Nutfield Technology QuantumDrive 4000 User manual

Nutfield Technology, Inc.
1 Wall St., Suite 113
Hudson, NH 03051
USA
For QD-4000 Servo Drive Boards Only
© Copyright Nutfield Technology, Inc. 2010 All Rights Reserved. 91-0027 Rev. E
QuantumDrive-4000
Servo Drive Manual

ii QuantumDrive-4000 Manual
91-0027 Rev. E Copyright © Nutfield Technology, Inc. 6/2010
This Page Intentionally Left Blank

QuantumDrive-4000 Manual iii
91-0027 Rev. E Copyright © Nutfield Technology, Inc. 6/2010
TABLE OF CONTENTS
Copyright Notice.......................................................................................................................................v
SAFETY AND WARNINGS.................................................................................................................. vi
Laser Shutter Installation ................................................................................................................... vii
Installation Safety Requirements ....................................................................................................... vii
Safety Precautions During Usage......................................................................................................viii
1. Introduction.......................................................................................................................................1
2. READ THIS BEFORE CONNECTING...........................................................................................2
3. The Main and Personality Boards.....................................................................................................3
4. Quick Connect Guide........................................................................................................................3
5. Specifications ....................................................................................................................................7
6. Outline Drawings ..............................................................................................................................9
6.1 Mechanical Outline .........................................................................................................................9
6.1 Mechanical Outline .......................................................................................................................10
6.2 Jumpers, Test Points and LEDs.....................................................................................................11
6.2 Jumpers, Test Points and LEDs.....................................................................................................12
6.3 Connectors and Potentiometers.....................................................................................................13
6.3 Connectors and Potentiometers.....................................................................................................14
7. Connectors.......................................................................................................................................15
7.1 Power Connector (Main Board - J7) .............................................................................................15
7.2 Command Input Connector (Main Board - J3) .............................................................................16
7.3 Diagnostic Output Connector (Personality Board - J12)...............................................................17
7.3.1 Position Output.......................................................................................................................17
7.3.2 Position Error Output.............................................................................................................17
7.3.3 AGC Monitor .........................................................................................................................17
7.3.4 Velocity Output......................................................................................................................18
7.3.5 Slew Rate Output ...................................................................................................................18
7.3.6 Current Monitor......................................................................................................................18
7.4 Servo Enable Connector (Main Board – J8) .................................................................................18
7.5 Galvanometer Cables and Connections.........................................................................................19
7.5.1 Galvanometer Coil Connector (Main Board - J6)..................................................................19
7.5.2 Galvanometer Position Signal Connector (Main Board - J1) ................................................20
8. Power Requirements .......................................................................................................................21
9. Heat Sink Requirements..................................................................................................................22
10. Tuning .........................................................................................................................................23
10.1 Servo Tuning Potentiometers (Personality Board)......................................................................23
10.1.1 Position Proportional (R22) .................................................................................................23
10.1.2 Integrator (R47)....................................................................................................................23
10.1.3 Damping (R23).....................................................................................................................24
10.1.4 Error Proportional (R24)......................................................................................................24
10.1.5 High Frequency Bandwidth (R57).......................................................................................24
10.1.6 High Frequency Damping (R73)..........................................................................................24
10.1.7 Notch Filter 1 (R134)...........................................................................................................24
10.1.8 Notch Filter 2(R162)............................................................................................................24
10.2 Potentiometers (Main Board)......................................................................................................25
10.2.1 DC Offset (Command Offset) (R139)..................................................................................25

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10.2.2 PD Gain (R11)......................................................................................................................25
10.2.3 Slew Rate Limiter (R14)......................................................................................................25
10.2.4 Command Attenuator (R66).................................................................................................25
10.3 Match Tuning of X and Y Galvanometers..................................................................................25
10.4 Vector Tuning .............................................................................................................................25
10.5 Raster Tuning..............................................................................................................................26
11. Protection Circuits.......................................................................................................................27
11.1 Servo Faults.................................................................................................................................27
11.1.1 Power Failure Condition ......................................................................................................27
11.1.2 Under Voltage Condition.....................................................................................................27
11.1.3 Over Position Condition.......................................................................................................27
11.1.4 AGC Fail / Open Loop Condition........................................................................................28
11.1.5 Servo Ready Signal..............................................................................................................28
11.2 Fuse .............................................................................................................................................29
13. Service And Support ...................................................................................................................30
13.1 Product Return Procedure ...........................................................................................................30
13.2 Contact Information ....................................................................................................................30
14. Warranty......................................................................................................................................31

QuantumDrive-4000 Manual v
91-0027 Rev. E Copyright © Nutfield Technology, Inc. 6/2010
Copyright Notice
Nutfield Technology, Inc. (NTI) has produced this document for internal use and for use by its
licensees, and potential licensees. Use of this document does not grant the user any license or
warrantee beyond the terms and conditions set forth in the written contracts and license agreements
between Nutfield Technology, Inc. and its customers. NTI reserves the right to change the products
described in this document as well as information included herein without notice. Refer to your
License Agreement for restrictions on use, duplication, or disclosure. Government users and prime
contractors are also governed by the following restricted rights legend:
RESTRICTED RIGHTS LEGEND. Use, duplication, or disclosure by the U.S.
Government is subject to the Rights in Technical Data and Computer Software clause at
DFARS 252.227-7013 © (1) (ii) (Oct. 1988) and FAR 52.227-19 © (June 1987) or other
agency provision is as applicable.
Copyright © 2007 Nutfield Technology, Inc. – All rights reserved under the copyright laws of the
United States of America.

vi QuantumDrive-4000 Manual
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SAFETY AND WARNINGS
Nutfield Technology products are designed to provide maximum flexibility and ease of use. Such a design
inherently requires the user to assure the overall safety of the configuration in use. Please follow carefully the
requests for the different laser classes.
It is the user's responsibility to ensure that the following is understood:
1) Before installation or usage of a laser system you have to be aware about the regulations on laser safety.
2) During maintenance activities of laser systems the laser safety classes may change. In that case the
customer has to take appropriate actions in advance.
3) Certified lasers contain features to assist in their safe usage. These protective features and the protective
features within the Nutfield Technology products should not be defeated.
Prior to operating any configuration of the Nutfield Technology Scan Heads, you must make a
thorough analysis of system safety. Key information for this purpose is contained in this
manual. You must thoroughly familiarize yourself with all this information before proceeding.
The first consideration in a safety analysis is the laser mated to the Nutfield Technology product. The hazard
level of the laser is roughly indicated by the Laser Class label that is on the device. A brief description of the
radiation classes are shown in the following table.
Note that, besides radiation, lasers may present other hazards, e.g.; electric shock or creation of poisonous
fumes.
Nutfield Technology Scanners provide you with the ability to aim the laser beam over a roughly pyramidal
volume. The divergence of the focused beam beyond the focal point, which is a function of the lenses
selected and their position, can cause radiation to exit the pyramid. When analyzing safety, you must consider
all regions within this aiming pyramid, the divergent beam, and the effects of all focal possibilities in the zone
of hazard. Reflections must also be considered.
Classes and
Characteristics
of Lasers
LASER CLASS DESCRIPTION
Class I Lasers are not considered to be hazardous.
Class IIa Lasers are hazardous if viewed for periods greater than
one thousand seconds.
Class II Lasers are chronic viewing hazards.
Class IIIa Lasers may represent acute, intrabeam viewing or chronic
or acute viewing hazards when viewed with optical
instruments.
Class IIIb Lasers are an acute hazard to skin and eyes from direct
radiation.
Class IV Lasers are an acute hazard to skin and eyes from direct or
scattered radiation.

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Laser Shutter Installation
The laser attenuator (shutter) is not included with the scanners. Because each laser is unique, it is the user's
responsibility to ensure that such a device is incorporated in the installation in conformance with CFR
regulations (1040.10[f][6]), which reads as follows:
A beam attenuator is required on Class II, IIIa, IIIb, and IV laser systems. The beam attenuator is a
mechanical or electrical device such as a shutter or attenuator that blocks emission. The beam attenuates or
blocks bodily access to laser radiation above Class I limits without the need to turn off the laser. The beam
attenuator must be available for use at all times during operation. Power switches and key controls do not
satisfy the attenuator requirement.
The beam shutter should be installed between the laser head and the Scan Head. The following figure shows the
recommended location of the shutter.
We strongly recommend that you specify a laser with a vendor-supplied shutter
mechanism. If this is not possible, consult the laser vendor to design a proper safety
shutter.
The figure shows
the laser's internal
and external optical
path towards the
target plane,
specifically where
the hazard zones are
located as the
optical beam passes
through a Scan
Head.
Installation Safety Requirements
Because of the possible hazard increase of scanning, stopping, or slowing to an unsafe velocity, it is
required that the controller software shuts down the laser power (a scanning safeguard).
In all cases, we recommend that you fully enclose and interlock the zone of hazard for your application to
prevent possible opening while the laser is energized. When laser radiation exceeding Class 1 levels may
exit the enclosure, you must have suitable protection for eyes available.
At no time should you stare into the beam, place any parts of your body in the beam path,
or expose yourself to reflections of powerful beams. You should use only a Class 1 HeNe
Laser for alignment. If this is not possible, you should use the available laser's lowest
power setting and remote beam sensing techniques.
Using optical instruments with this product increases eye hazard.
Laser Scanner
Hazard Zones
of a Scan Head
SCAN HEAD

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Safety Precautions During Usage
To maintain the necessary safety during usage of Nutfield Technology scanners please take following actions:
1) Please avoid any mechanical tension on the connection cables.
2) Protect the scanners from humidity, dust and aggressive steam to avoid damages to mirrors, objectives or
electronics.
3) Always use proper lens cleaning cloth or cotton swabs to touch optical components.
4) Protect the scanners from electromagnetic fields and electrical discharges. This can severely damage
interface and servo boards. Damage to the electronic circuits caused by electrical discharge may not be
immediately apparent – but may result in malfunction at some later time thus affecting reliability of the
product.
5) Please follow the maximum power handling capabilities of the mirrors.

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1. Introduction
This manual covers the installation and use of the QuantumDrive-4000 for single axis
and two axis applications.
The QuantumDrive-4000 (QD-4000) servo driver board is specifically designed to
control a wide range of galvanometers and loads under a variety of command input
conditions. The board incorporates the latest in servo technology along with system
safety and status features.
The QD-4000 uses high quality components to achieve fast servo response with low
noise and thermal drift. Generous output capacitors provide instantaneous current to the
output drives, which improves performance and reduces power supply demands.
The QD-4000 is a class 1, Position, Integral, and Differential (PID) servo controller
along with several other terms designed to maximize performance and allow for
flexibility across a range of applications.
The board has several output signals available, which can be used as host inputs to
monitor performance. One input allows for the remote control of Servo Enable. Two
Status LEDs are on board as a quick status check for engineers and technicians. For
your convenience, a set of mating connectors and pins for the Power, Command Input,
and Diagnostic Output connectors ship with every driver board.
This manual contains all the information necessary to install and operate the servo
driver along with a precision optical scanner. Servo drivers are typically factory tuned
with a matched galvanometer and mirror. It is not advisable to attempt to adjust the
servo driver in the field. Only factory trained service technicians should attempt to
adjust any of the potentiometers on the board. If it becomes necessary to return a servo
driver board to the factory, the matching galvanometer and mirror should be returned
along with it. Any unauthorized attempt to retune the servo by an untrained individual
could result in serious damage to the scanner, mirror and electronics.

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2. READ THIS BEFORE CONNECTING
•When unpacking the servo driver board(s), caution should be used to protect
against static electricity damage. Failure to use proper static protection may cause
damage to the servo driver boards and void the manufacturer’s warranty.
•For your convenience, three mating connectors and pins ship with every driver
board; they are packaged separately.
•For proper operation of two servos drives, be sure to attach both servo grounds
together as shown in the manual. Failure to do so could result in poor
performance.
•If using a single ended command signal, Pin 1 is the positive (+) command input,
Pin 2 is the ground, Pin 3 is also tied to ground. Be sure to attach the ground pin
and the negative (-) command signal together at the servo drive command
connector.
•Galvanometers packaged with servo drivers (and mirrors) are factory tuned as a
set. Each galvanometer is tuned together with a servo driver and MUST stay
together as a set. Servo driver boards have a copy of their mating scanner serial
number on the bottom of them.
•Servo drivers must be properly attached to a heat sink. Refer to Section 9 on Heat
Sink Requirements in the manual for proper heat sinking instructions. Failure to
heat sink the servo driver could result in overheating of components, which could
void the manufacturer’s warranty.
•Every servo driver is tuned to accept an input voltage range based on customer-
supplied information. Using input command voltages over the factory setting may
cause the mirrors to collide. NTI will not be responsible for mirror damage as a
result of command input voltages that exceed the factory setting.
•Be sure that you connect the proper power and ground to your servo driver before
operation. The power supply should have sufficient voltage and current for your
application. Noisy power supplies can result in poor scanner performance.
Supplies are required to have <100mV of ripple at full load.
•Your optical scanners were carefully tested and inspected before packaging.
Please report any damage to your shipping company immediately.

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3. The Main and Personality Boards
The QD-4000 consists of two unique printed circuit boards: The Main Board, and
the Personality Board. The Main Board, the larger of the two is the backbone of
the system, hosts primarily the output power amplifiers, the majority of
connections, and heat-generating devices. The Personality Board, the smaller of
the two, hosts the control-loop, notch filter, and the diagnostic connector. A
“Board Pair” MUST be used for the servo to operate.
4. Quick Connect Guide
Before connecting the servo drive(s) please read Section 2.
¾Adjust your dual voltage supply within the proper range of +/- 15V to +/- 24V
before connecting the power cables.
¾After adjustment, turn off the power supply before making any connections to the
servo drive(s).
¾The servo drive(s) should be properly mounted to a sufficient heat sink.
¾Galvanometers should be mounted properly to avoid mirror collisions.
¾Connect the Position Detector Cable from the Galvanometer Position Detector
Connector (white, 5 Pin) to the Servo Driver Board (J1). Repeat if there is more
than one Galvanometer.
¾Connect the Scanner Drive Coil Cable from the Galvanometer Drive Coil
Connector (black, 3 Pin) to the Servo Driver Board (J6). Repeat if there is more
than one Galvanometer.
¾Connect the Power Cable(s) from the Power Supply to the Servo Driver Board(s)
(J7).
¾Connect the Command Input Cable(s) from the function generator or host system
to the servo drive board(s) (J3). If using a single ended signal, be sure to attach
the (-) negative and ground pins together at the servo drive command connector.
If using a signal from a differential source, Pin 1 is the positive (+) command
input, Pin 2 is the ground (-) command, and Pin 3 is the negative (-) command
input.

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Board Revisions
Main Board PCB Personality PCB
Release 1 31-1207 REV E 31-1208 REV F
Release 2 31-1210 REV A 31-1208 REV G
Power Connector – J7 (See Main Board Drawing)
Input Command Connector – J3 (See Main Board Drawing)
Diagnostic Output Connector – J12 (See Personality Board Drawing)
Servo Enable Connector – J8 (See Main Board Drawing)
Pin No. Function
1 + V Supply (+ 15 to 24V)
2 Ground
3 - V Supply (- 15 to 24V)
Pin No. Function
1 + Command
2 Ground
3 - Command
4 Offset Adjust *
* Introduced in Release 2
Pin No. Function
1 Galvo Position Output
2 Galvo Error Output
3 AGC Monitor
4 Velocity Output
5 Ground
6 Slew Rate Output
7 Current Monitor
8 No Connect
Pin No. Function
1 Servo Ready High
2 Servo Ready Low
3 Servo Enable
4 Ground

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Ground Connections
IMPORTANT! Proper grounding is required for good performance.
For the highest performance in two axis configurations, it is highly recommended that both servo
drives have their grounds tied together as shown below. This will reduce cross talk between servo
drives. Cross talk is a phenomenon that occurs when one servo drive demands a large amount of
instantaneous current, causing the other drive to have a ground imbalance. The result is unintentional
movement of the other galvanometer causing undesirable marking. Please follow the instructions
below to eliminate this issue.
1) Attach a heavy gauge wire between both X and Y servo drives.
2) Confirm R97, the mounting hole ground connection is shorted on both boards.
3) Do not attach metal hardware to chassis through this hole or you will develop a ground loop.
4) If using the grounding hole for mounting, be sure to use plastic hardware to insulate the servo
ground from chassis ground at this point.
RELEASE1

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5) Release 2 version alternately allows grounding with J2 quick fit terminal; in this case the
mounting holes may be isolated from ground by removing solder from R97 pad.
RELEASE2

QuantumDrive-4000 Manual 7
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5. Specifications
Servo Architecture
Class 1, PID, Single or Dual Push/Pull Outputs
Power Requirements
Input Voltage +/-15 to +/-24VDC, < 100mV Ripple, < 0.5% DC to 30MHz Noise
Maximum Drive Current Limit:
Peak: 10 Amperes per leg
RMS: 4 Amperes per leg (power supply, load, & heat sink dependent.)
Quiescent Current: 400mA per leg (Servo Enabled, Galvo Resting)
Inputs
+/- Command, Servo Enable
Command Input Range: +/-3, +/-5, or +/-10 volts (Factory Configured)
Command Input Scale Factor: Customer Specified +/- 3, 5 or 10V
For +/- 3V at +/- 20°= 0.15V/degree
For +/- 5V at +/- 20°= 0.25V/degree
For +/- 10V at +/- 20°= 0.5V/degree
Command Input Impedance: 20K + 1% ohms (Differential)
10K + 1% ohms (Single Ended)
Position Offset Range: + 0.25V
Digital Position Input Range: 216 DAC counts digital to +/-5 or +/-10 Volts
Non-Linearity of 16 Bit Digital Input: 0.006% of full scale, max
Outputs
Scanner Position, Error, AGC, Velocity, Slew Rate, and Current Monitor
Output Impedance: 1K + 1% ohms (For all observation outputs)
Scanner Position Output Scale Factor: 0.25 volt/°@ +/-20º for +/- 5V Command In
Error Output Scale Factor: 0.25 volt/°@ +/-20º for +/- 5V Command In
Integration Output Scale Factor: 0.25 volt/°@ +/-20º for +/- 5V Command In
Velocity Output Scale Factor: Analog
Status LED’s
Servo Power/Ready D8 (Green)
Fault D7 (Red)

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Protection Circuits (Shut Down Conditions)
Power Fail, Under Voltage, Over Position, AGC Fail, Open Loop Condition
Start Up and Shut Down Protection: Soft Start, Soft Stop
Environmental
Operating Temperature: 0°C to +45°C (with appropriate cooling)
Storage Temperature: -10°C to +60°C
Humidity: Non-Condensing
Temperature Stability of Electronics: 10 PPM per °C Standard
Size and Weight
61mm x 57mm x 28mm
2.6 ounces (74 grams)
Specifications are in degrees optical (2 x mechanical degrees) after a two-minute
warm up period.

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6. Outline Drawings
6.1MechanicalOutline–Release1

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6.1MechanicalOutline–Release2

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6.2Jumpers,TestPointsandLEDs–Release1

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6.2Jumpers,TestPointsandLEDs–Release2