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Tiger ADEPT User Manual

1. Time took to travel 10 90 for moves below 30 travel range and with 600 grams load PAGE 9 Transient Response 10msec 15um Figure 3 the above graph shows the step transient response of ASIs piezo top plate for a 30um move The rise time is 11msec The above graph is the transient response of a 150um ASI piezo top plate Red waveform is the user commanded input or desired output Green waveform is the actual piezo top plate position interpreted from sensor out Here it shows the piezo top plate travel 30um with a rise time 10 to 90 of 11 msec The piezo top plate was loaded with 600grams payload We observed that the transient tends to increase for longer moves Travel Range 11 12ms 9 10 5ms 10 14 5ms 10 12ms 9 14 5ms 26 30ms 13 5 17ms 14 5 17ms 33 45ms All values listed above are with 600grams load Frequency Response In this test a sine wave of 2 Volt peak to peak and 5Vrms of varying frequency is applied thru external input and the response of the top plate was interpreted on sensor out is observed and its amplitude is recorded This is used to determine what the maximum possible input frequency is Top plate is loaded with 600grams payload PAGE 10 X Series1 10 cH cH HH Gain in dB 12 PtH HH H 14 Frequency in Hz Observation As the moves come more frequently the piezo top plate may not have sufficient time to finish its move and settle in and the move i
2. is the startup response of a TG 1000 system with one dual axis card and 2 ADEPT cards At 30 Comm v1 5 TIGER_COMM May 07 2013 15 42 05 At 31 X XYMotor Y XYMotor v2 4 STD_XY Jun 11 2013 17 00 12 At 32 Z Piezo v2 4 ADEPT PIEZO Jun 11 2013 17 05 00 Joystick ready System ready Below is a small list of ADEPT specific commands and they type For the complete list and more info on usage of commands refer to TG 1000 programming manual Command Command String Type PR Axis Specific PM Axis Specific PAGE 2 PG Axis Specific PSG Axis Specific PZINFO Card addressed PZ Card addressed PZC Card addressed SS Card addressed MOVE Axis Specific MOVREL Axis Specific ZERO Axis Specific So if the host wants to run auto calibration on piezo top plate on Z axis host would issue the serial command 2PZC to TG 1000 as PZC is a Card addressed command If you would like to put Z axis in external input mode then host would issues PM Z 1 To save this setting in non volatile memory host would issue 2SS Z Command Format Function Command Format Function PAGE 3 PR PR axis 0 to 7 PR is used to set the piezo travel range It is an Axis specific command Setting is automatically saved in the non volatile memory Will need a system RESET or RESTART for setting to take effect PR Axis Piezo Range in microns Name 1 50 2 100 3 150 4 200 5 300 6 350 7 500 PM P
3. ASIs Drive Electronics for Piezo Top Plate ADEPT s Features e Closed loop operation with strain gauge feedback e Auto strain gauge calibration on startup e Accepts inputs from TG 1000 digital or external analog sources e Nanometer precision with low noise and drift Figure 1 ADEPT Card Introduction ADEPT is an add on module that extends the TG 1000 controller s capability to control piezo top plate The user can position the piezo top plate through TG 1000s serial commands or manual inputs like the knob or through an external signal source TG 1000 can support multiple ADEPT cards ADEPT can operate either in open loop or closed loop mode In closed loop mode it uses high sensitivity semiconductor strain gauge as sensors to position the piezo top plate with nanometer precision and transient time less than 25ms ADEPT card performs self test and calibration on startup so the system maintains calibration Connectors 1 PiezoTop plate Connector 2 Sensor Out 3 External Input 4 CRISP optional Figur 2 TG 1000 Connections External Input and Output Apart from using the ADEPT card to position the piezo top plate through TG 1000 this card can also get positioning information through 0 10V analog signal PAGE 1 When the controller is set to external input mode using the PM axis command ADEPT positions the piezo top plate based on the voltage applied to EXT IN or external input The analog signa
4. M axis 0 to 4 PM command sets the ADEPT card in various modes Open Loop Closed loop MS2000 input and External input It is an Axis specific PAGE 4 command PM axis Mode of Operation 0 TG 1000 input Closed loop default 1 External input Closed Loop 2 TG 1000 input Open loop 3 External input open loop 4 Same as Mode 0 except adds tunable speedup algorithm v2 8 In Open Loop mode a set voltage is applied to the piezo and the feedback from strain gauge is ignored Useful during system calibration In Closed Loop mode the voltage applied to the piezo is adjusted according to the feedback coming from the strain gauges This is the default mode of operation TG 1000 input in this mode the TG 1000 controller generates the positioning input for the piezo top plate This is the default mode of operation In External input mode the piezo top plate is positioned according to 0 to 10V analog signal provided by the user Every one volt change moves the piezo the range We recommend that frequency of the signal be kept less than 10Hz for long moves to give the piezo top plate sufficient time to settle and come to a complete stop Mode 4 is TG 1000 input and closed loop but a tunable speedup algorithm is applied to moves The tuning is done by the user setting two parameters using the PZ command The user sets up an intentional overshoot amount and a maximum time for the overshoot to be applied When a move
5. d and adjusted with PZ X serial command It is automatically picked by the ADEPT controller during auto calibration routine and also during the shorter self calibration routine on startup When a PZINFO command is issued among one of the check it runs is for the strain gauge offset and it returns a SG Offset OK or BAD PAGE 8 Feedback Gain When the piezo top plate moves the strain gauge interprets this as the change in resistance The feedback gain is the parameter that helps the sensor conditioning circuit interprets this change in resistance as a voltage and then into distance moved There is a known problem with the calibration routines when the user has changed the software limits on the piezo using SETUP or SETLOW command This is especially likely if the limits have been set asymmetrically Performance Electrical Performance e Capable of Applying 24V to 150V to the Piezo actuators e Maximum continuous output current of 13mA e 1imsec Transient Response time 10 90 for moves below 30 travel range with 600grams load Characteristics PZ 2150 PZ 2300 PZ 2500 Piezo Travel Range 5 Maximum Load for full range 2Kg 1Kg 1Kg travel in Kilogram Transient Response time 11 15 millisec External Analog input BNC 0 to 10 Volts Maximum Input Frequency This is with ADEPT controller s 16Bit DAC User may improve this thru a high resolution signal generator and the system operating in external input mode
6. djusts both strain gauge offset and the feedback gain You will need a length gauge to run the full calibration routine Ss z command is not applicable settings will revert back to default when controller restarts Note Long calibration is not implemented for ADEPT card with TG 1000 Usage will end in an error Y argument sets the axis index to which the length gauge is assigned Default is 0 i e X index in a 4 axis build Ss z command not applicable settings will revert back to default on controller restart Z argument sets the delay between routine runs default is 35 i e 35ms Units are in milliseconds Addr SS Z command not applicable settings will revert back to default on controller restart F argument sets the position where controller moves the piezo top plate before adjusting the strain gauge offset Accepts values between 1 to 100 units are default is 50 i e middle of the piezo range Ss z command is applicable settings will be saved between controller restarts Please use HALT command to stop a running calibration routine else the routine will leave incorrect settings on the ADEPT card PZINFO Addr PZINFO Voltages Pos1 gt HV 147 V Sout 4V Pzout 65 V I2C Check gt DAC OK SWITCH OK DigPot OK DigPot gt Sgoffset 110 Gain 96 Closed Loop TG 1000 IN SG Offset OK When issued TG 1000 replies with all relevant ADEPT card settings to aid in trouble shooting Please refer to the Troubleshooti
7. ine will only check the strain gauge offset and will not try to correct it Issue a PZC command to run calibration routine it will automatically pick the correct value Calibration Note All ADEPT boards are calibrated in the factory and undergo thorough testing Users do not have to perform any calibration This section is for your understanding of the piezo top plate s working For optimal closed loop operation when a strain gauged piezo top plate and ADEPT board are paired together calibration is performed Every piezo system is calibrated in factory and a shorter self calibration is performed by ADEPT card on startup Ideally users do not have to worry about calibrations offsets etc Here is a short description of what they involve Strain Gauge Offset ADEPT uses two semiconductor strain gauges installed in the piezo top plate in half bridge configuration for feedback One strain gauge flexes as the top plate moves while the other is installed in a non flexing position As the top plate moves up and down the flexing strain gauge s resistance relative to the unflexing strain gauge increases and decreases the sensor conditioning circuit interprets this as a voltage The strain gauge offset parameter is the setting for a digital potentiometer that adjusts the resistance of the unflexing strain gauge so that at a position of our choosing set by PZC F command it has the same resistance as the flexing strain gauge This setting can be viewe
8. is initiated the piezo moves towards the overshoot position until the maximum time is reached or else until the measured position using the strain gauge has reached the halfway point between the previous position and the intended non overshoot position Subsequently the command signal to the intended position is applied Experimentally this can reduce settling time by 10 60 The overshoot amount is set using Addr PZ T expressed in percent The maximum time to move towards the overshoot position is set using Addr PZ F expressed in milliseconds Mode 4 does not function Command Format Function Command Format Function with CRISP enabled firmware The modes will revert back to default state i e TG 1000 input with Closed Loop when system is powered off Use the Addr ss z command to save your preference The settings set with this command can also be done with PZ commands One does not have an advantage over another usage is left to user preference PG PG axis 25 to 5101 pre v2 84 PG axis 1 to 255 v2 84 and above PG command is used to set the gain of the feedback stage The setting is stored in a non volatile memory on the ADEPT board This is one of the settings that is automatically picked during long auto calibration Please refer the calibration section for its usage It is an Axis specific command Setting is automatically saved in the non volatile memory The settings set with this command ca
9. l should be between 0 to 10 volts where 10 represents lower limit and O volts represents higher limit For every 1 volt change the piezo top plate changes the piezo range Example if it s a 150um piezo top plate 1 volt represents 15um 0 1 volt represents 1 5um We recommend that frequency of the signal be kept less than 10Hz for long moves so as to give the piezo top plate time to settle down and come to a complete stop Sensor Out is a 0 to 10 volt analog signal that corresponds to position of the piezo top plate It is a buffered output of the strain gauge sensors Command Set Apart from the regular axis commands like MOVE MOVREL ZERO INFO refer to TG 1000 Programming section here are some ADEPT specific commands Most users do not need to use these commands unless configuration are changed or problems are encountered As explained in the TG 1000 programming manual TG 1000 high level or H command set is classified as Axis Specific Card addressed and Broadcast commands For Axis Specific commands TG 1000 Comm automatically dispatches incoming commands from the host to the appropriate card s via the backplane communication bus However for Card addressed commands the host needs to specify the card the command is intended for by supplying the card address in front of the command On start TG 1000 sends to the host thru serial all the available cards in the system and their address For example here
10. n also be done with PZ commands One does not have an advantage over another usage is left to user preference Pre v2 83 a formula was used to convert 25 5101 to b bit 255 We had rounding off issues and such We removed the formula so now user can enter the setting directly and thus have more control PSG PSG axis 1 to 255 PSG command argument sets the zero adjust potentiometer of the ADEPT card Only values between 1 and 255 are accepted The setting is stored in a non volatile memory on the ADEPT board This is one of the settings that are automatically picked during both long and short auto calibration Please refer the calibration section for its usage The settings set with this command can also be done with PZ commands One does not have an advantage over another usage is left to user preference Command PZC Format Function PAGE 5 Addr PZC X 0 or 1 Y 0 1 2 3 Z 1 to 100 F 1 to 100 or Addr PZC PZC when entered alone runs the auto calibration routine that sets Command Format Rely Function PAGE 6 various internal parameters for optimal operation of the piezo top plate Ais returned on completion N 5 is returned if the routine failed PZC is a Card Addressed command host must supply the card address X argument sets the auto calibration type to perform 0 is for short calibration default i e only strain gauges offset is adjusted While 1 is long calibration routine with a
11. ng section for explanation of the message PZINFO is a Card Addressed command host must supply the card address Command PZ Format Addr PZ X 1 to 255 Y 25 to 5101 Z 0 to 3 F 0 to 100 T 0 to 500 pre v2 83 Addr PZ X 1 to 255 Y 1 to 255 Z 0 to 3 F 0 to 100 T 0 to 500 v2 83 and above Function PZ is a Card Addressed command host must supply the card address The X argument sets the zero adjust potentiometer of the ADEPT card equivalent to the PSG command One does not have an advantage over another usage is left to user preference Refer to the documentation under PSG The Y argument sets the gain of the feedback stage equivalent to the PG command One does not have an advantage over another usage is left to user preference Refer to the documentation under PG The Z argument sets the board in various modes equivalent to the PM command One does not have an advantage over another usage is left to user preference Refer to the documentation under PM The F argument only applies when the piezo mode is set to 4 It sets the maximum time to move towards the overshoot position expressed in milliseconds Refer to the documentation under PM The T argument only applies when the piezo mode is set to 4 It sets the overshoot amount expressed as a percentage For example when set to 100 the piezo will begin the move as if the target position is twice as far away as it really is Refer to the docume
12. ntation under PM Troubleshooting On startup if the axis with piezo top plate comes up as disabled with either a COD error of 140 or 141 it indicates one of the startup self test for the ADEPT card has failed Use the PZINFO command to further investigate If you re noticing any odd behavior the PZINFO command is a good way to debug the error When this serial command is issued ADEPT performs a series of test and returns the result that looks like this Voltages Pos1 gt HV 147 V PAGE 7 Sout 4V Pzout 65 V I2C Check gt DAC OK SWITCH OK DigPot OK DigPot gt Sgoffset 110 Gain 96 Closed Loop TG 1000 IN SG Offset OK Voltage Pos1 indicates the Voltage on High Voltage Rail as HV Voltage on Sensor Out as Sout and Voltage being applied to the piezo top plate as Pzout at the current position High Voltage rail should always be in high 140s and more if not it indicates a problem on the board I2C Check pings the various digital Ics on the ADEPT board and returns OK or BAD OK indicates that the IC is powered and is communicating BAD indicates a problem DigPot returns the current calibration settings strain gauge offset and feedback gain Next it indicates whether the card is in open loop or closed Loop mode Then it displays the current source of piezo top plate position TG 1000 IN or EXT IN SG Offset is a quick routine to checks the validity of the strain gauge offset setting and returns OK or BAD This rout
13. s left incomplete The above graph shows that over 10Hz or more that 10 commanded moves a second there are a lot of incomplete moves and at 40Hz the top plate only travels half the commanded distance Top plate Load capacity During testing we found the 150um can carry 2Kg load and the 300um and 500um can carry 1Kg load without any noticeable drop in performance The Top plates will continue to perform at high loads with some loss in performance like travel range accuracy and repeatability The maximum load we tested was 4Kg at which point the top plates lost 20 of their travels Caution Mass above 5Kgs may damage the top plate Always try to have the mass evenly distributed on the top plate Change log Last Updated Comments 8 16 2010 Rough Draft 4 25 2011 Updated the Performance section 4 26 2011 Performance section edited again 5 26 2011 Characteristic performance added 6 17 2011 Load and transient response performance data added 9 13 2012 Branched from ADEPT user manual Edited for Tiger ADEPT 7 3 2013 Formatting updated to match other manuals 11 5 2013 Added note about calibration failing if limits are changed PAGE 11 11 22 2013 Added documentation about new mode PM axis 4 3 6 2014 Changed PZ Y PG cmds now accepts Dig pot setting directly 0 255 PAGE 12

Tiger ADEPT User Manual

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