GRIPPING POWER EPS200 User manual

EPS200
Electrostatic Chuck DC Power Supply
Users Manual
http://www.GrippingPower.com
G r i p p i n g P o w e r , I n c.
11930 44th St. North, Suite B Clearwater, FL 33762 (727) 572 -4100

Gripping Power, Inc 2 EPS200 User s Manual
Products newly manufactured by Gr ipping Power, Inc. (GPI), Clearwater, Florida are
warranted against defects in materials and workmanship for a period of one year from the
original date of delivery.
This warranty does not cover damage from, or failure attributable to, acts of nature, ab use,
misuse, improper usage, faulty installation, or any modifications not expressly authorized in
writing by GPI.
Within the warranty period, GPI will, at our option, repair or replace the item determined to be
defective within the terms of this warranty . After the warranty period, there will be charges
rendered for any repairs, adjustments or upgrades made to the product by GPI, including, but
not limited to, charges for shipping, insurance, parts and labor.
Factory reconditioned and refurbished GPI eq uipment is warranted against defects in materials
and workmanship for a period of 90 days from the date of delivery.
GPI is not responsible or liable for indirect, special, or consequential damages arising out of, or
in connection with, the use or perfor mance of the product or other damages with respect to loss
of property, loss of revenues or profit, or costs of removal, installation or reinstallation.
Except as provided herein, GPI makes no express warranties, and any implied warranty,
including warra nties of merchantability or fitness for a particular purpose, is limited to a period
of ninety days from the original date of delivery.
This warranty gives you specific legal rights. You may have additional rights that vary from
state to state.
Do cument G29303 - 01, Rev A (printed July 2005)
No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in
any form or by any means without prior written permission of Gripping Power, Inc.
The information contained herein is subject to change without notice.
Copyright (c) 2005 by Gripping Power, Inc. (USA).
All rights reserved.
http://www.GrippingPower.com

Gripping Power, Inc 3 EPS200 User s Manual
Table of Contents
1. INTRODUCTION
1.1. Introduction 5
1.2. Features 5
1.3. Local Operation 5
1.4. Remote Operation 5
1.5. Programmability 5
2. INS TALLATION
2.1. Installation 6
2.2. AC Power Requirements 6
2.3. RS - 232 Serial Interface 6
2.4. Digital/Analog Remote Interface 6
2.5. High Voltage Connections 6
2.6. Load Connections 7
3. OPERATION
3.1. Operation 8
3.2. The Front Panel 8
3.3. Setting the Operating Mode 8
3.4. Local Operating Mode 9
3.5. Digital R emote Mode 9
3.6. Analog Remote Mode 9
3.7. RS - 232 Remote Mode 10
3.8. RS - 232 Command Lockout 11
3.9. DeviceNet Mode 11
4. PROGRAM AND CONTROL COMMANDS
4.1. Introduction 12
4.2. High Voltage Control Commands 12
4.3. Status Information Commands 14
4.4. T1, T2 and T3 Timer Commands 16
4.5. Digital Output Control 18
5. PROGRAMMING
5.1. Introduction 19
5.2. Program Specific Commands 19
5.3. Special Program Commands 19
5.4. Program Control Commands 20
5.5. Entering Program Commands 21

Gripping Power, Inc 4 EPS200 User s Manual
6. TROUBLESHOOTING
6.1. Introduction 23
6.2. Overload Fault 23
6.3. Alarm Output 23
6.4. No Output 23
6.5. Component Replacement 23
APPENDIX A - Programming Examples
APPENDIX B - Technical Specifications
APPENDIX C - RS - 232 Connector Specification
APPENDIX D - Remote Control Interface Specifications
APPENDIX E - Ordering and Service Information

Gripping Power, Inc 5 EPS200 User s Manual
1. INTRODUCTION
1.1. Introduction. Th e Gripping Power, Inc. EPS200 high voltage DC power supply was
designed to drive semiconductor wafer electrostatic chucks in all process conditions, with
years of reliable performance.
1.2. Features. The EPS200 is microprocessor based and is fully programma ble. One local
and three remote operating modes are provided. The unit is available with either 1kV or
2.5kV true floating, bipolar outputs. The high voltage output is continuously variable, with
output load voltage tracking and user defined current limi ting. A back - lit LCD displays
voltage, current and status information.
1.3. Local Operation. The local operation mode provides the user the means of testing
programs and diagnosing hardware problems, via the EPS200 front panel, without the use of
a host computer interface.
1.4. Remote Operation. Serial RS - 232, digital, and analog remote control modes are
provided. All electrical interfaces are isolated from the high - voltage output and are ground
referenced. The high - voltage can be turned on and off via a s ingle digital bit input. An
analog input is provided for remote high voltage control. Two digital output signals are
provided to minimize interface problems when replacing mechanical chuck mechanisms
with electrostatic chucks. A digital alarm output sign al is also provided.
1.5. Programmability. The EPS200 can store up to ten user defined programs that control
the chuck and dechucking operation. Each program can be up to 32 steps long. The unit
may be directed to execute any one of the ten stored programs, giving the user maximum
flexibility in both the setup phase, when testing chuck reliability, and in production
operation. All ten of the EPS200 programs are stored in nonvolatile RAM and can be
downloaded to a host computer. The EPS200 programming comman d set provides the user
optimum flexibility for developing sophisticated chucking algorithms for multiple process
conditions.

Gripping Power, Inc 6 EPS200 User s Manual
2. INSTALLATION
2.1. Installation. The EPS200 is designed for installation in a standard 9.5 inch equipment
half - rack or it can be use as a desktop instrument.
Figure 2.1 - EPS200 Rear Panel
2.2. AC Power Requirements. Power is supplied to the unit via the IEC 320 receptacle,
located on the real panel. The AC power cord provided with the EPS 200 is for North
Amer ican usage at 120 VAC, 60 Hz. The unit can operate from 90 to 264 VAC at a line
frequency of 47 to 63 Hz and is internally fused for safety. Contact the factory for power
cords and accessories for installation and operation in other areas of the world.
2.3. RS - 232 Serial Interface. The RS - 232 serial interface is a 9 - pin, D - style subminiature
female connector, located on the rear panel. The unit is configured as DCE without modem
control lines such as CTS, RTS or DTR. The host terminal or computer should be
configured for 9600 baud, no parity, eight data bits, one stop bit. When uploading ASCII
text programming files, use a 100 millisecond line - to - line delay. Additional information
detailing the communication specifications and serial interface is availabl e in Appendix C.
2.4. Digital/Analog Remote Interface. The digital and analo g interface is a 15 - pin, D -
style subminiature female connector, located on the rear panel. The remote high voltage go
on, analog setpoint, clamp is up, clamp is down, and alarm outputs are contained in this
connector. The connector definition is shown in Appendix D.
2.5. High Voltage Connections. The power supply high voltage output is via the two BNC
connectors located at rear of the unit. The outer ring of these connectors is electrically
isolated from ground and is not referenced to the high - voltage o utput. Connections to the
outer conductors can be terminated at a common ground point, or left floating without
affecting the performance of the EPS200.
WARNING: High - voltages are produced by the EPS200.
Installation and operation of the unit should be performed
only by qualified and authorized personnel.

Gripping Power, Inc 7 EPS200 User s Manual
2.6. Load Connections . For proper operation and continued reliability, the high voltage
outputs of the EP S200 must be electrically isolated from extremely high DC bias voltages,
high power RF fields or other sources of potential damage.
It is highly recommended that only accessories manufactured, or specifically authorized, by
Gripping Power, Inc. should b e used with the EPS200 when developing an electrostatic
chuck application for plasma processes. Gripping Power, Inc. can provide interconnect
cables, RF decouplers and other accessories to meet any specific need.
A typical electrostatic chuck applicatio n for a semiconductor plasma process is shown
below. All of the components are required for proper chucking operation and protection of
the EPS200 power supply.
Figure 2.2 - Typical Installa tion

Gripping Power, Inc 8 EPS200 User s Manual
3. OPERATION
3.1. Operation. The EPS200 is specifically designed to operate electrostatic chucks and it
provides many features that are not normally associated with a general purpose, high -
voltage power supply.
Figure 3 .1 - EPS200 Front Panel
3.2. The Front Panel. The EPS200 front panel user interface is simple to operate. The
operation of the various switches is explained in the following sections. The four line,
backlit LCD panel provides program and status information.
Figure 3.2 - LCD Status Display
3.3. Setting the Operating Mode. The EPS200 has a local operating mode and four
remote operating modes. The local mode can be used for testing and developing new
programs. The remote mode, which disables the front panel setpoint adjustment, is
normally used in a production process where repeatability and automated processing is
desired.
3.4. Local Operating Mode. The local mode is entered by setting the LOCAL/REMOTE
switch on the front panel to the LOCAL positi on. The mode indicator will display Local
when the unit is in local mode.
If the HV ON switch is in the ON position, when the mode is set to local, the HV ON fault
indicator will blink. The fault will not clear until the switch is set to the off posit ion. When
the HV ON switch is depressed, and all pending faults have been cleared, the power supply
executes the currently active program, without a remote control interface required.

Gripping Power, Inc 9 EPS200 User s Manual
The high voltage output voltage setpoint can be changed via the setpoi nt adjust switch on
the front panel. Changes made to the high voltage setpoint in the local mode will alter the
remote mode high voltage setpoint as well. No provision is provided in the local mode to
adjust the overcurrent trip point, or change the acti ve program. All other parameters must
be adjusted via the RS - 232 remote mode.
3.5. Digital Remote Mode. The digital remote operating mode is entered by setting the
LOCAL/REMOTE switch on the front panel to the REMOTE position. Press the mode
select switch until 'DigRem' is displayed in the mode indicator area of the status display.
Note that the HV ON switch is ignored when in digital remote mode.
The default output voltage used during the HV ON cycle is displayed and may not be
changed while in this oper ating mode. The HV ON command is given in this mode via the
15 - pin control connector in the rear of the unit. Refer to Appendix D for digital remote
mode interface information.
When the HV ON signal is activated, the power supply executes the currently selected
program. As with any other program, the execution of the program may change the output
voltage from the stored value. If the previously stored high voltage setting is desired, the
selected program should not contain a SV commands, which will alter the stored output
voltage setpoint.
3.6. Analog Remote Mode. The analog remote operating mode is entered by setting the
LOCAL/REMOTE switch on the front panel to the REMOTE position. Press the mode
select switch until 'AlgRem' is displayed in the mode ind icator area of the status display.
Note that the HV ON switch is ignored when in analog remote mode.
The high voltage output setpoint used during the HV ON cycle is obtained from the 15 - pin
control connector, on the rear of the unit. The analog voltage is converted to a setpoint and
displayed on the status display. The high voltage output will not track the analog input.
The analog input is sampled only when the HV ON command is given. The HV ON
command is given in this mode via the 15 - pin control conn ector in the rear of the unit via
the digital remote interface. Refer to Appendix D for interface information.
When the HV ON signal is activated, the power supply executes the currently selected
program. As with any other program, the execution of the program may change the output
voltage from the stored value. If the exclusive use of the analog input voltage setting is
desired, the selected program should not contain a SV commands, which will alter the stored
output voltage setpoint.
3.7. RS - 232 Remote Mod e. The RS - 232 remote operating mode is entered by setting the
LOCAL/REMOTE switch on the front panel to the REMOTE position. Press the mode
select switch until 'RS -232 is displayed in the mode indicator area of the status display.
Note that the HV ON s witch is ignored when in RS - 232 remote mode.
T he host computer must be capable of supporting a 9600 baud DTE RS - 232 device and have
the proper software installed, to communicate with the EPS200 via the RS - 232 serial port.
Refer to Appendix C for RS - 232 i nterface specifications.
A versatile command protocol has been developed for the EPS200 with the intent to make it a
flexible production or development instrument designed to fit any need. Refer to sections four

Gripping Power, Inc 10 EPS200 User s Manual
and five for additional information on the EPS200 command set and program development.
There are two immediate command formats used with the EPS200.
Immediate mode command only format:
> a [sp] cc [cr]
Immediate mode command with parameters format:
> a [sp] cc [sp] dddd [cr]
All messages sent to the EPS200 must start with an ASCII '>' (hex 3E) or the following fields
will be ignored. The following one byte code [a] is the unique address of the target unit. This
code is a hex - ASCII value ranging from 0 - 9 and A - F. The EPS200 currently only suppor ts
address zero (hex 32).
ASCII space characters [sp] (hex 32) act as delimiters and must be inserted as shown between
fields. No space is permitted after the attention character and the address field. The following
field [cc] is the command field, whic h contains a two byte ASCII character from the EPS200
instruction set.
The data field, if it is used, may contain up to four ASCII bytes. For example, if the desired
target voltage is 850 volts, then an ASCII '850' should be in the data field.
After t he complete message has been sent, a carriage return (hex 0D) must be sent to unit to
indicate the end of the message. If the last byte after the command message is not a carriage
return, of the command does not pass syntax checks, the data will be ignore d and a ?
character will be returned. Multiple commands per line are not allowed.
Except where indicated, the EPS200 buffers the incoming data, tests for a valid command,
executes or stores it. The acknowledge message will be returned to the host only after the
command has been processed. The unit will not respond to further polls until the previously
received command has been processed and acknowledged.
3.8. RS - 232 Command Lockout. If the EPS200 is running a program the unit will only
respond to a subs et of commands, which provide limited control and status information only.
This feature prevents conflicting or improper settings from being received by the unit.
AB Abort the current program
MV Measure volts at terminals
MI Measure current at termina ls
OF High voltage off/stop program
R1 Read timer 1 (user time delay)
R2 Read timer 2 (HV on time)
R3 Read timer 3 (OEM odometer)
RC Return compliance value
RI Return overcurrent trip point
RM Report maximum voltage
RP Return program number/step/ru n- stop
RS Return hardware status
RV Return voltage setpoint
?? HELP command
Table 3.1 - Valid RS - 232 Commands When a Program is Executing

Gripping Power, Inc 11 EPS200 User s Manual
Even when the EPS200 is in local mode, the host computer can still poll the unit via RS - 232 to
determine why the unit is not responding to configuration changes by decoding the status byte
(RS command). The host computer can prompt a user to toggle the front panel mode switch to
the remote position, so that processing can continue. The AB and OF commands ar e included
as a remote safety feature.
AB Abort the current program
OF High voltage off
RP Return program status
RS Return hardware status
Table 3.2 - Valid RS - 232 Commands in Local Mode
3.9. DeviceNet Mode. The DeviceNet remote operat ing mode is entered by setting the
LOCAL/REMOTE switch on the front panel to the REMOTE position. Press the mode
select switch until 'DevNet' is shown in the mode display. The EPS200 currently does not
support DeviceNet and will ignore all commands until it is returned to one of the other three
operating modes.

Gripping Power, Inc 12 EPS200 User s Manual
4. PROGRAM AND CONTROL COMMANDS
4.1. Introduction. The command set of the EPS200 has been designed to provide the user
with outstanding process flexibility. In addition to basic on and off commands, th ere are a
wide range of reporting, configuration, and control commands. All EPS200 commands,
except SO, WF and WT can be used in immediate mode, as shown in the examples. Refer
to section five for additional information on program specific commands.
In all modes, other than the RS - 232 remote mode, all serial commands will be ignored,
except for AB, OF, RS and RP. Unless otherwise indicated, most commands do not require
numerical parameters. When entering numerical parameters, leading zeros, or fixed le ngth
fielding is not required. Current and voltage units are reported in volts and microamps.
4.2. High voltage control commands. The following commands control, and adjust
parameters related to, the high voltage output.
4.2.1. (CF) Set high voltage compliance of f. If the user expects the load to change
significantly, such as during thermal stabilization, the EPS200 can be set to ignore
compliance faults completely by sending a CF command.
Send: >0 CF [CR]
Receive: >0 CF [CR]
4.2.2. (CN) Set high voltage compliance on. Once the load had stabilized and voltage
tracking errors are significant, a CN command will turn the voltage compliance error
detection on. Voltage compliance deviations outside the compliance widow will
produce an overload fault.
Send: >0 CN [CR]
Receive: >0 CN [CR]
4.2.3. (OF) High voltage output off. If an OF command is received, when a program
is not executing, the high voltage output is immediately turned off. If a program is
running, and a WF instruction was active, the program will continue nor mal execution.
Send: >0 OF [CR]
Receive: >0 OF [CR]
4.2.4. (ON) High voltage output on. If an ON command is received and a program is
not executing, the high voltage output is immediately turned on. The output will
remain on until another command is receiv ed that can override the high voltage on
condition. If a program is running, the ON command will be ignored.
Send: >0 ON [CR]
Receive: >0 ON [CR]
4.2.5. (SB) Set output to default value. During a program run, the SO value can
temporarily change the high vol tage output from the stored setpoint value. The high
voltage output can be reset back to the stored setpoint by executing a SB command .
Send: >0 SB [CR]
Receive: >0 SB [CR]

Gripping Power, Inc 13 EPS200 User s Manual
4.2.6. (SC) Set high voltage compliance window. Once the high voltage is on, the
u nit will attempt to adjust the output voltage to compensate for varying load conditions.
If the high voltage output deviates outside of the compliance window, an overload error
will be produced. The compliance window can be up to 99 VDC. Valid parameter s are
0 up to 99.
Send: >0 SC 10 [CR]
Receive: >0 SC 10 [CR]
4.2.7. (SV) Set high voltage setpoint. The SV command sets the value of the high
voltage output used whenever the ON command is issued directly or within a program
in RS - 232, digital remote, local or DeviceNet modes. This value is ignored in analog
remote mode. Valid parameters are 0 up to 1000 for a 1kV unit and 2500 for a 2.5kV
unit.
Send: >0 SV 900 [CR]
Receive: >0 SV 900 [CR]
4.2.8. (SI) Set overcurrent trip point. The SI command sets the value of the
overcurrent trip point used in all operating modes. The EPS200 will turn off the high
voltage output when the overcurrent trip point is reached. When this occurs, the alarm
output is set and the unit displays an 'Overload' message. The alarm conditi on can be
cleared by any user acknowledge, such as a status poll or a toggling of the
REMOTE/LOCAL switch. Valid parameters are 0 up to 1000 microamps.
Send: >0 SI 500 [CR]
Receive: >0 SI 500 [CR]
4.2.9. (RM) Report maximum voltage. The RM command is used t o indicate the
maximum full scale range of the EPS200. All units have a 0 to 1000 VDC or 0 to 2500
VDC range.
Send: >0 RM [CR]
Receive: >0 1000 [CR]
4.2.10. (SH) Shunt HV output. The SH command will cause the power supply to
short the output terminals throug h the internal output resistor network. This command
can be beneficial in removing residual charges left on the chuck before or after
processing.
Send: >0 SH [CR]
Receive: >0 SH [CR]
4.2.11. (TP) Toggle polarity. The TP command causes the output voltage polar ity to
reverse. If the high voltage is on, the output will turn off and then back on at the
reverse polarity. If the high voltage is not on, the polarity will reverse with the next
HV ON command. The value of the setpoint voltage does not change. Rever sing the
chuck voltage polarity is typically performed to remove charge from the chuck surface
when dechucking substrates.
Send: >0 TP [CR]
Receive: >0 TP [CR]

Gripping Power, Inc 14 EPS200 User s Manual
4.2.12. (PP) Set polarity positive. The PP command causes the output voltage
polarity to be set t o positive. If the high voltage is on and at the opposite polarity, the
output will turn off and then turn back at the assigned polarity. If the high voltage is
not on, the set polarity command will take effect with the next HV ON command. The
value of the setpoint voltage does not change.
Send: >0 PP [CR]
Receive: >0 PP [CR]
4.2.13. (NP) Set polarity negative. The NP command causes the output voltage
polarity to be set to negative. If the high voltage is on and at the opposite polarity, the
output will t urn off and then turn back at the assigned polarity. If the high voltage is
not on, the set polarity command will take effect with the next HV ON command. The
value of the setpoint voltage does not change.
Send: >0 NP [CR]
Receive: >0 NP [CR]
4.3. Status information commands. The following commands provide status information
about the unit, operating parameters or program condition.
4.3.1. (ID) Return software version. The ID command returns the software version
installed in the EPS200.
Send: >0 ID [CR]
Receive: >0 EPS200 01.30 [CR]
4.3.2. (RS) Return Status. The RS command will return a four byte ASCII
hexadecimal value which can be decoded to determine the status of the unit. This
command is valid in all operating modes, including local mode.
Send: >0 RS [CR]
Receive: >0 dddd [CR]
The dddd is an ASCII hexadecimal value. Each bit represents an operating mode or
condition of the unit. Bits D11 to D15 are not used and are fixed at a value of 0 .
D10 Voltage compliance mode (active/inactive)
D9 Overcur rent/overload fault
D8 Voltage compliance fault
D7 EPS200 mode bit (see table 4.2)
D6 EPS200 mode bit (see table 4.2)
D5 Local/Remote switch position
D4 HV is on
D3 Output polarity
D2 Program stop/run
D1 CLAMP IS DOWN bit is on
D0 CLAMP IS UP bi t is on
Table 4.1 - 16 bit Status Data Bit Description
The EPS200 operating mode can be determined by decoding bits 6 and 7.

Gripping Power, Inc 15 EPS200 User s Manual
D7 D6
0 0 RS - 232 interface
1 0 Digital remote interface
0 1 Analog remote interface
1 1 DeviceNet i nterface
Table 4.2 - EPS200 Mode Bits in the Status Value
The Local/Remote switch bit (D5) will be set when the front panel switch is in the
remote position and cleared when the switch is in the local position. The program
run/stop bit (D2) w ill be set when a program is running and the bit will be cleared when
a program is aborted or has completed.
The polarity bit (D3) is cleared when the power supply output is in a positive polarity
mode and the bit will be set when the power supply output is in a negative polarity
mode, whether high voltage is actually present or not. The polarity bit will be static
until a PP, NP or TP command is received.
The remaining bits are set when the indicated condition is active and reset when they
are inactiv e.
4.3.3. (RP) Return program status. The RP command returns the number of the
selected program, the program step number that is currently executing (if any), and the
activity of the program (running or stopped).
Send: >0 RP [CR]
Receive: >0 P0 01 S [CR]
In this example, the selected program is program zero (P0), the current step is step one
(01) and the program is stopped (S). If a program is running, the last character will be
a (R).
4.3.4. (MI) Measure current at terminals. The MI command returns the measure d
value of the EPS200 output current. The value is expressed in microamps. The sign
will be positive (+) or negative ( - ).
Send: >0 MI [CR]
Receive: >0 - 250 [CR]
4.3.5. (MV) Measure volts at terminals. The MV command returns the measured
value of the volta ge at the EPS200 output terminals. The voltage value is expressed in
volts. The sign will be positive (+) or negative ( - ).
Send: >0 MV [CR]
Receive: >0 +750 [CR]
4.3.6. (RC) Return compliance value. The RC command returns the value of the
voltage compliance window, in volts, as set by the SC command.
Send: >0 MV [CR]
Receive: >0 10 [CR]

Gripping Power, Inc 16 EPS200 User s Manual
4.3.7. (RI) Return overcurrent trip point. The RI command returns the setting of the
overcurrent trip value, in uA, as set by the SI command.
Send: >0 RI [CR]
Receive: >0 500 [CR]
4.3.8. (RV) Return voltage setpoint. The RV commands returns the current value of
the stored high voltage setpoint used in all of the operating modes. This value is set by
the SV command.
Send: >0 RV [CR]
Receive: >0 900 [CR]
4.4. T1, T2 and T3 timer comm ands. The timer commands allow the user to reset, load,
start and display the timer data. The EPS200 has three process timers: one general purpose
and two high - voltage activity monitors.
Timer 1 (T1) is a user programmable timer that can be used as a countdown timer, when
used in conjunction with the WT command. The resolution of T1 is one second. It has a
maximum time period of 59 minutes and 59 seconds.
Timer 2 (T2) tracks the period the high voltage has been on, since timer 2 was last cleared,
u sing the C2 command. Timer 2 can be used as a chuck or chamber preventative
maintenance timer. The resolution of T2 is one second. It has a maximum time period of
59,999 hours, 59 minutes and 59 seconds.
Timer 3 (T3) is the OEM high voltage on timer. T his timer cannot be reset and is used by
the manufacturer for MTBF information. The resolution of T3 is one minute. It has a
maximum time period of 59,999 hours and 59 minutes.
4.4.1. (C1) Clear timer 1. The C1 command resets the T1 general purpose timer to
00 :00 and stops it.
Send: >0 C1 [CR]
Receive: >0 C1 [CR]
4.4.2. (ST) Set timer 1. The ST command loads the user defined time - out value into
timer 1 and starts the timer. The minutes and seconds entry may be entered as seconds
alone.
Send: >0 ST mmss [CR]
Receive: >0 ST mmss [CR]
4.4.3. (RT) Reload and start timer 1. The RT command reloads T1 with the value
previously specified by the ST command and restarts the timer.
Send: >0 RT [CR]
Receive: >0 RT [CR]
4.4.4. (R1) Read timer 1. The R1 command returns the time remaining on the T1
timer.
Send: >0 R1 [CR]
Receive: >0 12m 34s [CR]

Gripping Power, Inc 17 EPS200 User s Manual
4.4.5. (C2) Clear timer 2. This command resets the T2 timer to 00:00. If timer 2
is reset with the high voltage in the on state, the timer will reset and continue timing
until the high v oltage is turned off.
Send: >0 C2 [CR]
Receive: >0 C2 [CR]
4.4.6. (R2) Read timer 2. The R2 command returns the time that the high voltage has
been on, since the prior reset of the T2 timer. This time can be used as a chuck or
chamber preventative maintenan ce indicator.
Send: >0 R2 [CR]
Receive: >0 5h 49m 24s [CR]
4.4.7. (R3) Read timer 3. The R3 command returns the contents of the OEM
cumulative high voltage on period timer. This timer may not be reset by the user.
Send: >0 R3 [CR]
Receive: >0 345h 23m [CR]
4.5. Digital output control. The EPS200 provides the user with three digital output bits.
Two of those bits are available to the user for emulating mechanical clamp interfaces. The
bits are identified as clamp is up and clamp is down.
When a clam ping/chuck operation is started, clamp is up is normally cleared and clamp
is down is set active. When the chucking operation is completed, clamp is up is
normally set and clamp is down is cleared. The user must set the bits to the preferred state
throughout a program.
If an abort (AB) command is received, or a fault is cleared, the EPS200 will automatically
reset the bits to the default state of clamp is up set and clamp is down cleared.
4.5.1. (CD) Clear the clamp is down bit. The CD command sets the clamp is
down output bit off. The clamp is down output is an open- collector output and will
be left floating when the bit is in the off condition
Send: >0 CD [CR]
Receive: >0 CD [CR]
4.5.2. (CU) Clear the clamp is up bit. The CU command sets the clamp is up
output bit off. The clamp is up output is an open- collector output and will be
left floating when the bit is in the off condition.
Send: >0 CU [CR]
Receive: >0 CU [CR]
4.5.3. (SD) Set the clamp is down bit. The SD command sets the clamp is down
output bit on. The clamp is down output is an open- collector output and will be
driven low, to digital common, when the bit is in the on condition.
Send: >0 SD [CR]
Receive: >0 SD [CR]

Gripping Power, Inc 18 EPS200 User s Manual
4.5.4. (SU) Set the clamp is up bit. The SU command se ts the clamp is up output
bit on. The clamp is up output is an open- collector output and will be driven low, to
digital common, when the bit is in the on condition.
Send: >0 SU [CR]
Receive: >0 SU [CR]

Gripping Power, Inc 19 EPS200 User s Manual
5. PROGRAMMING
5.1. Introduction. One of the unique features of the EPS200 is its ability to allow the user
to develop complex chucking algorithms using a proprietary command language. The unit
can store up to ten programs that control the chucking and dechucking operation. Each
program can be up to 32 s teps long. The unit may be directed to execute any one of the ten
stored programs, giving the user maximum flexibility in both the setup phase, when testing
chuck reliability, and in production operation. All ten of the EPS200 programs are stored in
nonv olatile RAM and can be downloaded to a host computer. The EPS200 programming
command set provides the user optimum flexibility for developing sophisticated chucking
algorithms for multiple process conditions.
5.2. Program specific commands. In addition to th e general purpose commands detailed
in section 4, there are additional commands that that can only be used within programs or
are related to program control.
5.3. Special program commands. These commands that have unique functions and are
related to program f low or have other special functions. These commands can only be used
from within a program.
5.3.1. (WF) Wait for HV off. This command will cause a program to pause execution
and wait for an high voltage off condition or command. If a high voltage off
condit ion is already present when the WF instruction is encountered, program
execution will continue with the next instruction
Instruction Format: WF[CR]
In local mode, once a program has been started by pressing the high voltage switch and
a WF is encountered , the EPS200 will wait for the switch to be set to the off position.
In digital or analog remote mode, once a program has been started by setting the high
voltage go on bit and a WF is encountered, the EPS200 will wait for the high voltage
go on bit to be reset.
In RS - 232 remote mode, once a program has been started by sending a XP command,
and a WF is encountered, the EPS200 will wait for an OF command. Note that
changing from remote mode to local mode, while a program is executing, will have the
sa me affect as an AB command.
5.3.2. (WT) Wait for timer 1. This command causes a program to pause until timer
one expires. No arguments are required.
Instruction Format: WT[CR]
Before the WT command can be used, the program interpreter must have encountered a
RT or ST command. The RT or ST command will load and start the timer. When the
program interpreter encounters the WT instruction, program execution will stop until
the timer one count reaches 00:00.
5.3.3. (SO) Set high voltage output level. The SO command s ets the high voltage
output level from within a program. The SO command does not alter the setpoint value
stored in memory, which is set with the SV command. Valid parameters are 0 up to
1000 for a 1kV unit and 2500 for a 2.5kV unit.
Instruction Format: SO 825 [CR]

Gripping Power, Inc 20 EPS200 User s Manual
Once a program has terminated, any ON command will produce an output voltage that
corresponds to the most recent SV command setting. The SO command is useful to
develop sophisticated dechucking waveforms without affecting the setpoint for
chu cking.
5.4. Program control commands. The following commands provide the user the ability to
execute, abort, list and clear programs. Once the EPS200 has begun program execution,
only the AB program control command will be accepted, all others will be ignore d.
5.4.1. (AB) Abort the current program. The AB command stops the operation of the
current program, turns off the high voltage, resets the digital outputs, returns to
program step 01 and if possible, returns to the ready state.
Send: >0 AB [CR]
Receive: > 0 AB [CR]
5.4.2. (CP) Clear current program. The CP command erases all steps of the current
program. Be cautious in the use of this command. No prompt is provided. Only the
currently selected program, as indicated on the status display, is erased.
Send: > 0 CP [CR]
Receive: >0 CP [CR]
5.4.3. (CA) Clears all programs. The CA command clears all ten of the EPS200
stored programs. The user is prompted for a Y(es) or N(o) response to confirm that
erasure of all of the stored programs is desired.
Send: >0 CA [CR]
Receive: Preparing to clear ALL programs. [CR]
Are you sure (Y - N)? [CR]
5.4.4. (LP) List current program. The LP command sends a listing of the currently
selected program to the serial port. The output format includes line numbers so that it
may be uploade d into another EPS200. A simple program is shown for example.
Send: >0 LP [CR]
Receive: P0 [CR]
01 SV 850 [CR]
02 ON [CR]
03 WF [CR]
5.4.5. (Pn) Select program. The EPS200 supports up to 10 user defined programs,
stored as P0 through P9. To select a program, enter the desired program number
immediately after the select program mnemonic. All operating modes use the same
programs and all program locations (P0 - P9) are identical in function. The last program
selected remains in effect for all modes un it another select program command is
processed.
Send: >0 P3 [CR]
Receive: >0 P3 [CR]
5.4.6. (XP) Execute current program. The XP command causes the currently
selected program to begin execution. The return message indicates that the program