Axis 670 Manual de instrucciones

MicroMax™ Series 670 Single Axis Board Level Mirror Positioning System INSTRUCTION MANUAL Revision 2, December 21, 1998 CAMBRIDGE TECHNOLOGY, INC. 109

3.6.4. Command Input Scale Factor Calculation The Command Input scale factor is defmed as the nimiber of volts required at the input of the servo boar

and the desired Command Input Scale Factor = 2:1 or 1.0V/° mechanical Thus, R30 = (Command Input Scale Factor * R29) / (Position Output Scale Factor x

The command input offset adjustment potentiometer, Rl, confrols a DC input signal that is added to the normal input signal. RIO confrols the contribut

exceed the capability of the power supply or the board's output amplifier, noise and even instability can result. By controlling the maximum slew

3.7.1. Class 1 Our class 1 servo consists of the following circuits: position differentiator, position amplifier, error integrator, current integrator

The summing amplifier algebraically sums all four of these signals to obtain a composite signal that is sent to the output stage. During startup, a FE

used as another source of velocity information, hence damping. The advantage of this form of damping is its inherent low noise. Its bandwidth can be s

3.8.2. Output Stage Disable The output amplifier is disabled during the power up sequence and recovery from a fault condition. See sections 3.11 and 3

J43-GND#2 (jroimd retum of bypass capacitors. J4.4 - Error out Must have a shorting jumper on W9 1&2 for class 1, W9 2&3 for class 0. Class 0

3.13. Protection Circuits The 670 board has various protection features, some of wiiich have been mentioned above. The primary purpose of this circuit

TABLE OF CONTENTS 1.0. Introduction 2.0. Servo Amplifier Specifications 3.0. Description of Operation 3.1. Overview 3.2. Mechanical Layout 33. Input P

After 2 additional seconds (3 seconds from tum-on), the second stage of U8 resets and the following actions occur: 1. The error integrator is enabled

Do not operate the system under these condition or damage to the scanner may occur. See section 3.2. "Input Power" for a more detailed discu

4.0. Operating Instructions 4.1. Precautions and Warnings As a standard practice, keep the servo channel, scanner, and mirror together as a matched se

4.2. First Time Startup 1. Using the connector kit provided with your system, make the connectors for Jl and J3 as appropriate. Do not attach them to

11. For digital signals, input a 30 Hz square wave that spans about 5% ofthe field. For analog inputs, put in a square wave of about IV p-p at about 3

5.0. Limited Warranty CTI warrants that its products will be free of defects in material and workmanship for a period of one year from the date of shi

6.0. Appendices 6.1. Tnne-up procedure 6.1.1. Precautions Read the following procedure completely before attempting to retune the system. Serious dama

Once the scanner is tuned up, there is a procedure in section 6.1.9 that explains how to match the responses of two servo axis channels. For best X-Y

6.1.5. Adjusting the Position Output Scale Factor and the AGC Linearity The Position Output Scale Factor is precisely adjusted at Cambridge Technology

2. Tum on the power. 3. The system should perform its normal tum-on process as described in section 4.2. above. 4. Adjust the Command Input Offset Adj

6.0. Appendices 6.1. Tune-up Procedure 6.1.1. Precautions 6.1.2. Overview 6.1.2.1 The Order in which Adjustments should be made 6.1.3. Materials Neede

13. Repeat steps 4. - 12. above until the desired Position Output Scale Factor and Linearity are obtained simultaneously. This is an iterative process

8. Measure the distance from P2 to P3. Call this distance L2. 9. The Position Output Scale Factor, POSF, is obtained with the following formula: POSF

4. Apply a stable voltage into the Command Input. For digital input systems, send a 16384io output word to the digital input option, and set up W4 for

6.1.7. Closing the Servo Loop The following steps will close the servo loop and make all ofthe servo circuitry active. Again, it is stiessed that the

5. Apply power to the system. The system should perform its normal tum-on sequence and both scanners should center themselves. Check the voltages at T

: CH2 CH1=PositionOut :CH1: CH2=Position In A/ • , ;...;. ^ h ^ iii 2AAmV ^ Ch2 2 1 1 1 . . . ._i_. t T I J. t 1A_ • + t t A/ : : : • • • : : / • • 1

12. Tum R28 until the first overshoot is minimized. See Figure 6. Figure 6. : CH1: •CH2 :... r, 1 ... ••••• ^ i..T...:...:... + CHi=Position Out I C

6.1.7.1.2. Fine Tuning The purpose of this section is to adjust more carefully the "shoulder" ofthe step response. 1. Setup the system by pe

7. Tum R59 CW to eliminate the second overshoot. See Figure 11. This will make the first overshoot much larger. This will be corrected by R28 in the n

Note: Whenever the small angle step response is changed, the large angle step response should be checked in the Slew Rate Limiter Speed Adjustment sec

1.0. Introduction As the complexity and specification requirements of today's optical systems increase, so does the need for high performance, hi

6.1.7.1.3. Slew Rate Limiter Speed Adjustment Now that the small angle step response is set, the Slew Rate Limiter Speed Adjustment can be set to cont

6. As needed, adjust the Slew Rate Limiter Adjustment trimpot, R78, CW to slow the maximum slew rate of this large angle square wave as needed to keep

6.1.7.2 Class 0 The object of this procedure is to bring the servo gain up slowly while maintaining contiol ofthe scanners at all times. Move all the

7. The scanner should now be responding to the input waveform, but should look very underdamped. Continue to turn R28 CW until the oscillations just d

2'MmV VM"SmsExtyid/ i.S8V • CH2 • 1 CHI : / : : : : r^-...:...:... :l ^iii CH1=Position Out CH2=Posttion In •!• 4 T T i + t T T \i : J, t

Note the critical damping in figure 24. There is no appreciable overshoot nor undershoot. The step response for this scanner/servo system is about 1.2

6.1.7.2.2. Fine Tuning 1. Setup the system by performing steps 1,4, and 6 from section 6.1.7.2.1. above. 2. Tum on the system power. 3. Adjust the inp

I ... J ... . L ...' ~.. •CH1=Position Out . -; : : i CH2=Posilion in [ • CHr : i . . . : r [ [ CH2 r • [ • HBI 1 fv^''": :•-

6.1.8. Aligning the Mirror This procedure describes how to align the scanner mirror (load) while the servo is still active. Since the servo normally i

Note: There may be a small offset in position from Mirror Alignment Mode to Normal Mode. This is due to any friction and/or spring in the scanner and

2.0. Servo/Amplifier Specifications MicroMax 670XX Board Level Drive Electronics All angles are in mechanical degree. All specifications apply after a

6.1.9. Matching Two Servo (X and Y) Channels The purpose of this section is to match the dynamic performances of a dual axis X and Y system over all a

t • • • • 4- . . . . T ^ • . . ^- ... . • jj • -i-: : :r : : T CHi=Position out, x " : : 1 : : t CH2=Position out, Y ff • 7 • • • GH1 1 • J/

7. Input a full-field signal. See figure 34. While monitoring both channels, slow the faster channel's slew rate limiter trimpot, R78 to make the

6.2. 6740-XX Notch FUter Module 6.2.1 Background Theorv All mechanical systems are subject to vibrations via extemal excitation forces. The degrees of

6.2.2 Notch Filter Tuning Procedure The 6740-XX Notch Filter Module (NFM) is designed to be inserted into J5 of the 670 servo amp. The selection ofthe

e) Adjust the signal generator for about 200mV peak on current. This is a ballpark > figure. The main concern is that the current through the coil

load combination, ringing may still occur when tuning the scanner. This is especially true for high Q scanner torsional resonances. The viscous dampin

63. Schematics and Assembly Drawings This section contains the following schematic and assembly drawings. J, 4 5 6 7 8 9 10 670 Schematic D03310 670 A

nnisi TIT U13 W2 H 05 Ih IC4 I rR40n ""^ _ ^i ^^ I irn-g —'^ J6 + iL2Lh LmJ [W] n m mn inr R52 -" fRTOl nam i«o ^1 R42 J3 ^S n TP7

3.0. Description of Operation 3.1. Overview The 670 system's servo electronics are contained on a compact 2.5" x 4.0" multi-layer print

HRSn P9 (MU UST fR^n 5io"' iRion rRsnrRsn g fRion OSS U4 [SS GSED U11 R47 R93 PRsn Rg^CSOiO 'Q3"' ^JL lmo3~l ESQ fRsn EE U7 C

Jl (* PINl COMMAND INPUT CONNECTOR Z63-2.50-2_S5-© Tcm. F4 0 TP3 0 •m* :o) TPl r^l1J6 I II In Goojo 670 REV B J3 Wll 51l OTP2 W5 .rrai tr ik i ® IfflE

1h«9e drowixgs and specifications or* the property of CAMBRIDGE TECHNaOGY and shoD no) be reproduced, or copied, or used as the basis for the manufocl

(6)PLC'S WIRES ONLY NOT ON SHIELDS 1 • • rr-n o a a a a a o a 5 10 FACE VIEW OF PLUG Ihese drawings and spedlicotlons ore the property of CAMBRID

(6)PLC'S WIRES ONLY NOT ON SHIELDS Theis drowlnfs and speciflcations ore the properly of CAMBRIOGE TECHNOLOGY ond shot not be reproduced, or copi

Jl CABLE INSUL STRIPPED BACK 3/4" TYP (4)PLC'S SEE CENTER AUX VIEW INDIV WIRE INSUL STRIPPED & TINNED 1/8" TYP (12)PLC'S SEE C

These drawings and specifications are the property of CAMBRIDGE TECHNOLOGY and shall not be reproduced, or copied, or used os the basis for the monufo

(6)PLC'S WIRES ONLY NOT ON SHIELDS 1 n-r aa • • a • a • a a 5 10 FACE VIEW OF PLUG These drawings ond specifications ore Ihe property of CAMBRIDG

(6)PLC"S WIRES ONLY NOT ON SHIELDS These drowings and specifications ore the properly of CAMBRIDGE TECHNaOGY and shell not be reproduced, or copi

During system integration, ensure that there is sufficient clearance around and under the board to keep the circuits firom being shorted out, and that

attained the proper level. Proper gauging of wire and power supply sizing should be considered during the design integration ofthe system. **Note: If

be partially eliminated by the R77 trim on the 670 board. This trim is adjusted so that the AGC signal changes minimally through a full angular shaft