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User manual LSPS35XS Piezo Motorized Stage

1. Position feedback um 3 Signal definition Signal scan 1 c Search functional motor frequency 1k 2k 3k 4k Sk 6k 7k Default SPC45 Temp C Reload default parameters a 3 Signal definition Signal Scan Help oui Figure 15 Graphical User Interface SPC45 5 2 1 Communication Before running the GUI please plug the 5 5 driver power it and connect the driver to the computer using provided USB cable The port COM is automatically detected by the software If the communication is well established the Running indicator turns green If the driver is not available not plugged or not powered the communication fails and status indicates offline An additional warning message appears Figure 16 CEDRAT TECHNOLOGIES 19 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 TECHNOLOGIES Innovation in Mechatronics ka SPC45 STEPPING PIEZO CONTROLLER SPC45 TECHNOLOGIES Innovation in Mechatronics GRAPHICAL USER INTERFACE Dewkit 1 Mode selection Status 1 Mode selection Open loop Analoque order Mode 2 Open loop Number of steps 5 2 TTL 5V inputs to contro direction of motion INCID LII RM M VM DUM SM a i Open loop Number of steps a Direction Number of ste
2. by the proposed driver SPC45 see 57 4 3 2 SPC45 DESCRIPTION The Stepping Piezo Controller 5 5 is the driver board of the SPS35XS It includes control functions digital and analogue interfaces and serial communication ports The 5 5 is powered with the provided standard AC DC adapter 24Vdc Description of the 5 5 interfaces is given in Figure 9 WARNING Be careful when plugging a cable to the SPC45 board Connection of the input cable to the output connector or reciprocally could lead to severe CEDRAT TECHNOLOGIES 11 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 gt TECHNOLOGIES Innovation in Mechatronics damaging of the electronics Always verify your connections before switching on the electronics Output to SPS35XS A ro ar en 1 A Ho E 7wW a 0620020000 7 e n E PE CR ce je antilles 226 i DLL tse SE EE v a eS ree I E Ld oe M Tua Rin e a e AASS a De 0 i atc A a CA uan 4 E 0T E ms J ELE E i if must Power switch ES LI he en ER I ry uui Analogue Input Power input AC DC converter Figure 8 SPC45 description Input and
3. W CEDRAT TECHNOLOGIES Innovation in Mechatronics 8 TROUBLE SHOOTING FORM Error diagnostic may be helped using the following graphs Please identify your problem and refer to associated protocol Problem The system doesn t move when motion is requested The system moves but not correctly Communication with the 5 5 driver is not working My problem is not fixed For advanced debugging Maintenance Tab includes information about SPC45 This Tab is locked by a password Please contact Cedrat Technologies if you meet problems and want to unlock this Tab IZ Debug mode Please enter debug password Password Valid CEDRAT TECHNOLOGIES 35 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics Stage doesn t move when Make Power available motion is requested Goto 0 Green LED is Power is lighting available Driver is powered Switch ON Plug the SPC45 driver Contact Cedrat Technologies Go to 0 Go to 0 Red LEDis N Yes lighting ps plateform NS Connect the platform is connected p Go to 0 Motor produces N Use GUI to reset setting noise P d Go to 3 if not fixed 7 Loading and or frequency have been changed d Go to 3 if not fixed Use GUI to reset or e
4. 1 95313 41 Help E Quit Select and Open the file xxxxConfigDefault corresponding to your product S lectionner ou entrer un chemin de fichier x Enregistrer dans configurations m B lastCanfig xml lspa3 ussDevKibConfigDefault xml lsps3SxsconfigDeF aul xml r cents Bureau Mes documents E Foste de travail om T Mom du fichier configurations xml amp nnuler EZ The GUI is now configured for your product Leave the expert mode by clicking back on Basic URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e F 38246 MEYLAN Cedex FRANCE Email actuator cedrat tec com Phone 33 0 4 56 58 04 00 Fax 33 0 4 56 58 04 01 CEDRAT TECHNOLOGIES Innovation in Mechatronics 2510 W CEDRAT STEPPING PIEZO CONTROLLER SPC45 TECHNOLOGIES Innovation in Mechatronics GRAPHICAL USER INTERFACE Duty Cycle Mode 2 Open loop Number of steps wv Direction Number of steps 50 gt 850 05 t rel The GUI is ready to be used with your product Devkit Status 1 Mode selection Set up parameters 5 2 3 Mode choice The user interface allows the user to choose the working mode Each of them is detailed further Mode 1 Open loop Analogue input J Mode 2 Open loop Number of steps M
5. 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics Table of Confents L CS E EE EE 5 2 Stepping Piezo Actuator Principles 6 3 The LSPS35XS and its controlling board 5 45 9 3 ESPS 35 XS descripti D PRO ane 9 SN IT 9 3 1 2 Mechanical interfaces 10 3 1 29 Blectrical eer sde E eee 10 3 1 4 Incremental magnetic sensor 11 22 PCT 11 3 3 LSPS35XS D TONMANCES 14 4 Environment ss 15 D Graphical User Mnterl aCe 16 SOGL WEIS WINS Fa A CIOM es oct 16 5 11 Required equipments esters rites 16 51 2 QUOMN 16 D ONE ASCII 18 JL acp aE 19 5 2 2 21 5 2 3 Mode CHOICE A 23 O4 Systemi FOSODSE Ksecsenstisssdd ei 25 25 Sub Missing SODSOE en 26 5 3 Operating the system without GUI 26 Ope ratiomor the SPCAD desde 27 DI PrO COUE siiis 27 CEDRAT TECHNOLOGIES 3 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email
6. 5 1 to get information about software installation 06 Wait for the communication between the computer and the driver is settled 07 Choose the desired control mode Open loop Number of steps order Closed loop Digital order Note that the two other modes are unusable without analogue input so they are not convenient in plug and play configuration CEDRAT TECHNOLOGIES 28 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 CEDRAT TECHNOLOGIES Innovation in Mechatronics 08 Please refer to 8 5 2 3 2 and 8 5 2 3 4 to obtain information about these modes way of working 1 Mode selection Devkit Status Made 4 Closed loop Digital order Direction Number of steps 50 gt GO Position order Lim SENE 1788 2 1 1 1 1 1 1 1 1 1 1 1 51 2k ak Ek gk 2 Motor feedback Sensor Ready Status Position feedback m 1685 55 51 2k ak gk 18k SPC45 Temp C T zH Zu En eB Figure 25 Software interface CEDRAT TECHNOLOGIES 29 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e F 38246 MEYLAN Cedex FRANCE Email actuator cedrat tec com Phone 33 0 4 56 58 04 00 Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLO
7. F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics 3 3 LSPS35XS PERFORMANCES The performances presented in the following table are results of tests performed with no load in lab conditions Additional payload may have consequences on performances 5 ugue displacement force without cunsomption II a Typical es g frequen stepping mode resolution iis umf tt 15 55 17 MEMBRO RR Linear Angularresoluion nm 055 sifmess 1 1 0 1 3 1 Ngm 049 SOS Capacitance 025 Votagerame Out of pane 6 O 22 rotation 03 03 1 00E 06 LSPS35XS TX 3 30 5 gt eaten Typical Lifetime les 1 00E 06 sensors option direction Mechanical interfaces Mechanical interfaces frame BEEN Electrical interfaces DEM 4 x M2 deep 2 x diam 2 holes 8 pins ERNI connector 30 arr Unloaded resonance frequency in the actuation s Ten CEDRAT TECHNOLOGIES 14 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics 4 ENVIRONMENT
8. Panel Regional and language Options Customize Decimal symbol e Software is optimized for 1600x900 screen resolution 5 1 2 First time installation The operator has to run the setup exe following the given instructions CEDRAT TECHNOLOGIES 16 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 74 CEDRAT TECHNOLOGIES Innovation in Mechatronics L Bg Wa It is strongly recommended that you exit all programs before running this installer Applications that run in the background such as virus scanning y utilities might cause the installer to take longer than average to complete SPC45 R pertoire de destination S lectionnez le r pertoire d installation principal C Program Files SPC45 P 1 Please wait while the installer initializes C Program Files National Instruments Figure 11 Destination directory a SPADevKit_v10 License Agreement You must accept the license s displayed below to proceed CONTRAT DE LICENCE LOGICIEL NATIONAL INSTRUMENTS GUIDE D INSTALLATION LE PR SENT DOCUMENT EST UN CONTRAT AVANT DE TELECHARGER LE LOGICIEL ET OU DE FINALISER LE PROCESSUS D INSTALLATION VEUILLEZ LIRE ATTENTIVEMENT LE PR SENT CONTRAT EN TELECHARGEANT LE LOGICIEL _ ET OU CLIQUANT SUR LE BOUTON P
9. actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics MEME S odere DT esas 30 7 1 System command signal definition 30 7 2 Denne BOUIN OS eee Ud DR 32 7 2 losed ooDTUdX CMON vis EHE 32 7 4 Other incremental sensor integration 33 7 b Load OF Save i reino iore Svo Tp TET SER PESOS 34 8 Trouble Shooting Form is 35 9 Warranty Conditions and 41 10 INSPECTION upon 42 NO ao a ee 43 CEDRAT TECHNOLOGIES 4 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics 1 GENERAL Piezoelectric Actuators from CEDRAT TECHNOLOGIES SA consists in a wide range of actuators divided in four categories Multilayer actuators that are not mechanically prestressed e Parallel prestressed actuators that are mechanically prestressed multilayer actuators and offer mechanical interfaces Amplified piezo actuators which use an elastic amplifier to both prestress the multilayer actuator a
10. output of the board are physically given in Figure 9 and Figure 10 and detailed on Table 1 CEDRAT TECHNOLOGIES 12 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics GND lt V Actuator lt GND lt 5 Analogue order input Channel GND Sensor position feedback lt Channel GND Not used Negative direction lt GND 5V Positive Direction GND Figure 9 Input connector details Figure 10 Output connector details Number Description Range Nature INO8 Analogueorderiput 0 5 V in __ LINZ GND INO6 Sensorposiionfeedback 0 51V Out INS5 GND ee INO 5SV 0 moz postive MG p OUTO2 V Actuator 0 110 V Out OUTO3 GNDActuator J OUTO5 ChanelA TTH 0or5V Im OUTO6 ChanelB TTL Qor SV Im OUTOB GNDsenor J gt Table 1 SPC45 port description Please notice that connector reference are the following one ERNI 8b RA 1 27 Cables used are cables 1 27 mm ERNI Minibridge 8 points CEDRAT TECHNOLOGIES 13 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com
11. CEDRAT TECHNOLOGIES Innovation in Mechatronics Y LSPS35XS Piezo Motorized Stage User Manual Version 1 1 0 W CEDRAT TECHNOLOGIES Innovation in Mechatronics CAUTION READ BEFORE OPENING For safety purposes these instructions must be read before use of this product Piezoelectric products are not warranted against mechanical damage resulting from improper use wherein excessive forces or voltages that are outside specified ranges are applied High voltage is present in this product Only qualified personnel should work on or around this equipment and only after becoming thoroughly familiar with all warnings safety notices and procedures contained herein The successful and safe operation of this equipment is dependent on proper handling installation and operation A qualified person is one who is familiar with the installation construction and operation of the equipment and the hazards involved In addition he she has the following qualifications e is trained and authorized to energize de energize clean and ground equipment in accordance with established practices is trained in the proper care and use of protective equipment in accordance with established safety practices CEDRAT TECHNOLOGIES 2 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04
12. COMPATIBILITIES Stepping Piezo Actuator has a few heritages from various environment compatibilities Vacuum compatibility can be achieved via some precautions with or without sensor CEDRAT TECHNOLOGIES 15 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics 5 GRAPHICAL USER INTERFACE The Graphical User Interface GUI is built to give the user the opportunity to control the system in open or closed loop but also to give feedback about system state 5 1 SOFTWARE INSTALLATION This paragraph describes the different instructions to connect the 5 5 driver and to install the software A Do not connect the USB driver on the PC before installing the software The installation is simple Updated software SPC45 may be downloaded from Cedrat Technologies website Please check http www cedrat technologies com en mechatronic products soft download html It includes the installation of the drivers to dialogue with the 5 5 and the installer for the application software It contains the autonomous application too 5 1 1 Required equipments You must install the Software on the following Personal Computer configuration e Change in in the regional configuration of your PC if it is not the case Settings Controls
13. ERMETTANT DE FINALISER LE PROCESSUS INSTALLATION VOUS SOUSCRIVEZ AUX CLAUSES DU PRESENT CONTRAT ET ACCEPTEZ ETRE LIE PAR LE PRESENT CONTRAT SI VOUS NE VOULEZ PAS DEVENIR PARTIE AU PRESENT CONTRAT NI TRE LI PAR L ENSEMBLE DE SES CLAUSES ET CONDITIONS VEUILLEZ CLIQUER SUR LE BOUTON QUI ANNULE LE PROCESSUS D INSTALLATION N INSTALLEZ PAS ET N UTILISEZ PAS LE LOGICIEL ET RETOURNEZ CELUI CI DANS LES TRENTE 30 JOURS DE 5 RECEPTION ACCOMPAGNE DE TOUS LES DOCUMENTS ECRITS QUI LE COMPLETENT AINSI QUE DE LEURS EMBALLAGES A L ENDROIT OU VOUS LES AVEZ OBTENUS TOUS LES RETOURS SERONT SOUMIS A LA POLITIGUE DE NI ALORS EN VIGUEUR EN MATIERE DE RETOURS savans Lame Figure 13 Starting Installation CEDRAT TECHNOLOGIES 17 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 433 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics 215150 Installation termin e L installeur a termin la mise jour de votre syst me Figure 14 Installation finish e After this installation is finished another driver is installed automatically The system shall be restarted Connect your PC with the SPC45 by USB cable and power on the driver Now the operator can run the software SPC45 exe 5 2 OVERALL DESCRIPTION The control software interface is made of
14. GIES Innovation in Mechatronics 7 EXPERT MODE This part details information about possibilities offered to expert who wants to dedicate the system configuration to their own application By the way expert may adapt the system to fit their own mechanism specification Do not try to change any of the following parameters if you are not sure to use the system in the correct way All of the possibilities described here are accessible by activating the Expert Mode tab on the GUI When clicking on it the following message informs you to refer to this part of the User s Manual xj Warning The expert mode implies possible motor dysfunction in case of misuse Please refer to User s Manual 7 1 SYSTEM COMMAND SIGNAL DEFINITION The LSPA and LSPS systems are using a specific waveform to generate the motion This waveform has been settled to allow users to load the system with small loadings For other loadings Signal Scan function see 5 2 5 allows driver 5 5 to look for an adapted input signal However expert may manually improve the signal definition to improve system performances The user interface gives the expert the possibility to change the parameters of the system input signal The main rule of the frequency change is explained by Figure 27 With load the optimal frequency decreases According to user s payload the signal frequency may have to be changed CEDRAT TECHNOLOGIES 30 URL http www cedrat te
15. a few boxes The first one concerns the choice of the working mode of the system Some modes need additional parameters definition which are detailed further The second box corresponds to the parameters feedback from the system and especially position The communication channel is automatically detected when the software starts CEDRAT TECHNOLOGIES 18 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 TECHNOLOGIES Innovation in Mechatronics ka SPC45 gt STEPPING PIEZO CONTROLLER SPC45 TECHNOLOGIES Innovation in Mechatronics GRAPHICAL USER INTERFACE 12 014 Devkit 1 Mode selection 1 Mode selection Open loop Analogue order y 2 TTL SV inputs to contro direction of motion DE Open loop Number of steps a Direction Number of steps Number of steps and direction Box 1 8 Closed loop amp nalogue position order 50 gt 1 analogue input 0 5V to contro position Closed loop Digital position order Digita position Box 1 5 v 2 0 draft NET EE 0 Position order um 2 Motor feedback Motor position feedback um Gives the incrementa sensor output um Sensor SPC45 Temp C 2 Motor feedback Status Ready Returns the driver temperature
16. ces A linear position sensor is also integrated It has a resolution of 1 95um and a range of 10mm 3 1 2 Mechanical interfaces The mechanical interfaces of the LSPS35XS are given below Right end stop 5 mm stroke Left end stop Zero position m Assy SPS35XS i2 omm stroke Minimum CONFIDENTIEL INDUSTRIE A3 10 mm CEDRAT Ce document est le propri t de zc CEDRAT TECHNOLOGES te r z 29429 7006237 A 01 an Figure 6 Mechanical interfaces of the LSPS35XS 3 1 3 Electrical interfaces The LSPS35XS is provided with an 8 pins connector The function of each pin is given in figure 8 CEDRAT TECHNOLOGIES 10 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics GND V Actuator lt Channel A lt Channel UE IE 7 nm FI GND Figure 7 Electrical interfaces of the LSPS35XS 3 1 4 Incremental magnetic sensor The integrated incremental magnetic sensor gives the possibility to reach a 1 95um resolution in motion The sensor is powered with a 5V voltage Two output TTL channels Channel and are available in order to be decoded to produce a count up pulse or a count down pulse The decoding operation is done
17. chnologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics Increasing stage loading Stage speed Signal frequency Figure 26 Example of signal frequency influence on speed for several loadings The Graphical User Interface allows to impact on the signal frequency It consists in indicating directly the desired signal frequency to the controller Two others parameters accessible are Duty cycle for each direction Figure 28 shows the impact of signal duty cycle variation on system speed It can be seen that optimal values are reached for approximately 3596 and 7096 These values are set as default values Stage speed Signal Duty cycle Figure 27 Duty cycle influence principle on system speed The user interface is presented in Figure 29 CEDRAT TECHNOLOGIES 31 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics Set up parameters Duty cycle 650 85 i ns Frequency Hz Figure 28 Signal Expert definition 7 2 DEFINE BOUNDS It is possible to define numeric bounds for the system This option can be used in order to limit the mo
18. de impact forces and stick slip effects Typically a slow APA actuation generates a slow motion of the mass while the rod sits in the clamp A fast APA actuation induces a fast motion of the rod slipping in the clamp This allows getting steps which gives a long stroke called the stepping mode M Between each step the actuator stays naturally locked in position Figure 2 shows the stepping mode principle for fixed clamp and fixed mass configurations The load can be fixed on different positions leading to two different motor capabilities thanks to different modes In a first configuration offering nano positioning the load can replace the mass or can be fixed to the mass So when the long stroke M is performed the motor can be also operated in a deformation mode M3 for a fine adjustment In this case the stroke is proportional to the applied voltage which leads to a nanometre resolution and a high bandwidth limited by motor blocked force In a second configuration the load is fixed on the moving rod In this case the advantage is a high stiffness but fine mode is no more available CEDRAT TECHNOLOGIES 6 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics The proposed kit uses as standard configuration the fixed mass configuration Ho
19. esired position 6 1828 57 0 g ited TITI TITI 0 500 1000 1500 2000 2500 3000 Figure 20 Digital closed loop order 5 2 3 4 Mode 4 Closed loop Digital position The Closed loop Digital order mode is only available when a sensor is detected by the driver 5 5 This detection is done when the driver is turned on If sensor is not detected the Red LED on 5 5 driver lights The desired position um is selected using the input bar cursor or the Digital control Then run the system motion using RUN button The Position feedback is automatically updated after the motion CEDRAT TECHNOLOGIES 24 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics 1 Mode selection Devkit Status Made 4 Closed loop Digital order Direction of steps r 50 gt L Position order i 1798 2 51 zk ak Ek Sk 18k Figure 21 Closed loop interface If Mode 4 is the only mode unavailable please refer to 8 5 1 1 to change regional configuration 5 2 4 System Feedback The user interface gives a feedback This includes the position and driver temperature During Open loop Analogue input mode and Closed loop Analogue order mode sys
20. etting 7 4 OTHER INCREMENTAL SENSOR INTEGRATION WARNING When the sensor is changed if the closed loop control is unstable or direction of motion reversed this might result from the inversion of the channels Swap the channels connections and try again The driver SPC45 allows interacting with any incremental sensor using two 5V TTL Logic signals Provided sensor gets a 1 95 um resolution This gain defined as the standard value is visible on the GUI see fig 32 It has no reason to be changed as long as the provided sensor is used CEDRAT TECHNOLOGIES 33 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics Sensor resolution im pulze dle Beyer s Figure 31 Sensor resolution setting However user s test bench may already have its own incremental sensor In this case sensor resolution can be changed in order to fit considered sensor resolution 7 5 LOAD OF SAVE CONFIGURATION It is possible to load or save a given configuration thanks to the buttons Load and Save Load Save CEDRAT TECHNOLOGIES 34 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01
21. he default configuration for of your system item For that go into the Expert mode STEPPING PIEZO CONTROLLER SPC45 TECHNOLOGIES Innovation in Mechatronics GRAPHICAL USER INTERFACE Basic v 2 0 draft Er 1 Mode selection Dewkit Status Mode 2 Open loop Number of steps y Direction Number of steps r 50 gt GO b order frm Mode selection Open loop Analogue order 2 TTL 5V inputs to contro direction of motion Open loop Number of steps Number of steps and direction Box 1 8 Closed loop amp nalogue position order 1 analogue input 5V to contro position Closed loop Digital position order Digital position Box 1 5 Click OK on the warning message Warning The expert mode implies possible motor dysfunction in case of misuse Please refer to User s Manual Click on Load CEDRAT TECHNOLOGIES 21 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 CEDRAT TECHNOLOGIES 22 Art TECH NOLOGIES Innovation in Mechatronics us Basic Expert Set up parameters Duty Cycle _v 35 GO 1050 4 ra Frequency Hz a Bounds pim 9000 max 15k min Sensor resolution 4046 87 um pulse
22. nd amplify the displacement e Piezoelectric Motor using Cedrat Technologies actuators to perform millimetric stroke Piezoelectric Actuators must be handled carefully Lifetime of Piezoelectric Multilayer actuators is not limited by wear They can perform millions of cycles without loss of performance provided they are operated under suitable conditions The lifetime of a Piezoelectric Multilayer Actuators is a function of many combined parameters the most influencing being the applied voltage the temperature and the humidity For maximum lifetime operating voltage should be minimized especially when they are used in static conditions CEDRAT TECHNOLOGIES 5 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics 2 STEPPING PIEZO ACTUATOR PRINCIPLE Stepping Piezoelectric Actuators are classified as Inertial Stepping Motors ISM These motors have the particularity to be based on a single actuator making the electronic command and control easier Stepping Piezoelectric Actuators SPA are formed of only four parts Figure 1 the well established Amplified Piezoelectric Actuator APA a front mass a clamp and a rod Rod gt Figure 1 SPA30uXS components SPA operates by accumulation of small steps using inertial mo
23. nd only under standard technical conditions as outlined above and expressly mentioned in the technical data sheet Repairs will be carried out at Cedrat Technologies or through your vendor During the warranty period Cedrat Technologies will at its option either repair or replace products which prove to be defective Interventions or attempts to service or repair the Actuators by any unauthorized persons will invalidate this warranty In addition this warranty will not apply if the SPS35XS or SPC45 Driver are subjected to any of the following improper handling including but not limited to shocks and abrasions improper installation including but not limited to excessive mechanical forces and moments failure to use the standard electrical and mechanical interfaces excessive voltage including but not limited to peak values outside the recommended operating range DC values applied for excessive time periods inappropriate environmental conditions including but not limited to high temperatures or high humidity CEDRAT TECHNOLOGIES 41 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics 10 INSPECTION UPON RECEIPT This product has been inspected and shown to operate correctly at the time of shipment Immediately upon receipt of
24. o the Position feedback indicator Figure 23 Sensor status 5 3 OPERATING THE SYSTEM WITHOUT GUI Mode 1 and 3 Analogue modes are fully usable without GUI For other modes the SPC45 driver is commanded using serial digital inputs Listing of the serial commands needed to communicate with the 5 5 driver may be furnished Please contact us to get further information CEDRAT TECHNOLOGIES 26 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics 6 OPERATION OF THE SPC45 SE Computer Figure 24 Standard configuration 6 1 1 Procedure 01 Check the content of the delivery If any component is missing please contact Cedrat Technologies 02 Plug the SPC45 driver to the motor platform using the provided standard cable 03 Plug the SPC45 driver to a computer using the provided USB cable CEDRAT TECHNOLOGIES 27 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 433 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 gt W TECHNOLOGIES Innovation in Mechatronics 04 Plug the power adapter to the driver SPC45 Turn on the Power switch 05 Launch SPC45 exe Please refer to
25. ode 3 Closed loop Analogue order Mode 4 Closed loop Digital order Figure 18 Mode choice 5 2 3 1 Mode 1 Open loop Analogue input Especially designed for demo purpose this mode allows using two TTL 0 5V inputs in order to control the direction of the system motion Please refer to Figure 16 to see input positions Positive and Negative direction 5 2 3 2 Mode 2 Open loop Number of steps order This mode gives the possibility to send to the system an order as a specific number of steps in the chosen direction The software updates and monitors automatically the position feedback CEDRAT TECHNOLOGIES 23 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics Direction Number af steps T 50 gt GO Figure 19 Direction and number of step definition Enter Number of desired Steps select direction and Run the motion After the motion the position feedback is automatically updated see 85 2 4 5 2 3 3 Mode 3 Closed loop Analogue position The Closed loop Analogue position mode is available when a sensor is detected by the driver 5 5 This detection is done when the driver is turned on If sensor is not detected the Red LED on SPC45 driver lights The input range is O 5 V The system automatically reaches the d
26. on in Mechatronics My problem is not fixed Remove loading from mobile part Plus USB cable and Run GUI Go to Maintenance Tab and clic on Sweep Clic on Sweep DC Realize a print screen of the GUI Take a photograph of your setting Send everything to Cedrat Specify serial number of stage and driver and precise problem description see next page CEDRAT TECHNOLOGIES 39 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics If you don t find the solution to your problem using the proposed trouble shooting form please contact your vendor with the following information Product Please give mention here the references and delivery date History Please summarize here every action which has been performed with the device since the delivery Problem description Please describe here the problems CEDRAT TECHNOLOGIES 40 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics 9 WARRANTY CONDITIONS AND EXCEPTIONS The equipment is warranted for a period of one year from date of shipment including parts and labor a
27. ps Number of steps and direction Box 1 8 m Closed loop amp nalogue position order 50 1 analogue input 0 5V to control position Closed loop Digital position order b Position order um Digital position Box 1 5 2 Motor feedback Motor position feedback um Gives the Incremental sensor output um Sensor SPC45 Temp EG 2 Motor feedback Status Returns the driver temperature Position feedback um 3 Signal definition r M rn 2d Signal scan 1 E Search functional motor frequency 51 2k 4k 6k gk Default SPC45 Temp Reload default parameters Help 3 Signal definition Signal Scan Figure 16 Waiting message oui x L erreur 536805375 s est produite Isps35xs main vi Raisons possibles COM no available module have been Found Figure 17 Communication error If this problem occurs you have to restart the software ensuring to connect the USB cable correctly and to power ON the SPC45 before launching the SPC45 exe CEDRAT TECHNOLOGIES 20 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 TECHNOLOGIES Innovation in Mechatronics 5 2 2 Load configuration The Graphical User Interface SPC45 exe can be used for several products from Cedrat Technologies Consequently it is needed to load t
28. t technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics 3 THE LSPS35XS AND ITS CONTROLLING BOARD SPC45 The LSPS35XS is a one axis linear stage It includes a motor LSPA35XS a linear guiding and a 1 95um resolution position sensor The controller is the SPC45 board The SPC45 controls in closed loop the LSPS35XS and is configurable with a Graphical User Interface GUI through a USB plug The input command can be done with the GUI or with an analogical signal 0 5V Sensor Feedback Power Input cd did 5 Figure 4 Synoptic of the control of the LSPS35XS 3 1 LSPS35XS DESCRIPTION 3 1 1 Overall The LSPS35XS works on the principle of the LSPA motor The amplified piezo actuator used is the APA35XS The APA35XS is a standard and proven actuator from Cedrat Technologies CEDRAT TECHNOLOGIES 9 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics Figure 5 APA35XS A stage LSPS35XS has one axis of motion A linear rail limits the parasitic displacements in other directions and protects the system from external torques and for
29. tem status update is done 5 times per second This would also update values from Maintenance sheet see 58 2 Motor feedback Sensor Ready status Position feedback 1685 55 51 zk ak Bk Sk 45 Temp CC A 43 zH 48 eH 180 5 2 5 Signal definition The signal definition box 3 is composed of two buttons The first one called Signal scan allows the driver to look for a convenient input signal This is done automatically and takes a few seconds If closed loop mode is used the system takes place to the previous position order as soon as the Signal scan is finished CEDRAT TECHNOLOGIES 25 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics Note that this function may not give useful feedback especially if loading is not correct and or mechanical stops are strongly involved Load the default configuration if the system seems to be inefficient after the Signal Scan 85 2 2 3 Signal definition Signal Scan Figure 22 Signal definition box 5 2 6 Missing sensor If you are not using the provided sensor or if there is connection problem the SPC45 driver is not able to return position feedback from sensor The GUI indicates a sensor missing message next t
30. the product it should be inspected carefully for any signs of damage that may have occurred during shipment If any damage is found a claim should be filed with the carrier The package should also be inspected for completeness according to the enclosed packing list If an order is incorrect or incomplete contact your distributor CEDRAT TECHNOLOGIES 42 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics CEDRAT TECHNOLOGIES 43 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01
31. tion of the system in a given window The bounds will only be taken into account in Mode 4 Cloased loop Digital Order Bounds rm lE 3945 22 l 1 B 5k 18k 16k SE 5 min L 7 3 CLOSED LOOP MAX ERROR WARNING Changing the value of the maximum positioning error might lead to unstable control The closed loop mode is done by an on off control While the error defined as the difference between the position order and the position feedback is bigger than the max error motion is performed Figure 30 a explains this principle CEDRAT TECHNOLOGIES 32 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics a Max error b Order d Unstable position otor position Figure 29 Closed loop principle and instability risk The main drawback of this control solution is the instability created by the discrete behaviour of the controller Indeed once the maximum error is below standard step size the system may have major difficulties to reach the desired position Figure 29 b presents an example of this situation The maximum error may be changed using the following cursor see figure 31 available at the front panel of the Expert tab Clozed loop margin Figure 30 Max error s
32. valuate signal frequency changes needed CEDRAT TECHNOLOGIES 36 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics The stage moves but not correctly Connect GUI and settled correct know the used mode mode Go to 1 Correct order using GUI senda correct order Use GUI to reset setting Loading and or frequency SN Go to 3 if not fixed have been changed P udi Yes GND CEDRAT TECHNOLOGIES 37 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics Communication with the SPC45 driver is not working ue NS Plug and power the SPC45 d driver Check if Green Led is SC lighting Yes is 2705 cable is connected n Connect USB cable on both sides Restart Driver Power off and on Close the other program and restart GUI CEDRAT TECHNOLOGIES 38 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovati
33. wever developers have the possibility to experiment the other configuration using the Extracted configuration Fixed part Figure 2 Working principles for 2 different configurations The long stroke stepping mode Mi is produced by step accumulation with an appropriate 0 150V voltage pattern The short stroke deformation mode is produced by deformation of the APA which is simply proportional to the voltage excitation between 20 to 150V Only one amplifier channel per SPA is required Figure SPA stepping mode and deformation mode M Compared to a piezo stack of the same size an APA presents a typically 20 to 100 times larger compliance and a four to ten times larger stroke The larger compliance of the APA leads to a 5 to 10 lower resonance frequency at constant CEDRAT TECHNOLOGIES 7 URL http www cedrat technologies com 59 Chemin du Vieux Ch ne Inovall e Email actuator cedrat tec com F 38246 MEYLAN Cedex Phone 33 0 4 56 58 04 00 FRANCE Fax 33 0 4 56 58 04 01 W CEDRAT TECHNOLOGIES Innovation in Mechatronics mass and so a 5 to 10 times smaller current demand than the same piezo capacitance in a stack The large deformation stroke of the APA is also an advantage It provides a useful deformation stroke mode It also contributes in getting good speed in long stroke mode M larger steps per cycle compensate a lower step frequency CEDRAT TECHNOLOGIES 8 URL http www cedra

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