UC75 / UC75-MC - Real time controller for multi
Contents
1. 21 4 1 2 Connecting the UC75 UC75 MC controller to a driver 22 4 1 3 Powering on the UC75 UCT5 MC controller 22 4 1 4 Connecting the Command signal 22 4 1 5 Connecting a trigger signal In trigger mode only 23 4 1 6 Connecting an Enable signal If reguired 23 e So Ware Ensalada 23 42 1 Reguired COUIDINCTITS A A O A a aia 23 Bee FUESE Ume INSTQUOTION corte ES NS AS IL ide 24 5 HIGHLY DYNAMIC AND PRECISE MOTION SOFTWARE 28 ode A en 28 Oe Parameters SECTION e 28 Os STATS SCC OW nara ate ik RE nada 31 OA General COMMON SECT ON isch 2 enr 34 FE a eo eteeen ees 36 6 OPERATING INSTRUCTIONS 0 00 ccc cece cece cence 38 Gbk da ey eros aa 38 62 Step DY Step INSTMUCTIONS caian 38 o Igger modelada 41 64 Stand alone aAPPlICA MON aaa ads 42 69 Single TrOUDIesAoO MAD dad 42 7 FIRMWARE UPGRADE sourirssitadis anta 45 HARDWARE PERFORMANCES 22 46 9 INSPECTION UPON RECEIPT ss secs ss 47 CEDRAT TECHNOLOGIES 3 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information 1 INTRODUCTION The UC75 UC75 MC is a plate form including real time targets able to improve the performances of the control2. Figure 2 7 Schematic of a Position control loop Before analyzing the behavior of the loop a first step is the definition of the model and its accuracy In quasi static condition a model of the piezo actuator with its fundamental mode can be used see Application Note on the numerical control from the standard catalogue of piezo actuators drivers amp controllers 2007 CEDRAT TECHNOLOGIES 10 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information u Nc Hjo A V l rc jo m c joy This transfer function represents the displacement of the actuator in function of the applied voltage on the ceramics This transfer function of course is linear and doesn t take into account the creep effect or the intrinsic hysteresis If necessary we suggest to use simulation software to include these nonlinearities A Caution When high settling time is required the elementary model is not enough to be used in the complete model We suggest a modal identification from Finite Element Model software of the mechanism or a hardware in the loop identification process to take into account the other modes at higher frequency System tf_apax Frequency Hz 15 1 _ Magnitude abs 0 0868 hate RUE Magnitude abs t y in a Phase deg Frequency Hz Figure 2 8 Modal identification of a mechanism In first approximation for quasi static application the driver is a pure gain You should inte
3. 135 b H iw 1 i el se 50 ery rep ry v r Yvette TT H L Est TTT 14 System 1 1 Qi A es Ban i sains i Gain Margin dB 4 87 gt y rer pesi 30 DE At frequency Hz 84 2 EA _ Ne a5 oe losed Loop Stable Yes i ETEN TE 100 i K 4 4 y j amp 150 jaettii 444 t L i Lu LEUR E Massa 354 rracree DSi i i i A H 7 250 E il AR iiiiiil eo E a a te TN 160 1 EN tt a x S i Phase Margin de leg 59 4 A j 270 dt i t 0 Delay Margin eecy 0 0044 43 n ee Less a a i A rh 4 os aerogenes Tua E Nog So y y ry a oop St vie i ORNE i 450 CE RARE AE AOC i i ree Serres a i ld AA SFER 32 r s 450 e ak bah 4 DL JL EES A 7 a F J i 1 0 10 0 i i LE N LA TN ES A AS 50 oe ee A ee 14 T gt 0 System 1 3 See AE B A0 CR ES DR LU 0 sec 2 i QE iii System 1 3 7 124 Amplitude 1 17 4 ystem t 1 4 50 Frequency Hz 197 Po 3 Sain Margin dB 11 1 d mes tude dB 0 277 A N tr y Hz 2 H 100 H H i gt 100 Closed Loop Stable Yes ibti t E j SC 7 HE PAL 0 i SES de m D _ bit 450 IA epee SEEDS 7 1 16 H ral i Pha oia 66 Ss Dela y Margin Ga c 0 00104 At frequency Hz ue response Closed loop response
4. Load screen after a load selection Once the memory loaded only a LOAD action can change the values of the waveform RESET or STOP actions cannot erase the memory e HELP button permits to find the user manual at screen in doc format e RESET button permit to initialise the Ethernet connexion with UC75 if this connexion is not lost In this case the main action to reset the UC75 controller is to switch off the rack on the rear face and to switch on Wait 1 minute to establish a new connexion e SAVE button saves the data appearing on the display with up to 4000 samples ina txt file The file is composed of 9 columns e The third first one are allocated for the channel 1 e The third next one are allocated for the channel 2 e The third last one are allocated for the channel 3 0 2 0 Command Sensor Driver 0 25 16 Figure 5 11 Definition of the saved column in the txt file CEDRAT TECHNOLOGIES 35 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information e REMOTE button permits to work in stand alone configuration The UC75 controller works alone and the Ethernet link is disable In this case the HMI is disconnected from the UC75 controller To reconnect the HMI with the UC75 controller click again on the LOCAL button to enable the Ethernet link LOCAL 1 a REMOTI b Figure 5 12 REMOTE button a LOCAL action b REMOTE action e EMERGENCY STOP permits to sto
5. 1 mA APALSOM So ml P Er D En Jo faz Jf E D 3 6E 3 0 0004 0 0006 D 2 Sd jt Neem 9 2 e 8 Et e SE 3 00002 e 0 0008 o 10 1E 4 o 0 001 al an py Filter type Frequency Order o H Lowpass y 100 Hz 2 ges El Feo y fiso y 7 5 50 75 oo 75 10 z 35 eal 100 25 100 pa oeg z CNE i 150 Low 150 JF E 20 20 High a oo zo o Figure 5 1 Human Machine Interface description Each section is named which helps the operator to know what kind of parameter is modified 5 2 Parameters section On the left side the screen is composed of five sections and are principally sections where the operator could pass different parameter for the PID controller CEDRAT TECHNOLOGIES 28 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information Sampling 20 us Me visa ii192 168 0 2 m ft MAIN Channel 1 Command Extemal wi z Applied Yoltage Sensibility Actuator DO Y 1 pm APAISOM mi P A o D Jo DE A a 5 4 s sms Fa 3 27 6 2 AE 3 0 0002 e 6 0008 o D 10 0 A ER fo Filter type Frequency Order Lowpass vi 1100 Hz jez DEl F2 y fiso y x oo 75 FS hoy 5 pul 100 s Mol 100 z 10 ep s o aie Figure 5 2 Left section of the HMI parameter section 1 MAIN This section gives some general information Sampling is the sampling rate of the digital loop and cannot be modified by the operator Resource name is a comm
6. Applied voltage command in a position if only the control loop is closed OL CL command is in BF position In open loop the actuator is not calibrated e Actuator indicates the name of the actuator that is connected to the channel 3 CONTROL e P I D commands adjust the PID parameters as described in the previous paragraphs o The P parameter can be adjust between O to 10 by step of 0 01 o The I parameter can be adjust between O to 10000 by step of 196 o The D term can be adjust between O to le 3 by step of 1e D The command can be sent by rotating the button or by writing the number independently 4 FILTER e Filter type indicates the kind of filter is inline with the PID regulator o Low pass filter based on a 2 order Butterworth low pass filter In this case the frequency and order indicators gives respectively the frequency and the order of the factory model implemented in the UC75 controller o Notch based ona 2 order Butterworth stop band filter In this case the frequency and order indicators gives respectively the frequency and the order of the factory model implemented in the UC75 controller o None indicates that no filter is added with the PID controller 5 DRIVER e Lower indicates the lower limitation of the voltage output of the driver e Upper indicates the lower limitation of the voltage output of the driver CEDRAT TECHNOLOGIES 30 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty inf
7. Input Output for the first equation and Disturbance lt lt Input gt Example Correlation in closed loop CEDRAT TECHNOLOGIES 13 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information m w t Hi 7 4 BRR A tl BI A AG 5 Ht gt ig Phase deg 10 10 Frequency Hz Figure 2 11 a Frequency response of the closed loop transfer function b transient response We recommend using dedicated software like MATLAB Simulink from The MATHWORKS to trace the different Bode diagrams and transient responses In an actuator with a large peak at its resonant frequency high quality factor the PID regulator can be not enough to stabilize the closed loop and the state of the art is to add in line a specific filter defined above On the following Bode diagram we show the impact of stabilizing filters on a standard analogue PID controller coupled with a piezoactuator The stability can be assured with the low pass filter and the placement of the cut off frequency below the resonant frequency of the actuator A low pass filter or an integrator term slow down the time response of the system gt Example Impact of the stabilizing filters on open loop closed loops transfer function transient responses of a piezo actuator a PID regulator and some stabilized filters al ii A E S esponse f i AN i 50 da dabolets 4 4 15 400 a Se AE eee a ee oe ee i th 20 r q Y A LS diras aay os
8. an input in the UC75 UC75 MC controller the operator can use the user port as an optional connector An optional block is provided including a shielded 68 pins cable Pins Reference Pins Reference GND GND 37 38 39 CA AI VS ee 41 z Notused 8 AT 26 DO CN a o o 06 wa AAA E NA Doo IS ee 51 DI 3 Enable reserved 17 AI17 2 52 d B AIt6 53 Not used 19 AT 2 54 Notused AT 14 2 60 A 35 26 Amis 66 DO 0 auxiliary 32 AL2 E a CO Figure 3 3 Pins assignment in configuration 32 analogue Inputs and 8 analogue Outputs This line is used when connected ina standard rack CEDRAT TECHNOLOGIES 19 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information The operator can realize its own cable with the following reference of the connector or use the TBX68 from National Instrument to connect the optional User port to the application Harting Reference Male Connector for crimp contacts 60 03 068 52 00 Figure 3 4 Screws fixture The TBX 68 is a termination accessory with 68 screw terminals for easy connection of field I O signals to the UC75 UC75 MC controller via the Optional User port The TBX 68 is mounted in a protective plastic base with hardware for mounting on a standard DIN rail Dimensions 12 50 by 10 74cm CEDRAT TECHNOLOGIES 20 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information 4 INSTAL
9. frequency domain the module and the argument of this transfer function CEDRAT TECHNOLOGIES 12 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information e Pnare real negative gt stable system e Pnare complex with real negative parts gt critically stable system e Pnare imaginary complex gt Unstable system Recalling that O dB is equivalent to unity 1 can be written as OdB 180 We introduce the Bode diagram as a representation in the frequency domain of the module and argument of a transfer function The open loop method works by estimating two measures of stability or margins The first is phase margin or PM Find PM by locating the frequency where the loop gain is O dB Gain margin or GM is similar Find the frequency where the open loop phase is 180 and then measure the gain Since the system will be unstable at OdB 180 the GM is OdB less the gain gt Example Open loop transfer function and their margins Module dB Phase deg Figure 2 10 Frequency response of the open loop transfer function Bode diagram G s 1 G s H s loop To optimize the response to a step we analyze the transfer function Output _ G s Input oe G s H s To optimize the regulation of the impact of the disturbance the operator must analyze the next transfer function The study of the performances is based on the study of in closed Disturbance _ l Input 1 G s H s In any case if GH gt gt 1 then
10. modes exist with a large contribution the pre shaper limits the energy at high frequency existing in a pulse command The D term decreases the time response of the loop by adding gain at high frequency As the driver is limited by its current limitation it doesn t follow fast signals and so limits the slew rate of the output signal injected in the actuator To reduce the impact of this limitation especially when fast edges are required the pre shaper function could include three phases a soft launching landing phase and an acceleration phase a ape Ti 0 0025 0 005 0 0035 0 0 0005 1 001 0 0015 0 002 Time s l l l l l i Soft landing Soft launching acceleration l Figure 2 5 Transient response of a pre shaper In the UC75 UC75 MC configuration the pre shaper is an option and the operator must connect a trigger on the front face see User Port paragraph to start the reading of the waveform The operator can modify as he wants the shape of the function in an excel file see operating instruction paragraph A second use of the pre shaper is when the operator wants to send to the actuator an arbitrary waveform built with an excel sheet In this case the trigger detects the start of the pattern and the controller applies the memory to the command of the actuator in the same time the regulator in closed loop follows the command To learn more please see below 82 1 3 4 5 sections CEDRAT TECHNOLOGIES
11. name command The actuator doesn t move CEDRAT TECHNOLOGIES 42 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information 1 The power must be applied via the Power on command In this case the VP and VP leds must be lighted 2 The Type command is in internal position with O Volts applied Pass the type command in External position and applied a 1Hz 0 1V square signal on the BNC input connector of the LA75x A little noise must be heard 3 The type command is in Trigger position but no waveform is sent to the mechanism click on the Load button to write in the memory the data 4 The type command is in External position but no signal is send on the BNC input D In CL position the Parameters of the regulator are O 1 The regional parameters of the PC must be configured in instead of 2 To load the data in the memory of the controller the operator must follow the instructions Pass the Type command in Trigger mode Load via the Load button the txt including only one column corresponding to the amplitude of the signal applied on the mechanism 3 Check the command with the display graph before sending on the mechanism 4 Use the example file provided preshaper txt with the CDs to show how build the txt file This file sends to the mechanism a specific waveform with an amplitude of 1V on a period of O 1ms 5000 samples Any curves appear on the graphs 1 Check the configuration of
12. oop response NE response Figure 2 12 Frequency response of the open loop transfer function closed loop transfer function and transient response a without filter b with Low pass filter c with Notch filter CEDRAT TECHNOLOGIES 14 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information Numerical application Input Data APA4OOM with 50gr Q 100 Load 50gr Fr 340Hz 10 First case with a low pass filter fc 100Hz 2nd order Results With P 0 1 I 250 Overshoot 20 Stability 5dB 60 Fc in closed loop 100Hz Modification PID parameters P 0 1 I 300 Overshoot 40 Stability 3dB 45 Fc 100Hz The low pass filter fixes the cut off frequency of the closed loop The I term doesn t play a large role after the cut off frequency of the low pass filter Modification Cut off frequency of the low pass filter gt 300Hz Stability 4dB 20 Fc 150Hz The system is not really stable Second case with a Notch filter Fc Fr 2nd order Results With P 0 1 I 1000 amp D 1e 4 Overshoot is reduced Settling time 3ms Stability 11dB 56 Fc 200Hz but phase lag at low frequency Parameters Without With low pass With Notch stabilizing filter filter filter Closed loop Practically unstable Stable is Cut off Stable is Cut off stable with a simple frequency below Fr 3 frequency equals Fr model Phase lag Phase lag Transient response Practically unstable Low response
13. optimum response behavior of the actuator to its input commands reducing error in velocity acceleration and mainly in position The pre shaper is a smooth command generated by a loaded look up table This technique compared with the two others is a open loop technique which doesn t reduce the error position but helps only the dynamic response see next paragraph PID regulator P Proportional Gain This term determines the overall responses of a system to position errors providing an output signal proportional to the error at any time low proportional gain provides a system which is very stable without oscillation i e stable has low stiffness and possibility large position errors under load A high proportional gain provides high stiffness and small position errors under load but may be unstable I integral Gain This term helps the system to eliminate positional errors but in static condition by increasing the output to the actuator until the error reduces to zero This error is added or integrated over time and eventually the controller generates a sufficient output to reduce it A low Integral gain may allow positional error at rest which depends on the static load D Derivative Gain this term provides damping and stability to the system by preventing overshoot On the following frequency response the impact of each term is traced CEDRAT TECHNOLOGIES 6 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty infor
14. techniques of the actuators The UC75 UC75 MC include a National Instrument Core based on Compact RIO NI and the power of the Labview NI Libraries to control any system with fast ticks with deterministic time The core of the controller is based on a FPGA chip which permits a parallel execution of the tasks without shared channel This configuration is developed for real time applications as control loops where a deterministic time is required for each channel Finally the FPGA with a high speed internal clock authorizes fast timed cycle loop from acquisition With the UC75 UC75 MC controller Cedrat Technologies provides a free NI licenses software which includes a setup section to modify in real time the parameters of the control loop and a display section to gives information on the response of the multi pairs actuators sensors With a dedicated regulator the operator can change the different parameters to optimize the behaviors of the loop in term of accuracy speed The UC75 UC75 MC controller is compatible with the different racks of the standard product and can be connected via an optional external user port to the application command other sensors telemetries telecommands The dimensions of the front face are UC75 block Width 26F Length 260 mm Height 3U Figure 1 1 Dimension of the UC75 front panel UC75 MC stands for a Multi channel application and is based of an FPGA including more than 3 mil
15. time Fast response time to a step stable with a simple model Figure 2 13 Table of behavior of the loop with different filers If the operator wants to reduce the phase lag the controller is designed without stabilizing filters In this case the PID terms must be correctly optimized to increase the phase gain margin This condition of operation is not really easy to tune and must be used with caution This methodology can be applied directly on other kind of control loop vibration control servo speed with only a modification of the sensor block the regulator CEDRAT TECHNOLOGIES 15 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information 2 2 Method of operation with the UC75 UC75 MC Digital controller The previous theories can be exactly applied on the Real time UC75 UC75 MC controller The base of this controller includes the possibility to change the PID parameters and the stabilizing filters in real time As the controller can be connected to a host the operator can analyze in real time the behavior of the system to adjust the parameters of the loops via an Ethernet links at 100Mbytes s or to be stand alone without actions on the process Basically the main operations of the controller are analogue to digital conversions digital treatments and digital to analogue conversions This module can be coupled with standard racks of the standard product of Cedrat Technologies with internal connections
16. 2 H E P riph riques et interfaces 1 63 chelles H Logiciels os IVI Drivers Ex Systemes d port s eee a CRIO 9012 a Devices and Interfaces H F Serial amp Parallel ona RIOD CRIO 9101 m Logiciels Sugg rer valeurs Valeurs par d faut tat syst me Connect En cours d ex cution Adresse F 192 168 O 2 Masque de SOUS TESEAL 255 255 0 0 Passerelle 192 168 O 1 El Serveur DNS 192 168 1 209 Commentaires M R initialisations prot g es par mot de passe JW Arr ter syst me en cas d chec TCPVIP EJ 2 ee t Param tres du r seau Param tres syst me E Connect F Configuration Ex Syst me g voisinage de donn es 3 3 08 P riph riques et interfaces aa wise 169 254 138 116 RIOG INSTR Echelles e 63 Logiciels Serial Number 00127899E EN IVI Drivers a ae a es d port s exis PR eee CRIO 9012 Manutactuner Matomai Instruments 010593 Gl Devices and Interfaces Model cRIO 9101 0x70F 6 SF Serial amp Parallel de He A Bhopen VISA Test Panel Hlsave p Fever r Device Locator EE Logiciels Chassis 595 Slot 595 PCI Bus Number o PCI Device Number 24 PCI Function Number 0 ESP General g AIO Settings Figure 4 8 Measurement Automation amp Explorer 7 Now the operator can run the software HDPM_1ch_v12 exe which is normally on your desktop CEDRAT TECHNOLOGIES 26 47 Version 1 1 01 12 07 UC75 UC75 MC Produ
17. 44 CEDRAT Y TECHNOLOGIES UC75 UC75 MC Real time controller for multi channel actuators PRODUCT AND WARRANTY INFORMATION 5 l i i i 4 CEDRAT gt BF Software Remote Hardware E Sampling esource name 20 ps visaxy192 168 1 236 Cc EM dP PROTECT 32 4 TEMPERATURE 0 5l 0 155945 n Command Consigni LA Extemal w 0 1 Applied Voltage Sensibility Actuator 5 o Y 1 um APA150M eke i ne 01 for foo fe ay ie 4000 6000 0 0004 0 0006 0 222168 Ney ye Nef 0 a 20004 2000 0 0002 0 0008 07 y CRT CHAT 2 61841 1 500 Filter type Frequency Loupass w 100 Hz DRIVER FILTER CONTROL GENERAL MAIN Version 1 3 Date 01 12 07 CEDRAT TECHNOLOGIES URL http www cedrat com 15 Chemin de Malacher Inovall e Email actuator cedrat com F 38246 MEYLAN Cedex Phone 33 0 4 76 90 50 45 FRANCE Fax 33 0 4 56 38 08 30 UC75 UC75 MC Product and Warranty information CAUTION READ BEFORE OPENING For safety purposes these instructions must be read before use of this product This digital controller is dedicated to control actuators with specific regulators The operator must read the user manual LA75 Linear amplifier for piezoelectric actuators Product and warranty information dedicated to the LA75x driver before powering the UC75 UC75 MC controller Only qualified personnel should work on or around this equipment and only after becoming tho
18. 5 MC Product and Warranty information 6 3 Trigger mode The trigger mode is used when the operator wants to send to the actuator a defined waveform The Highly dynamic and precise motion software permits to load a memory of up to 2 14 samples to be read at a Sampling rate of the control loop the maximum time is 327 68ms Principally the operator has to generate a txt file with only one column describing the amplitude of the waveform the interval between each sample is the sampling rate Ts Please follow the next instruction to program the file to be loaded in the internal memory 1 Generate an Excel file with your samples A first column gives the time and the second one the amplitude of the signal between 1 to 7 5Volts and 2 14 samples maximum with an interval of Ts Ts can be 20ys for 1 channel configuration 25us for 2 channels and 30us for 3 channels 2 Save the second column in txt format to be compatible with the Highly dynamic and precise motion software 3 In the Highly dynamic and precise motion software select Trigger in the command section and click on the LOAD button to load the txt file A Load bar appears which indicates that the memory of the UC75 UC75 MC controller is loading see figure 5 10 4 The waveform will be sent to the mechanism when a rise edge of the trigger signal will be received on the user port connector see Table 19 This function is retriggerable i e if the trigger appears be
19. 9 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information 2 1 3 Advanced performances For people who want to understand the impact of such filters described below frequency type PID parameters this section gives some details inputs to study the behavior of the control loop and the impact of these elements and how the operator must analyze the loop DESIRED REFERENCE REFERENCE REFERENCE ERROR SIGNAL or OUTPUT or INPUT Controller ACTUAL REFERENCE or FEEDBACK Reference Sensor Figure 2 6 Schematic of a feedback loop A common process begins with the study of the behavior in open loop and in closed loop In this case we will define the phase and gain margins with additional filters working as stabilizing filters The steps to optimize the closed loop are the following Definition of the models with the different blocks constituting the entire loop continuous plant acquisition treatment drivers sensors Choice of the type of regulator with analyze in open loop and closed loop in the frequency and transient domains Tests in the real world To develop theses stages we will use the example of the position control of a PPA6OL piezo actuator with a strain gage position sensor The next figure represents this position loop Source Step AD Convertiseytfkup Table Discrete LATS Dirver lsat Transfer Feri capteur AD Convertizeur Capteur Rouge Discret Bleu Continu
20. Cost lt lt Back Next gt gt Cancel lt lt Back Next gt gt Cancel Figure 4 4 Features amp License Agreement Overall Progress E Currently installing NI Lab vindows C 1 8 0 1 Run Time Engine Part 2 of 43 597x458 Validating install A lt lt Back Next gt gt Figure 4 5 Starting Installation CEDRAT TECHNOLOGIES 24 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information 2 After few minutes a second message appears to insert the CD 2 JY NERIO 2 1 101 gt NATIONAL INSTRUMENTS Please insert the disk labeled NI RIO 2 1 Disk 2 Overall Progress Currently installing N If the required files may be found elsewhere please enter that location below The specified folder does not contain the correct volume Figure 4 6 Insert the second CD 3 When the driver s installation is finished do not restart yet your PC Copy the repertory named HDPM_1ch_v12 in C Program Files on your PC from the CD2 This path is mandatory After this repertory copying in C Program Files you can run the file name setup exe that is on the CD 2 A Caution You cannot go on with the installation if the repertory named HDPM_1ch_v12 is not in C Program Files 4 After this installation is finished restart your PC 5 Connect your PC with the UC75 by an Ethernet cable see 4 1 and power on the rack 6 Before run
21. DEFAULT Recall the factory configuration LOAD Load the waveform from a txt file HELP Display the user manual RESET Reset the UC75 controller if the connection is ok the graphs REMOTE Command REMOTE The Ethernet link is disable and the HMI is disconnected from the UC75 controller LOCAL The Ethernet link is enable and the HMI is connected to the UC75 controller EMERGENCY STOP Command Stop the software with OV on the actuator and OL on the OL CL button Figure 5 13 summarize table of each parameter CEDRAT TECHNOLOGIES 37 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information 6 OPERATING INSTRUCTIONS In this paragraph we give some operating instructions to avoid damages on the mechanism for a first time user 6 1 Initial settings The Highly dynamic and precise motion software is delivered with a initialization file including the standard parameters to control the mechanism o PID term with Low pass filter o Sensibility of the sensor and the calibration of the position sensor The ini file initializes the following parameters with the following value Parameters Values Remarks ov 1 A i OV A pon eee actuator actuator O Can be modified with the ES ES OS Filter om pass O Frequency 100Hz Can be modified with the mechanism Order PA PE CTA A PE 150V SO Figure 6 1 Defaults parameters 6 2 Step by step instructions A The operator will find in this instruction p
22. ERATURE 0 5 DISPLAY 3500 000 eS HE mi 1 i 1 ne UC 0 500 1000 1500 2000 2500 3000 3500 moss EE A Figure 5 4 Right section of the HMI states section CEDRAT TECHNOLOGIES 31 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information 6 DISPLAY 2 graphs represent the responses from the actuator and the driver The samples are traced on the X axis and the amplitudes are traced on the Y axis in Volts e The first one on the top of the screen includes the command and sensor for 1 2 or 3 channels The operator can display one two or three pairs of signal with the Channel x button by selecting the small colored square Channel 1 Figure 5 5 Selection button to display the Command sensor pair By clicking on the background colour of this button the operator can display or mask the legend of the graphs This display is an asynchronous display It means that it is not triggered with the command The number of displayed points is 4000points and cannot be changed Use the graph palette shown as follows to interact with a graph or chart while the software is running Figure 5 6 display tool bar Display section With the graph palette you can move cursors zoom and pan the display Right click the graph or chart and select Visible Items Graph Palette from the shortcut menu to display the graph palette The graph palette appears with the following buttons in order from left to ri
23. LING INSTRUCTIONS This paragraph describes the different instructions to connect the UC75 UC75 MC controller and to install the software The operator in the same time must connect the mechanism to the rack following the instruction in the user manual LA75 Linear amplifier for piezoelectric actuators Product and warranty information 4 1 Hardware connections The hardware connection permits the connection of the UC75 UC75 MC controller to a network and the connections with the command signal and optional signals 4 1 1 Connecting the UC75 UC75 MC controller to a network Connect the controller with an Ethernet cable using the RJ 45 Ethernet port on the controller front panel Use a standard Category 5 CAT 5 or better Ethernet cable to connect the controller to an Ethernet hub or use an Ethernet crossover cable to connect the controller directly to a computer Caution To prevent data loss and to maintain the integrity of your Ethernet installation do not use a cable longer than 100m If you are using 100 Mbps Ethernet Cedrat Technologies recommends using a CAT 5 or better shielded twisted pair Ethernet cable If you need to build your own cable refer to the Cabling section for more information about Ethernet cable wiring connections The host computer communicates with the controller over a standard Ethernet connection If the host computer is on a network you must configure the controller on the same subnet as the host
24. and to select the IP address of the UC75 controller OL CL is a command to closed or to open the control loop OL indicates that the controller works in open loop and CL indicates that the controller works in closed loop i e the regulator is on with the parameters in the control section 2 GENERAL CEDRAT TECHNOLOGIES Command is a selector to chose between three possible command to send to the actuator o Internal In this case the command is issued from the O Applied voltage command The operator can select the voltage that he would like to send on the actuator between 1 to 7 5 Volts External In this case the command is issued from the Input BNC connector of the LA75x and send in the controller to command the actuator This command must be adjusted between 1 to 7 5 Volts Trigger In this case the command is issued from an internal memory to send an arbitrary waveform a pre shaper for example on the actuator In this case if a waveform was loaded in the memory of the controller see next section and if a trigger is sent on the optional user 29 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information port the loaded waveform is applied on the actuator between 1 to 7 5 Volts e Applied voltage command is used to send on the actuator directly a static command in Volt between 1 to 7 5V e Sensibility is an indicator to give the sensibility of the sensor to convert the voltage from the display or the
25. aragraph the most common uses of the product For first time follow step by step the following instructions We recommend connecting an oscilloscope on the following signals to display in real time the behaviour of the loop and then to check the instability e Command Input on the front face of the rack e Position Output from the position sensor CEDRAT TECHNOLOGIES 38 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information We suppose that the operator has correctly installed the driver of the UC75 UC75 MC controller and the application Highly dynamic and precise motion see 54 2 O Power on the rack by switch on the rear connector If the rack is not powered on the UC75 controller is not supplied and the HMI is not connected to the controller 1 Check the dialogue between the host and the UC75 controller Use the MAX Explorer to verify the connection see 4 2 2 1 Check the different necessary connections Optionally and if required the trigger signal and the Enable signal must be connected 2 Select the correct IP address in the Resource name selector Refresh by selecting rafraichir the IP address by clicking on the resource name selector and select the IP address corresponding to the UC75 controller Resource name J Avisa 192 168 0 El G COMI TOMS visa 1192 168 0 2 45RL1 INSTR vea 1192 168 0 2 RIO0 INSTR Rafraichir Figure 6 2 Refresh action on the resource name selecto
26. chitecture of the UC75 CEDRAT TECHNOLOGIES 16 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information As this micro controller is a shared resource all the control functions regulators filters pre shaper are not implemented inside and are coded in the FPGA chip Then the FPGA chip communicates with the I O blocks digital or analogue with very fast links and realizes the functions of compensators PID filters in parallel to avoid shared time between each channel or each function A dedicated software is provided to manage mono or multi channel PID regulators with specific filters computed in factory see software description paragraph Parameters And Display Sampling rate a gt Generation Determistic time Asynchronous host Figure 2 15 Software architecture of the UC75 The software includes loops cadenced with a deterministic time to realize the acquisition treatment and generation phases The sampling rate i e based on the time to realize a cycle is principally due to the hardware acquisition and generation and depends of the number of channel See hardware performance paragraph for more details A Caution In factory the filters are adjusted to the mechanism principally the PID parameters with low pass filter configuration and the Notch filter parameters In this case if the resonant frequency changes the Notch filter can be out of tuned and the loop ca
27. computer If neither the host computer nor the UC75 UC75 MC controller is connected to a network you can connect the two directly using a crossover cable If you want to use the controller on a subnet other than the one the host computer is on first connect the controller on the same subnet as the host computer Connector 1 Connector 2 Connector 2 normal with an crossover when hub directed on the PC 2 Orange Green Green o white green white green WhiteZorange 6 Green Green Orange 8 Brown Brown Brown CEDRAT TECHNOLOGIES 21 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information Connector 4 Connector 2 Pin 1 Pin amp Figure 4 1 Ethernet Connector Pinout 4 1 2 Connecting the UC75 UC75 MC controller to a driver A The UC75 UC75 MC controller is able to be connected on the standard racks from the LA75 series drivers and controllers catalog on the rear face through a DIN41612 connector or with a specific user port connector on the front face This specific connector allows to reach analogue input output or digital Input output In standard this connector is disable only the trigger signal is enable For specific application Cedrat Technologies can enable several pins to authorize for example a trigger action 4 1 3 Powering on the UC75 UC75 MC controller A Caution The UC75 controller must be mounted in a rack and be tightened with the captive screws befo
28. ct and Warranty information Note A part of the software is deployed inside the UC75 controller the FPGA part In other words the software is stand alone and you can disconnect the Ethernet link when you have set up the parameters of the controller CEDRAT TECHNOLOGIES 27 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information 5 HIGHLY DYNAMIC AND PRECISE MOTION SOFTWARE 5 1 Introduction In this paragraph we describe how to use the Highly dynamic and precise motion software with a pair piezo actuator sensor The NI license free software provided with the UC75 UC75 MC permits to command and display some parameters The screen is divided in three areas e The first one on the left manages the regulator with some fixed parameters and with some parameters that the operator can change The second one on the right manages the state of the actuator the driver with some commands The last one on the bottom of the screen includes several main commands to manage the state of the software ae Ll teens F a m i fe FA an er ee C RA Highly dynamic and Precise motion YA Ts ya Software owen on Hardware E mpling E 5 esource name La oh lt PROTECT 33 9 TEMPERATURE to 20 ps evisar 192 168 0 2 E 2 j 5 channel 1 chi ME y z Command 0 2 wy External v 0 m Applied Voltage Sensibility Actuator T O Y
29. display the signals from the command the sensor or the driver with the graphs on the right side These graphs are asynchronous 8 For first time we recommend to adjust Lower and Upper with a small Delta voltage to limit the amplitude of the mechanism able to create damage on the mechanism 9 Adjust PID parameters Filter parameter with your application We recommend to remain in open loop during the modification of these parameters to avoid a typing error and so a bad parameter 10 Close the loop by clicking on OL CL button Now the mechanism is controlled in position with the programmed parameters on the HMI If you hear a sound from the mechanism click immediately on the OL CL button to pass in open loop The closed loop is unstablelll Change the PID and Filter parameters to be stable see 82 1 11 To change the type of command between Internal External or Trigger we recommend being in Open loop by clicking on the OL CL button before selecting the new type 12 To save the recorded samples on the display we recommend to use the Continuous Finite button before saving by clicking on the SAVE button 13 To stop the mechanism the operator must click on the Emergency Stop button This action stops the mechanism by applied a OV on the command before disconnecting properly the HMI from the UC75 UC75 MC controller Note Each button is described in the 5 Paragraph CEDRAT TECHNOLOGIES 40 47 Version 1 1 01 12 07 UC75 UC7
30. er doesn t respond Check the power supply of the rack the power must be in on state Check the Ethernet link In a standard configuration where the UC75 UC75 MC controller is connected directly with the Host the Personal computer which is running with the Highly dynamic and precise motion software a crossover cable is used When the UC75 UC75 MC controller is connected via a hub a direct cable is used Verify the dialogue with the MAX explorer Select the right resource name via the Resource name command Run the Highly dynamic and precise motion software with t the button on the top and left side of the screen In a standard state the Temperature of the driver is at the ambient temperature If no dialogue between the host and the UC75 UC75 MC controller the temperature is not sent via the Ethernet link NaN can be displayed or 273 and check the previous points The Remote button is in Local state and so the controller is in stand alone configuration To change a parameter or display a curve this button must be in a Remote configuration When launching the software the HMI is directly switch off after one second 1 The software is running correctly but the enable command via the optional user port is in Off state Check the state of this pin OV Enable 15V Disable 2 The Emergency stop button is in stop position Re launch the software to pass ina correct state 3 Select the right resource name via the Resource
31. fore the end of the sequence the sequence is reinitialised and restart at the sample number 1 This behaviour can send a step in the mechanism The maximum programmable interval is 327 68ms in a 1 channel configuration We recommend checking the waveform before power on the power supply of the mechanism by displaying the command on the display graph An example file is provided on the CD Load the preshaper txt file This file includes a waveform used to limit the impact of a short rise edge Figure 6 5 Example file CEDRAT TECHNOLOGIES 41 47 Version 1 1 01 12 07 A UC75 UC75 MC Product and Warranty information Properties of the specific waveform amplitude of 1V Period of O 1ms 5000 samples 6 4 Stand alone application When the UC75 UC75 MC controller must be configured in a stand alone controller click on the REMOTE button to pass from a Local configuration to a Remote configuration The controller works continuously but any change can not be done In this configuration the Ethernet link can be disconnected To modify a parameter reconnect the Ethernet link and click on the REMOTE button to pass in Local connexion the HMI and the UC75 UC75 MC controller dialogue together again The Remote button must be pushed when the operator is sure that no new modification of parameters will be done 6 5 Single troubleshooting The UC75 UC75 MC controll
32. ght Aa Figure 5 7 Graph palette o Cursor Movement Tool graph only Moves the cursor on the display CEDRAT TECHNOLOGIES 32 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information o Zoom Zooms in and out of the display Use the Operating tool to click the Zoom button and select from the following options clockwise from the top left to zoom in and out of the graph Zoom to Rectangle With this option click a point on the display you want to be the corner of the zoom area and drag the tool until the rectangle covers the zoom area X zoom Use this option to zoom in on an area of the graph along the x axis Y zoom Use this option to zoom in on an area of the graph along the y axis Zoom In about Point With this option click a point you want to zoom in on Press and hold the lt Shift gt key to switch between Zoom In about Point and Zoom Out about Point Zoom Out about Point With this option click a point you want to zoom out from Zoom to Fit Use this option to autoscale all x and y scales on the graph or chart o Panning Tool Picks up the plot and moves it around on the display e The second one includes the response of the driver for 1 2 or 3 channels The operator can display one two or three signals with the Channel x button by selecting the small colored square see figure 25 Like the same top display the operator can modified with the display tool bar the display wi
33. grate the current limitation when the system requires bandwidth ometom 20 In A sensor can be represented with a pure gain If you use a strain gages sensor from Cedrat Technologies SG75 board this gain is defined as Out Maximal _ stroke Sensor JO In Maximal _ input _ voltage Numerical application For an APA120ML the maximum stroke is 120um and the maximum voltage order is 8 5V The gain is 70833 V m The study can be realized in continuous domain in which the controller is represented by a continuous transfer function without frequency limitation from the sample rate of the loop or in discrete domain where the controller is digitalized and represented with a z transfer function In this case the loop includes the sample amp hold and the quantization of the analogue to digital converter and the digital to analogue converter CEDRAT TECHNOLOGIES 11 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information The aim of the control is to increase the accuracy the settling time without destabilizing the loop The last point is very important and must follow a specific study Stability in control theory often means that for any bounded input over any amount of time the output will also be bounded This is known as BIBO stability see also Lyapunov stability If a system is BIBO stable then the output cannot blow up i e become infinite if the input remains finite Mathematically this mean
34. lions of gates CEDRAT TECHNOLOGIES 4 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information 2 GENERAL THEORY The UC75 UC75 MC controller is used to control in multi pair actuators sensors feedback loops with dedicated regulators and includes parallel acquisition generation boards using multi ADC and DAC converters Before connecting the UC75 UC75 MC controller the operator will find in the next paragraph the behaviors of each function of the regulator 2 1 Theory of a control loop 2 1 1 The different functions The basic scheme of one channel control loop is the following It includes some regulators based on analogue digital converters and a robust PID controller Rouge Discret Bleu Continu Zcapteurls D Convertseurl Figure 2 1 Schematic of a basic digital control loop In this example the displacement of a PPA6OL piezo actuator is controlled each block is represented with an input and an output to model the behavior of the reality The control loop includes the following blocs e The actuator and its driver in this case the LA75x driver The sensor and its conditioner These parts are called the continuous plants and have a continuous behavior in opposite of digital behavior Two analogue to digital converters including if necessary the anti aliasing filters These blocs are characterized by sample and hold and quantization functions the quantization is function of the resolu
35. lowing Personal Computer configuration e Change in in the regional configuration of your PC if it is not the case If you choose a direct connection between the UC75 UC75 MC controller and your PC the firewall must be disabled Your screen cannot be higher than 1200 per 800 pixels CEDRAT TECHNOLOGIES 23 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information The installation requires 2 operations The first one includes the installation of the drivers to dialogue with the UC75 controller CD1 amp CD2 The second one includes the installer for the application software It contains the autonomous application CD2 4 2 2 First time installation 1 The operator has to run the CD 1 containing a part of the drivers following the giving indications SS 15 x Destination Directory SUM I Select the primary installation directory All NI RIO software will be installed in the following folder To install into a different folder click the Browse button and select another folder 5 Destination Directory C Program Files National Instruments Browse lt lt Back Next gt gt Cancel Figure 4 3 Destination directory 10 x Features NATIONAL License Agreement INSTRUM Select the features to install ENTS You must accept the license s displayed below to proceed CompactRIO 2 1 0 C t for the National Instrument TPERPER Compacto fami of e
36. mation Effect of the I term Effect of the P term Effect of the D term 40 2 Magnitude dB NM 10 90 Phase deg 0 a1 13 ae 2 5 6 7 10 10 10 10 10 10 10 10 Frequency Hz Figure 2 2 Frequency response of a PID controller Generally the PID regulator can be written with the following formulae de t dt y t e t xP etat Dx With the jo operator y j DX j 1X 7 P E J0 JO Where y j is the output of the regulator e j is the input of the regulator or the error Generally to suppress high frequency noise the D term is limited with a 1 order low pass filter to limit the high frequency gain Impact of the terms Closed loop Rise time Overshoot Settling time Final error Increase Small change Ti ee eu Eliminate D Small change Small change Figure 2 3 Impact of the different parameters on the output To learn more please see below 82 1 3 4 5 sections CEDRAT TECHNOLOGIES 7 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information Added filter A PID controller can be followed with a filter to limit the impact of the resonant frequency of the actuator 2 factory tuned types of filters are implemented in the controller e The first one is a 2 order low pass filter Butterworth type which has a low cut off frequency to reduce with its roll off of 40dB decade the impact of the resonant frequency of the actuator This filter is
37. n be unstable CEDRAT TECHNOLOGIES 17 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information 3 HARDWARE DESCRIPTION The UC75 UC75 MC controller has several electrical interfaces 3 1 Standard configuration In the standard configuration the UC75 UC75 MC is connected in a standard rack from the Cedrat Technologies product via the rear connector DIN41612 with a dedicated electrical interface It is not possible to be connected to this connector The UC75 UC75 MC controller proposes in option an additional connector including all the connections analogue digital Inputs Outputs with the embedded controller on the front face This connector in standard is disable but on request Cedrat Technologies can enable several pins trigger Digital Inputs Outputs Figure 3 1 Description of the UC75 hardware REFERENCE DESIGNATION 1 section Rear panel Al DIN 41612 electrical interface with other module in rack 42F 63F or 84F 2 section Front panel Status Led indicating the power User port see next paragraph for pins assignment Ethernet connector USB connector not used RS232 connector for RS232 link with other instruments not used Figure 3 2 Table of description of the different functions on the front panel CEDRAT TECHNOLOGIES 18 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information 3 2 Optional user port configuration In case of the application requires
38. ning the software it is necessary to check if the dialogue between your PC and the Hardware is correct to do that v Open the MAX Measurement 4 Automation Explorer which is on your desktop v Refresh the explorer clicking on F5 and the UC75 controller will appear on the MAX with an IP address at 0 0 0 0 v Choose an IP address with the same 6 first numbers as the IP address of your PC v Choose a masque de sous r seau at 255 255 0 0 v Click on appliquer to apply this new IP address on the UC75 controller It will restart the controller v Wait a few minutes until the controller has restart Y The CRIO 9101 will appears under the devices and interfaces files If it is not the case click on refresh or F5 v The connection is correct if you see CRIO 9012 amp CRIO 9101 connected CEDRAT TECHNOLOGIES 25 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information i CRIO 9O0127 Measurement amp Auto 1 EN Syst me MA voisinage de donn es a P riph riques et interfaces m E Echelles 2 3 Logiciels Driers Figure 4 7 CRIO 9012 amp cRIO 9101 connected onfiguration Fy fF Red marrer 2 Yerrouiller a Rafraichir Ml Appliquer E Systeme H voisinage de donn es Param tres IF Identification Mod le cAI0 901 2 Obtenir l adresse IP du serveur DHCP N de s rie OOE7B621 f diter les param tres IP MAC Address D00 80 2F0a b4 17 Mom CRI0 901
39. or can be linked with a user port on its front face An Ethernet link on the front face allows sending and receiving data from the unit to display and manage the behaviors of the controller for each channel The system combines an open embedded architecture with small size extreme ruggedness and hot swappable industrial I O modules Compact RIO is powered by reconfigurable I O RIO FPGA technology The native parallelism of graphical programming is an ideal counterpart to the physical implementation of FPGAs since parallel loops map to separate regions of FPGA silicon and operate truly in parallel The net sum is that speed parallelism and power of FPGAs are now accessible to anyone and this presents a powerful plate form for implementing control loop with fast parallel process as tracking servo all running with absolute timing determinacy to drive and control the CEDRAT TECHNOLOGIES s actuators To reach the fast sampling rate the UC75 UC75 MC uses the FPGA chip to the different conversions between the analogue and digital converters and to realize the different processing to achieve the correct regulator These operations doesn t need high speed link with high speed transfer because of inside the chip To manage the Ethernet link with the host a shared real time micro controller is used to realize the communication between the FPGA chip and the host ae T al a gt As sy a a m j Figure 2 14 hardware ar
40. ormation These values are correct if the offset of the driver is adjusted near O Volt To verify place the command in the internal mode section General and check the value of the driver in the Display section Turn if necessary the offset potentiometer of the LA75x see user manual of LA75x for additional information We recommend when you tune the regulator to place the Lower and Upper commands with small amplitudes to limit a potential risk of damage on the actuator during a instability phase by limiting the amplitude of the applied voltage on the actuator Each channel can be selected and modified with the Channel button Ina 3 channels configuration the operator can select independently the parameters of each channel for the GENERAL CONTROL and FILTER sections Ja Sampling Resource name 20 ps visa 192 168 0 2 Cc L MAIN Command External w W Applied Yoltage Sensibility Actuator O Y 1 um APA150M 3 a ml p I D a 1 l 0 Jos fasz J Jo E 4E 3 6E 3 0 0004 0 0006 A K T4 Ci 8 2 e 8 2E 3 e SE 3 0 0002 e 0 0008 o 10 0 tera 0 jo ry Filter type Frequency Order 1 E Lowpass vi 100 Hz ima 14 Figure 5 3 Selection of multi channels 5 3 States section On the right side the screen is composed of two sections which give the states of the control loop MA Software a Hardware pa a lt uyy D PROTECT 133 9 TEMP
41. p the software if the connexion is ok In this case the mechanism is placed in the following configuration o Open loop o Internal Command with Ov applied on the mechanism o Power ON in Off state An input line digital O 15V OV ok and 15V stop can realise the same operation via the user port see the pin out table for more details 5 5 Summary Each parameter is summarized in the following table including their states Parameters Section A eee Smo Indicator Resource name 333 A a eee CL Closed Loop Command Command Internal Command from HMI External Command from BNC Trigger Command from Memory Sensibility Indicator Actuator indicator Po Command 0 to 10 resolutionte 2 SSS D Command O to 1e 3 resolution 1e5 3 SSS Filter type Command Low pass Notch None ES CEDRAT TECHNOLOGIES 36 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information Display section A Continuous Finite Command Continuous Asynchronous acquisition of 4000 samples in continuous Finite Asynchronous acquisition of 4000 samples State section A eee Power On Command On The power is applied on the mechanism Off The power is not applied on the mechanism Protect Indicator Red the power is not applied on the actuator or a rack protection is on Green The power is applied The rack is ok Temperature Indicator Analogue temperature of the driver resolution 0 1 C General command section
42. r 3 Launch the Highly dynamic and precise motion software with the button on the top and left side E HOST 1HM_1ch vi Fichier dition Ex cution Outils Fen tre Aide Figure 6 3 The software is not running HOST IHM_ich vi Figure 6 4 The software is running The parameters are now enabled and the operator can change each parameter The software will run if the enable pin on the user port see Figure 3 3 is at OV If this pin is at 15V level the software will stop immediately 4 Choose the type of command Internal External or Trigger If Trigger is chosen for the first time the operator must load the waveform by clicking on the Load button see 86 3 We recommend to check the CEDRAT TECHNOLOGIES 39 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information command signal on the display graph by selecting the displayed channel before switch on the power supply of the driver 5 Don t forget to switch on the LC75 power supply with the Power On Off command on the front panel of the HMI to provide the power supply to the mechanism The mechanical switch of the LC75 is not used to switch on the power of the mechanism 6 At this level the mechanism is driven in open loop In this case the position is not controlled and so the displayed sensibility is not applicable While starting control parameters are initialised with default configuration ini file loaded see 86 1 7 You can
43. re applying power to the rack Installing the controller while power is applied to it can cause damage to the rack Plug the power supply to the rack The controller runs a power on self test POST This initialization time can take few seconds typically 1minute 4 1 4 Connecting the Command signal If an external signal is used to command the mechanism this signal must be applied on the BNC connector on the front face of the LA75x see User manual of the LA75x for more information The next figure recalls the different connections on the front face of the rack CEDRAT TECHNOLOGIES 22 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information Of gt e Che NES 2 gt gt D O fe TR Figure 4 2 Command connection on the front face of the LA75x The command is connected on the B2 connector 4 1 5 Connecting a trigger signal In trigger mode only If the application requires a loaded waveform a trigger signal which starts the samples must be connected on the pin 50 or DI_3 on the optional User port 4 1 6 Connecting an Enable signal If required If the UC75 UC75 MC controller must be commanded with an external supervisor the Enable Input must be connected The pin 51 or DI_2 must be connected on the optional User port Open or OV the system works 15V the system is stopped 4 2 Software Installation 4 2 1 Required equipments You must install the Software on the fol
44. rease the sampling rate by modifying the acquisition generation capabilities ie the numbers of bits or the numbers of inputs outputs Please contact us for more information The numbers of channels don t include the internal connections from the rear connector in a standard rack Please contact us for more information With trigger on the front user port CEDRAT TECHNOLOGIES 46 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information 9 INSPECTION UPON RECEIPT This product has been inspected and shown to operate correctly at the time of shipment as verified by the Factory Verification Form that accompanies the power Supply Immediately upon receipt of 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 47 47 Version 1 1 01 12 07
45. roughly 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 This pictograms A is placed to focus the attention on potential hazards CEDRAT TECHNOLOGIES 2 47 Version 1 3 01 12 07 UC75 UC75 MC Product and Warranty information TABLE OF CONTENTS 1 INTRODUCTION ips 4 2 GENERAL THEORY ntc 5 Zt Theory OF a contro Ido bad is 5 Sbado FRE OIFCPENE TUNCTIONS 5 ASE AAA AI AAA AAA 5 2 1 2 Definition OF the regulator lt span O ib 6 2 1 3 Advanced performantes ee one ceci dard die AAA 10 2 2 Method of operation with the UC75 UC75 MC Digital controller 16 3 HARDWARE DESCRIPTION ir 18 31 Standard CONTIQURATIOM Berne states tiens 18 3 2 Optional user port configuration 19 4 INSTALLING INSTRUCTIONS 21 Al Haraware connections saou arn nr aA a 21 4 1 1 Connecting the UC75 UC75 MC controller to a network
46. s that for a causal linear system to be stable all of the poles of its transfer function must satisfy some criteria depending on whether a continuous or discrete time analysis is used e In continuous time the Laplace transform is used to obtain the transfer function A system is stable if the poles of this transfer function lie in the closed left half of the complex plane I e the real part of all the poles is less than or equal to zero e In discrete time the Z transform is used A system is stable if the poles of this transfer function lie on or inside the unit circle Te the magnitude of the poles is less than or equal to one The study of the stability of the loop must be realized in parallel of the study of the performance A good choice in term of performance can bring an unstable system The study of the stability is directly linked to the open loop transfer function The following diagram shows an alternative representation of a feedback loop Input s 9 Output s Input s gt Output s Figure 2 9 General representation of a feedback loop The stability is the study of the equation 1 G s H s 0 with G s the plant in line with the controller and H s the sensor G s H s is called the open loop transfer function Instability occurs when the denominator in Figure 10 becomes zero In other words when G s H s 1 This equation can be resolved with mathematic formulae but it is more easy to trace in the
47. th a zoom some cursors e The CH1 display is a real time display of the position of the actuator In a multi channels configuration 1 2 or 3 positions are displayed The displayed value is in Volts e Continuous Finite button permits to select a continuous display or a finite display In the first case the selected graphs are displayed in continuous with asynchronous packs of 4000 samples In the second case only 4000 samples are displayed and the graphs are stopped To restart select Continuous Of course the control loop continues to work 7 STATE In this section the operator could display the state of the hardware software via some indicators commands Software ee On Hardware ps ES ap GD PROTECT 33 9 TEMPERATURE 0 Figure 5 8 Bottom section of the HMI General command section CEDRAT TECHNOLOGIES 33 47 Version 1 1 01 12 07 5 4 On the bottom information UC75 UC75 MC Product and Warranty information Temperature indicates the temperature of the output stage of the driver The driver is maintained in protection if the temperature is above 85 C Protect indicates if the driver is in protection or not If the power of the LC75 is in off position the protect indicator is red and no voltage can be applied on the actuator If the power of the LC75 is in off position the protect indicator is green and a voltage can be applied on the actuator from the Human machine interface via command Power On permi
48. the Finite Continuous button In a Finite mode the curves are displayed only one time with 4000 samples In continuous mode the curves are displayed in continuous with packets of4000 samples 2 Click on the small colored square inside the Channel x button When the display is selected the small colored square is orange for the channel 1 3 Use the Zoom palette to auto zoom on the curves 4 The Local Remote button is in Local mode In this case the Host is not in dialogue mode and so no curve can be displayed The Protect led on the HMI is continuously red 1 The Power On button is in Off state the colour of the small arrow is orange Click on the power On button to pass the arrow colour in blue The VP and VP of the Rack must be lightened he VP and VP leds on the rack are continuously lightened 1 The Power On button is in On state the colour of the small arrow is blue Click on the power On button to pass the arrow colour in orange The VP and VP of the Rack must be extinguished CEDRAT TECHNOLOGIES 43 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information 2 The Protect switch on the rack is in on position When the UC75 UC75 MC controller is used to control this switch the mechanical position of the Protect switch must be in off position CEDRAT TECHNOLOGIES 44 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information 7 FIRMWARE UPGRADE The application can be upgraded
49. tion of the A D converter A digital to analogue converter to convert the digital command generally in 16 or 12 bits applied on the actuator in an analogue command This bloc is generally characterized with the maximum range and the resolution in term of bits The regulator which computes the error between the command and the real position monitored by the sensor applied through a specific controller an order The CEDRAT TECHNOLOGIES 5 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information controller is computed to maintain a closed loop stable with the desired performances accuracy speed Some pre filters pre shapers can be added outside the feedback loop to help the system to be stable 2 1 2 Definition of the regulator A robust feedback controller is implemented in the regulator It includes a PID regulator in series with a dedicated filter A pre shaper can be added in the case of a step command is required A filter is placed inline to limit the effect of the resonant frequency of the actuator In the case of the actuator is characterized with a low quality factor this filter can be deleted and only an adjustment of the PID parameters can optimize the behavior of the loop A PID controller attempts to correct the error between a measured process variable and a desired set point by calculating and then outputting a corrective action that can adjust the process accordingly It is used to ensure an
50. ts did CONTRAT DE LICENCE LOGICIEL NATIONAL INSTRUMENTS eres UE GUIDE D INSTALLATION LE PRESENT DOCUMENT EST UN CONTRAT AVANT DE A cid TELECHARGER LE LOGICIEL ET OU DE FINALISER LE PROCESSUS D INSTALLATION cda VEUILLEZ LIRE ATTENTIVEMENT LE PRESENT CONTRAT EN TELECHARGEANT LE LOGICIEL an E a SJ ET OU CLIQUANT SUR LE BOUTON PERMETTANT DE FINALISER LE PROCESSUS Real Time and Embedded D INSTALLATION VOUS SOUSCRIVEZ AUX CLAUSES DU PRESENT CONTRAT ET ACCEPTEZ NI Measurement amp Automation Explorer 4 1 D TRE LIE PAR LE PRESENT CONTRAT SI VOUS NE VOULEZ PAS DEVENIR PARTIE AU This feature will be installed on the local hard drive PRESENT CONTRAT NI ETRE LIE 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 SA RECEPTION ACCOMPAGNE DE TOUS LES DOCUMENTS ECRITS Thirieature and te selecied subcomponents vil QUI LE COMPLETENT AINSI QUE DE LEURS EMBALLAGES A L ENDROIT OU VOUS LES AVEZ require 12 0 MB of disk space OBTENUS TOUS LES RETOURS SERONT SOUMIS A LA POLITIQUE DE NI ALORS EN VIGUEUR EN MATIERE DE RETOURS D finitions Dans le pr sent Contrat les mots suivants ontles significations indiqu es y E a E i 2I Directory for CompactRIO 2 1 0 accept the License Agreement s Efawse C do not accept the License Agreement s Restore Defaults Disk
51. ts to switch on or switch off the power of the actuator via a software command The mechanical switch on the front face must be maintained in a off position Software indicates the state of the software o RUNNING No error o ERROR A problem is occurred transmission memory You can reset the error by clicking on the RESET button or by switch off switch on the power on rear face of the rack In these two cases Iminute is necessary to reconnect the transmission and to initialize the software General command section side the screen is composed of several buttons to manage some Figure 5 9 Bottom section of the HMI General command section DEFAULT button permits to change all the parameters with the factory configuration A ini file initialized in factory is loaded with a standard configuration LOAD button is coupled with the Trigger command in the General section When Trigger command is selected Load button permits to select txt file containing the data to send on the actuator with a rise edge trigger The following screen appears to indicate the loading process in the FPGA memory of the UC75 The memory proof is up to 16384 samples CEDRAT TECHNOLOGIES 34 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information eo Eichier Edition Affichage Projet Ex cution Qutis Fen tre Aide Lia a a Eicher Edition Affichage Projet Ex cution Outils Fen tre Aide BIS e u Figure 5 10
52. well adapted for static application where a low bandwidth is required e The second one is a 2 order stop band filter placed at the resonant frequency of the actuator see the next paragraph for more detail This filter is well adapted for applications which require more bandwidth In any case these filters increase the time response of the actuators to reach the desired position Bode Diagram Bode Diagram HH H teed i a a H oO HE 7 Magnitude dB Magnitude dB I Phase deg Phase deg Frequency Hz Frequency Hz Figure 2 4 Frequency response of different ideal filters low pass filter and Stop band filter The low pass filter is a 2 order low pass Butterworth filter described with the following formulae Out jo _ l In ja joy JO y With the cut off pulsation of the filter and z the damping 2XZX jortl The stop band filter is a 2 order stop band Butterworth filter described with the following formulae 2 AE Out j _ IT x2xz 1 0 0 O O With the centre pulsation of the filter and z the damping To learn more please see below 82 1 3 4 5 sections CEDRAT TECHNOLOGIES 8 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information Pre shaper The pre shaper is used principally when a step response is required This function helps the regulator when large D term must be added or when higher mechanical
53. with a new version of software directly from our Web site An installation sequence as the first installation described in paragraph 4 2 2 is NOT necessary only the download of the file named HDPM_1channel_vxx exe is necessary We recommend contacting us and going on our website to download the latest version of the software http www cedrat groupe com CEDRAT TECHNOLOGIES 45 47 Version 1 1 01 12 07 UC75 UC75 MC Product and Warranty information 8 HARDWARE PERFORMANCES In the following table we summarize the different performances of the UC75 UC75 MC with the highly dynamic and precise motion software in function of the number of channel 1 Channel 2 Channels 3Chamels Ts TBC TBC Number of 16 analogue Inputs 13 are used to control display the behaviours of channels from the actuator with sensor command and driver User ports 4 analogue outputs 3 are used to command the actuator 8 digital Inputs Outputs 3 are used to control the driver Pre shaper Yes with a memory proof up to 16385 samples with a sampling rate of Ts Low pass 2 order filter with cutoff frequency adjusted in factory Stop band 2 order filter with stop frequency adjusted in factory Output voltage Yes between 20 to 150V limitation of the driver Power supply 15 to 30Volts DC 200mA Figure 8 1 Performances of the UC75 UC75 MC Remarks Cedrat Technologies can provide different configurations to inc
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