude digital or analog can be varied during stepping Fig 10a shows a simplified timing diagram if the PMC is operated in the single step mode the first step is in positive direction and the second one in negative direction The single step is triggered by the rising edge of the S STEP signal the width of the STEP signal is unimportant The time delay R delay between the rising edge of the start signal S STEP or C STEP and the beginning of the ramp at the HV out is normally about 16 ms This delay of 16 ms occur
19. s turned off The sensitivity of the optical reflex sensor can be adjusted by a trimmer inside the HCU Further details see the chapter 8 1 Disassembly the of the HCU section B 8 w Robust and flexible four meter long interconnection cable to the PMC the shielded cable has an outer diameter of 5 mm and a male 9 pin D sub connector at its end PMC User s Manual SP 869 Physics Basel Page 9 of 19 8 1 Disassembly of the HCU Before starting to disassemble the HCU switch the PMC off and disconnect the cable from the PMC main unit Fig 7 shows the sequence to open the HCU First remove the gray and red caps on the adjusting knobs Frequency Voltage then loose the two knob screws below them to detract the knobs Next unscrew the two hexagonally nuts of the potentiometer which were hidden by the two knobs photo 2 Then remove the four outer screws on the rear side of the HCU do not unscrew the light shielding clip photo 3 Now lift off the front panel of the HCU to get access to the printed circuit board photo 4 Fig 8 shows a zoomed view to the elements which can be adjusted or replaced To reassemble the HCU follow the instructions above in reversed sequence Figure 7 The sequence to open the HCU First remove the two knobs of the potentiometers before removing the four screws at the bottom do not unscrew the light shielding clip PMC User s Manual SP 869 Physics Basel Page 10 of 19 A Adjusting the HV Rang
20. s when the PMC was idle that means no channel relay was active after a pause of four seconds If the same channel in the same direction was used shortly before within about four seconds the time delay is 0 ms this is because there is no need to switch any relays A time delay of about 24 ms is observed if the last used channel is still active earlier than four seconds and a change in the direction is demanded The delay times are implemented to certainly start the ramping after the switching and bouncing of the channel relays block HV Output Channel Selector in Fig 9 Single Step Mode CH No 0 2 SRAM SEL 0 3 t S STEP t R delay HV out R delay 0v STEP CNT 64 us t RAMPING t READY t Figure 10a Simplified timing diagram of the main signals if the PMC is computer controlled in the single step mode S_STEP Notice that the data specified in the most top trace are stored on the rising edge of the S_STEP signal and are ignored thereafter PMC User s Manual SP 869 Physics Basel Page 13 of 19 The typical waveforms of the PMC operated via the computer interface in the continuous stepping mode C STEP are given in the timing diagram of Fig 10b While the C STEP signal is high a continuous sawtooth is generated with the selected frequency CLK SEL 0 2 The relay time delay R delay of 16 ms occurs only once at the beginning when the selected channel relay has to switch other
21. scharge the HV output voltage is linearly ramped again towards the positive output voltage Vs A single steps as well as continuous stepping start and stop with a piezo motor output voltage HV out of zero volt For a negative HV ramp piezo motor moves in opposite direction the principle works in the same way but the functions of the MOS FETs and some other circuits are swapped The complete sawtooth control logic the relay logic and the computer interface are implemented inside the PMC Chip The PMC Chip is a programmable CPLD from the company ALTERA PMC User s Manual SP 869 Physics Basel Page 16 of 19 220 Ci pug zh 1 MSE pu 9H F i SIOVIOAUO oAWSE S8 sivi rae Atddng Imoq odo 4 SUMS osnd J9M0q ALTI ri Uu Io O 0u07 TAA ALTI Ajddns AH Jopoooq dois ojarpny A00t 0 wy onsmooy J9119AUO lt 8 od od AH gt le l b JOALIG j 2 E Jopu Avjoy A00b 0 SA ME ISA ASH ano E sery rx gmo AH 00 P pmo T I pmo AH 8 soa rz gimo AH J L 08N cx gmo AH DAIN a 2 Tue p ck gimno AH 1 0d cz emo AH le z gx omo AH oo p Io o3uo eno g Ent Seid G H E A SOd x Id ymo AH cas SEE 00 GNO 33Ls LVAH YAO J94M0g AH 1 I AO A001 70 SA A h 2 DIAO SIGIOW 022 d 931 OF A00t 0 a 3 uAO sppusig 1 00147S AH IIAU SA od od AH 2 SAT OH Iog JoNUOD M ALETE Ajddng AH 8 Pass 0 ACA ud x A00F 0 S moornng fo AH n 00 OWAT er syeu
22. sconnect the mains cable of the PMC at least for two minutes before disconnecting connecting the HV out 0 7 connector or touching the slip stick piezo motors or the wiring cables 2 Disclaimer Physics Basel hereby disclaims all responsibility for personal injury property damage fine or penalty which results from misuse not respecting the safety precautions improper maintenance or improper application of this product Compliance with all applicable environment and personnel safety regulations is the sole responsibility of the user PMC User s Manual SP 869 Physics Basel Page 2 of 19 3 Key Specifications Channels Output Voltage Stepping Frequency Range Load Capacitance Range Hand Control Unit Protection Mains Voltage Mains Fuse Power consumption PFC Housing Overall Size Weight Additional Features PMC User s Manual SP 869 Eight individual channels for forward and backward motion only one channel can be activated at the same time The channels are arranged in three groups two groups with 3 axis and one group with 2 axis Idle channels are short cut to GND via 47 Ohm resistors 0 V 400 V saw tooth with respect to common GND minimum 20 V for proper waveform 1 us back jump slip rise fall time for load capacitance 10 nF POS Direction lt NEG Direction of PS ca 1 Hz 4 000 Hz Load capacitance 5 nF ca 1 Hz 2 000 Hz Load capacitance lt 10 nF ca
23. sig Jo U0D O I Sopeu y A0I 0 Aor 0 qndjno pnjov AH indui jas AH moy gt dyn oya 1041007 42nduto 40f S TVNDIS O I 1V LIDIG drq INd 7 Vutgo AS AS ASI ASI VNI TAY cola 3oun epy DAN mayas quaumauaaQ LvaH YAO IHSHW LISAA Le amro sia q 0D OVd diva aono umop dn 1401 ApH 0 uou s A uonoopos XD aspi HINT ATO LVAH YAO AAN YAO 145 dV 70d AH 698 dS Mrav TVs E Jojep sQ zyrnQ ZHI I QWd 421104110 4070 02214 VS ing yomg aamog wq on Gron ND OH e oITAS WVNOS Olen HO Nd Jepooeq wq elias ne IB Z 5 zE 2 AIO AH oy WVAIS AAVTA uoo a IND d318 L onrawva LA OH dS 44IS S ZHY 7H3I ODA c oas NTI JAVA X12 JOSS 9H uos DH OOA ATO VNV OH 2H ans a arway urde era AQLI uig p e BIA 101 u00 3j0uro A 7698 dS QOH nun 1 04u09 puvH Sar ASST 7 0 AH 2 TWA soy ururg asv OA xew 10 xeury HMA amp ouanbo4q CAT FE G0 007A VINO ARN NAS uo213 pray pan amwa Jopooug ejeq etos M ou s 2180 NOH I X X 6 x 2 z X pen c tn E dnos ive the Hand Control Unit Nearly the Block diagram of the complete PMC electronics inclus complete logic of the PMC lemented in the PMC Chip a programmable CPLD ig
24. t 0 HV digital set PMC User s Manual SP 869 Physics Basel Page 16 of 19 HV_D 0 HV D 1 HV D 2 HV D 3 HV D 4 HV D 5 HV D 6 HV D 7 8bit digital HV set value of the sawtooth output voltage 0000 0000 HV 0V 1000 0000 HV 200V 1000 0001 HV 201 6V 11111111 HV 400V 5V 100mA 5V supply for external circuits max 100mA internal 200mA multifuse READY PMC is ready for a step Active HIGH RAMPING PMC is ramping the HV out Active HIGH STEP CNT HC A 64 ys pulse is generated at the fast edge of sawtooth Hand Control selected Pulse to count the number of steps works also if Hand Control Unit is active 0 Computer Control 1 Hand Control OVR_CUR Overcurrent at the HV_out Active HIGH Ramping by HCU or S_STEP C_STEP is still possible OVR_HEAT Overheat of the PMC Active HIGH Ramping is disabled and HV is switched off automatically GND OV Housing PMC Figure 12 The table with all I O signals available on the Computer Control connector A short description and some details are also given for better and deeper explanations see the chapter Computer Control PMC User s Manual SP 869 Physics Basel Page 17 of 19 10 Functional Principle of the PMC Electronics The block diagram presented in Fig 3 illustrates the entire inner life of the PMC inclusive the Hand Control Unit It shows th
25. the user from colliding with a sensitive object e g a cantilever If the user has approached too close to this object the approach security electronics has to generate a TTL signal which can be wired to the SCRAM input of the PMC Now the user is only allowed to retract from the sensitive object until he has reached a save distance again The only allowed to retract is realized by the exclusive channel and direction which can be operated when the SCRAM signal is high PMC User s Manual SP 869 Physics Basel Page 14 of 19 If the SCRAM input is activated high level the ramping stops immediately and all channels are blocked except ONE channel in ONE direction This blocking is active for the Hand Control Unit as well as for the computer interface The only enabled channel number is specified by the signals SCRAM_SEL 0 2 This piezo motor can be moved in the direction specified by the signal SCRAM_SEL 3 The sawtooth HV amplitude can be programmed either via an analog input signal from 0 10 V HV set input or by an eight bit digital combination HV_D 0 7 If all 8 bits are low O0hex low if left unconnected the sawtooth high voltage is 0 V and if all 8 bits are high FFhex the HV is 400 V There is a linear relation between the digital number HV D 0 7 and the actual HV the resolution is about 1 57 V The analog input control is selected if the TTL signal AD SEL on the Computer Control connector is high high if left unconne
26. tment of the sensitivity is not necessary if there are problems with the optical reflex sensor first clean the drilling and the optics from outside the HCU Hn eles EE Ji Vig Rmin 0 Stmidimum Vo l EE i eoi SensitiV d l Rmax YR maximum Voltage aaa Figure 8 A zoomed view to the section of the HCU printed circuit board with the marked elements which can be adjusted or changed The two white elements Rmin Rmax are zero Ohm resistors which are installed at shipping PMC User s Manual SP 869 Physics Basel Page 11 of 19 9 Computer Control The PMC has a built in easy to use computer interface it is based on parallel signals connected to a computer via the 37pin Computer Control CC connector on the front panel of the PMC As mentioned before the Hand Control Unit HCU has the higher priority than signals from the CC interface signals coming from the CC interface are immediately interrupted and ignored if the HCU gets activated PMc HV_act 0 10V HV_set 0 10V Two analog I O signals LEMO 00 PA AD SEL HV Supply HV D O 7 0 4400V HV OFF lt at OVR_CUR gt o S E 2 a s X S CF ENS CH No 0 2 gt a mn G p 9 vg p E E HV Output as ge 258 E E cog m DIR Channel JS gt 5 O 6 lt a CLK_RAMP EC T LOSEZ E Selector apa Eg 5089 8 82 amze9ec CLK SEL O 2 gt 3bit y E a ED x So SoSoT Sawtooth x As odospte S STEP 9 oo E Generator
27. tor On the PMC a female 37pin D sub connector is mounted 32 pins are used for digital TTL I O signals 4 pins are GND 0 V also connected to the PMC housing and to the shield of the D sub connector and one pin drives 5 V at a maximum 100 mA load current PMC User s Manual SP 869 Physics Basel Page 15 of 19 Signal Name VO to from PMC Input level if PIN left open Description Single Step Details Bold Default Unconnected A Single Step is generated on the rising edge The CH No 0 2 DIR SCRAM_SEL 0 3 and the Sawtooth Polarity switch are stored on the rising edge of S STEP OV Housing PMC Continuous Steps Continuous Steps are generated with the sawtooth frequency f_saw while C_STEP is HIGH The CH No 0 2 DIR SCRAM_SEL 0 3 and the Sawtooth Polarity switch are stored on the rising edge of C_STEP CH_No 0 CH No 1 CH No 2 Channel Number of HV out HV out 0 7 Stored on the rising edge of S STEP or C STEP HV outO x1 HV out y1 HV out2 z1 HV out3 x2 HV out4 y2 HV out5 z2 HV out6 x3 HV out y3 RESET VO 5V 1 Direction positive negative sawtooth Stored on the rising edge of S STEP or C STEP Reset in output 0 POS 1 NEG Polarity NORMAL Depends also on the_Sawtooth Polarity switch of the selected channel Open collector pull down only use an Open Collector or a Schottky Diode in
28. ure 13 F is imp Page 19 of 19 Physics Basel PMC User s Manual SP 869
29. via a four meter long flexible cable To store the HCU in a save place it comes with a wall mount holder When a push button on the HCU is pressed a single step is carried out immediately if the same push button remains pressed for longer than half a second the PMC switches to the continuous stepping mode with the selected frequency Also during stepping it is allowed to vary the frequency as well as the voltage by the potentiometers on the frontpanel of the HCU The sawtooth polarity VORMAL or INVERTED of each HV output channel can be set individually by DIP switches on the rear panel NORMAL means that a positive push button e g x corresponds to a sawtooth with a positive slope and a negative push button e g x to a negative slope if INVERTED is selected this relation is reversed This option allows the user to adjust the PMC to his sense of wiring and motion of the piezo motors For compatibility reasons the 25 pin D sub HV output connector HV out to the piezo motors has the same pin assignment as the Micro Piezo Slide Control Unit MSCU from the company Omicron Nanotechnology GmbH A fold back current limitation is implemented in the PMC and allows a save operation over a wide stepping frequency range If the maximum HV output current of 25 mA at 400 V 12 5 mA at 200 V is reached the fold back current limitation is activated and reduces the HV output voltage Stepping is still allowed and the user has just to reduce the step
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