Queensgate NANOSCAN NPC-D-6110 User manual

EN-014635-UM Rev 2
Product Manual
NANOSCAN
NPC-D-6110
NPC-D-6220
NPC-D-6330
NANOMECHANISM
CONTROLLER
USER MANUAL
Closed loop digital servo controller for
positioning of up to three Queensgate
NanoMechanisms

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Safety Precautions
WARNINGS
HAZARDOUS VOLTAGES
The Product generates high voltage and relies on the provision of a protective earth (ground)
conductor to prevent user accessible components developing a hazardous potential in the event
of an insulation failure. This protective earth is provided by the external power supply and only
an approved power supply should be used with the product. Additional protection is provided
by special NanoMechanism interface connectors and cable assembles. To maintain the integrity
of the operator safety systems only approved NanoMechanisms and cables should be used with
the product. The product should not be used if there are any signs of damage or if the equipment
is believed to be faulty. It should be returned to the manufacturer for investigation and repair.
DO NOT remove the equipment’s protective covers. There are no user serviceable parts within
the equipment and removal of the cover will expose the user to potential high voltage hazards
and will invalidate the Warranty.
MUST read the manual before using the controller to understand how to correctly and safely
operate the product. Incorrect use of the equipment may lead to personal injury or damage to
property. Always turn the equipment off and remove the mains plug when not in use. Always
use the equipment as specified in this manual.
CAUTIONS
ELECTROSTATIC SENSITIVE DEVICES (ESD)
The unit contains components that are susceptible to damage through electrostatic discharge
at the NanoMechanism and interface connectors. Removal of protective connector covers and
connection of cables must be performed in a static safe environment using approved static
safety handling procedures.
ENVIRONMENT
The unit is designed for use indoors in a dry environmentally controlled manufacturing facility,
office or laboratory. The temperature and relative humidity should be kept within those specified
in Table 2-1. Significant dust or acoustic/mechanical vibration may cause faulty operation or
damage to components so should be avoided. Maintain adequate cooling of the controller by not
restricting the air flow to and from the fan cooling vents. For prolonged periods of operation it is
advisable to keep the environmental humidity to a minimum.
DIRECTIVE AND STANDARDS APPLIED:
2004/108/EC
EMC Directive
BS EN 61326-1:2006 Electrical equipment for measurement, control and laboratory
use EMC requirements —Part 1: General requirements
FCC part 15, subpart B
2006/95/EC
Low Voltage Directive
BS EN 61010-1:2010 Safety requirements for electrical equipment for measurement,
control, and laboratory use - Part 1: General requirements
2003/108/EC
WEEE Directive

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Table of Contents
1Introduction...........................................................................................................................................7
1.1 Overview.........................................................................................................................................7
1.2 Features..........................................................................................................................................7
2NPC-D-6xx0 Series Specifications.......................................................................................................8
2.1 NPC-D-6xx0 Specifications.............................................................................................................8
2.2 NPC-D-6xx0 Series Performance Specifications..........................................................................10
3Unpacking and Handling ....................................................................................................................12
3.1 Unpacking the NPC-D-6xx0..........................................................................................................12
3.2 Using the NPC-D-6xx0..................................................................................................................12
3.3 Mounting the NanoMechanism (stage).........................................................................................13
3.4 Cabling..........................................................................................................................................13
4Controls and connections...................................................................................................................14
4.1 Front panel....................................................................................................................................14
4.2 Rear panel....................................................................................................................................15
5Operating instructions.........................................................................................................................18
5.1 Set up ...........................................................................................................................................18
5.2 Turning on the controller...............................................................................................................18
5.3 Moving the stage ..........................................................................................................................19
5.3.1 Analogue command input...............................................................................................19
5.3.2 Digital command input ....................................................................................................19
5.3.3 Stepped input command.................................................................................................20
5.3.4 Function playback...........................................................................................................20
5.4 POSMON output...........................................................................................................................20
5.4.1 Analogue POSMON........................................................................................................20
5.4.2 Digital POSMON.............................................................................................................21
5.4.3 Stepped outputs..............................................................................................................21
5.5 IN-POS (In Position or READY) signal output...............................................................................21
5.6 TRIG-IP (Trigger Input) signal.......................................................................................................22
5.7 TRIG-OP (Trigger Output) signal..................................................................................................22
6Controller interface software...............................................................................................................23
6.1 Control from OEM software ..........................................................................................................23
6.2 Controller interface commands.....................................................................................................23
6.3 Nanobench 6000 application ........................................................................................................23
7Troubleshooting..................................................................................................................................25

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8Maintenance.......................................................................................................................................27
8.1 Introduction...................................................................................................................................27
8.2 Routine Maintenance....................................................................................................................27
8.2.1 Tasks..............................................................................................................................27
8.2.2 Periodicity.......................................................................................................................27
9Factory Configuration.........................................................................................................................28
10 WARRANTY.......................................................................................................................................29
10.1 Extent............................................................................................................................................29
10.2 Limitation ......................................................................................................................................29
10.3 Conditions.....................................................................................................................................29
10.4 Damage in Transit.........................................................................................................................29
10.5 Warranty and repair Claims ..........................................................................................................30
10.5.1 RMA Confirmation ..........................................................................................................31
10.5.2 Return Shipment Packaging...........................................................................................31
10.5.3 Packing Instructions........................................................................................................31
10.5.4 Packing list......................................................................................................................31
10.5.5 Return Shipment Address...............................................................................................32
10.5.6 Standard Repair Turnaround Time.................................................................................32
10.5.7 Disposal Charge.............................................................................................................32
10.5.8 Repair Warranty..............................................................................................................32
10.5.9 Out-of-Warranty..............................................................................................................33
10.5.10 Repair Procedures..........................................................................................................33
10.5.11 Device Inspection Service...............................................................................................33
10.5.12 New for Old Policy ..........................................................................................................33
10.5.13 RMA Closing Procedure .................................................................................................33

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List of Tables
Table 2-1: NPC-D-6xx0 Specification ..........................................................................................8
Table 2-2: NPC-D-6xx0 Performance Specification...................................................................10
Table 2-3: Example of NPC-D-6xx0 System performance ........................................................11
Table 3-1: Contents of the NPC-D-6xx0 package......................................................................12
Table 4-1: Front panel controls and indicators...........................................................................14
Table 4-2: Rear panel interfaces................................................................................................16
Table 4-3: Rear panel 25 pin D-type digital I/O connector pin assignment. ..............................17
Table 5-1: Analogue command table.........................................................................................19
Table 5-2: Position Monitor output table ....................................................................................21
List of Figures
Figure 1: Front panel layout .......................................................................................................14
Figure 2: Rear panel layout........................................................................................................15
Figure 3: Stepped input commands............................................................................................20
Figure 4: IN-POS signal output for a typical command step.......................................................22
Figure 5: Nanobench 6000..........................................................................................................24

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Related documents
Document Ref
Title
Usage
EN-014217-UM
NanoScan NPC-D Series
NanoMechanism Controller -
Controller Interface Library
Details the usage of controller interface DLL
in order to send commands to the controller
EN-014429-UM
NanoScan NPC-D-6xx0
Series NanoMechanism
Controller - Command Set
And Control System
Lists and explains usage of NPC-D 6xx0
controller commands and structure of
control system
PS-00006-UM
Nanobench 6000 User
Manual
Details the usage of Nanobench 6000
application to calibrate stages and
configure controller
Revision history
Revision
Changes
1.0
First version.
2.0
General: Reformatted for Prior Scientific and NanoScan rebranding.
Updated front and back panel artwork.

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1 Introduction
1.1 Overview
The NanoScan NPC-D-6000 series digital controller is a multi-axis closed loop piezo actuator
controller. It can control up to 3 channels of Queensgate NanoMechanisms.
NPC-D-6110 is a single axis version, NPC-D-6220 is a dual channel version and NPC-D-6330 is
a three channel version. In the document, controllers will be referred to as NPC-D-6xx0 where
xx represents the number of channels.
Each channel of the controller is part of a closed loop positioning system which utilises piezo
actuators in a flexure guided NanoMechanism (also referred to as a “Stage”). The controller
incorporates a high voltage power amplifier to drive the piezo electric actuator and a precision
capacitive positional sensor measurement circuit for closed loop operation. The controller is
designed to work with all Queensgate NanoMechanisms (with appropriate Queensgate
recalibration and suitable adaptor cables, if required).
1.2 Features
The NPC-D-6xx0 series of controllers have the following features:-
Standalone single, dual or triple -axis digital controller for NanoMechanisms.
Digital signal processing with 24 bit data resolution.
Closed loop controller with open loop operating mode.
4th order linearization algorithm for high positional accuracy.
Digital PID control loop for ease of setting up.
Fast 20µs control loop update.
Supports NanoMechanism EEPROM calibration data storage for automatic setup.
Low noise floor offers precise imaging & focussing.
Dynamic high-power output NanoMechanism drive with 20 bit resolution.
Soft-start / stop technology protects loads and increases piezo life.
Front panel LEDs to provide instant operational status.
USB and Ethernet control interfaces.
Easy to interface with OEM software using supplied DLL (Dynamic Link Library).
Examples of software in C/C++, Python and LabVIEW® provided.
Analogue input for external analogue control of NanoMechanism position.
Analogue output for external analogue reporting of NanoMechanism position, configurable to also
report other data if required.
User programmable function playback feature allows pre-programmed waveform to be replayed
with no further PC interaction required.
Configurable TTL inputs to allow external control of function playback.
Configurable TTL outputs to trigger external hardware synchronized with function playback.
TTL In-Position outputs to indicate when NanoMechanism reaches the desired/set position, with
configurable position accuracy.
Configurable TTL quadrature or step-and-direction inputs and outputs to allow external control of
NanoMechanism position using stepper motor controller type interfacing.

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2 NPC-D-6xx0 Series Specifications
2.1 NPC-D-6xx0 Specifications
Table 2-1: NPC-D-6xx0 Specification
Parameter
Value
Units
Comments
Mechanical
Size (Width x Depth x Height)
Height includes feet
Not including protruding
components at front and rear
of controller
318 x 240 x 90
mm
Additional space required for
front and rear connectors and
cables.
Weight
3.0
kg
Cooling
Fan forced air
--------
Vents on rear and base
Electrical
Power input
(to External bench top power
supply)
100 to 240
nominal
47 to 63
Vrms
Hz
Using external supply. Only
use Queensgate approved
power supply -provides
protective earth connection
DC Power input
+24 ± 0.75 @
5A
V
Only use Queensgate
approved power supply
DC Power input connector
4 pin DIN
Plus protective
earth connection
--------
Rear panel
Connectivity
USB
2.0 compliant
--------
USB type B connector.
Note: power not taken from
USB port.
Ethernet
IEEE 802.3
--------
RJ45 connector. Requires a
Cat 5 male to male cable.
MUST use shielded Ethernet
cable.
Analogue input Command
BNC
--------
Per channel –Front panel
Analogue Position Monitor
output
BNC
--------
Per channel –Front panel
“TRIG” input, “TRIG” output,
“IN-POS” output and stepped
I/O Interface
25 pin D-type
socket
--------
Rear panel
Controller Synchronising
signals
9 pin D-type
socket
--------
Rear panel

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Environmental –Operational
Temperature
10 to 40
ºC
Relative Humidity
5 to 80
%RH
Non-condensing
Environmental - Storage and Shipping
Temperature
-20 to 70
ºC
Relative Humidity
0 to 95
%RH
Non-condensing

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2.2 NPC-D-6xx0 Series Performance Specifications
Table 2-2: NPC-D-6xx0 Performance Specification
Parameter
Value
Units
Comments
General
Warm up time
40 (typ)
Min
“ANA I/P” analogue input
position command per
channel
-10 to +10
V
Connector BNC –Single ended
MAXIMUM input: ±15V
“ANA I/P” analogue input
impedance (per channel)
> 50k
Ohms
“POS MON” analogue output
position monitor per channel
-10 to +10
V
Connector BNC - Single ended
MAXIMUM output: ±15.5V
“POS MON” analogue output
current (per channel)
± 5m
A
Maximum drive/sink current
“IN-
POSITION”
Output,
“TRIG”
Output
Stepped
Output
Logic “0”
< 0.8
V
15 pin D-Type on rear panel.
For OUTPUTS
Load impedance: > 1k ohms.
MAXIMUM output: 5.5V
For INPUTS
Input impedance: 50 ohms.
MAXIMUM input: 5.5V
Logic “1”
2.4 to 5
V
“TRIG” Input
Stepped
Input
Logic “0”
< 0.8
V
Logic “1”
2.4 to 5
V
NanoMechanism interfacing –controller –per channel
Connector
17W2 D type
-------
Mixed signal connector
HV output swing
-20 to +120 or
-30 to +150
V
Factory set but software
selectable
HV drive current
160mA
mA
HV amplifier bandwidth
TBD
kHz
HV amplifier intrinsic noise
0.3
mV

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Table 2-3: Example of NPC-D-6xx0 System performance
Parameter
Value
Units
Comments
NPS-X-15 NanoMechanism –System
Range
> 15
µm
Calibrated Closed loop.
Linearity
0.01
%
Typical.
Bandwidth (small signal)
280
Hz
Typical on Fast PID setting.
Stage noise
0.01
nmHz-½
DPT-D NanoMechanism –System
Range
See DPT-D
specification
sheet
µm
Calibrated Closed loop.
Linearity
0.1
%
Typical.
Bandwidth (small signal)
300
Hz
For DPT-D-40. Bandwidth’s will
vary depending upon DPT-D
variant.
Stage noise
0.02
nmHz-½
OSM-Z-100 NanoMechanism –System
Range
100
µm
Calibrated Closed loop.
Linearity
0.01
%
Typical.
Bandwidth (small signal)
100
Hz
Typical on Fast PID setting.
Stage noise
0.03
nmHz-½

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3 Unpacking and Handling
3.1 Unpacking the NPC-D-6xx0
Carefully remove the product’s transit packaging. DO NOT remove the connector protective
covers until connections are to be made. Retain the transit packaging for possible future use.
Visually inspect the system for transit damage and check for missing items. If any damage or
missing items are apparent do not attempt to install the system.
If the system is damaged in any way, report the damage to the manufacturer and return the
product using the returns procedure. If there are missing items, report them immediately to the
supplier (see contact details at the end of this document and refer to the company website
www.queensgate.com).
The contents of the NPC-D-6xx0 package are listed as follows:
Table 3-1: Contents of the NPC-D-6xx0 package
ITEM
QUANTITY
Controller Specific
NPC-D-6xx0 NanoMechanism Digital Controller
(NPC-D6110, NPC-D-6220 or NPC-D-6330 –depending upon order)
1
Power Supply 120W* (Universal input with +24V dc output)
1
Mains IEC Power Supply Lead
1
Software (containing user manual, Controller Interface software and results
file)
1
USB cable
1
NanoMechanism Stage extension cable(s)
(optional)
NanoMechanism Stage adaptor cable(s)
(optional)
*The NPC-D-6xx0 should only be used with supplied power supply.
3.2 Using the NPC-D-6xx0
The NPC-D-6xx0 is a robust unit and requires no special handling precautions other than that
normally followed with electronic equipment.
Static discharge to any of the connectors may cause damage, so ensure that all personnel
handling the unit are adequately grounded.
The controller should not be subjected to mishandling or used in hostile environments.
The controller is a free standing unit and should be located on any stable flat surface (e.g.
workstation or a desk) providing protection against accidental damage.
Do not obstruct the controller’s vents and cooling fan air flow as this may cause overheating.

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The cooling fans fitted to the controller will produce a small level of acoustic and vibrational noise.
For best system performance it is recommended that the controller is located away from and
vibration isolated from the NanoMechanism - for example by placing on a rubber mat.
It is recommended that the rear panel mounted power switch is used to turn the controller on and
off rather than using the power supply wall switch. Ensure that thepower supply is connected and
powered before turning on the controller. Turn off the controller before powering down or
disconnecting the power supply.
Ensure the controller is switched OFF before connecting and disconnecting the
NanoMechanisms.
3.3 Mounting the NanoMechanism (stage)
NanoMechanisms (also referred to as “stages”) are devices with nanometre resolution and
stability. They require care in use and should not be subjected to large torques and shocks (see
NanoMechanism specification datasheet for more details).
Ensure the controller is switched OFF before connecting and disconnecting the
NanoMechanisms.
The mounting surfaces for the stage should be flat (N5 or better).
The stage must be installed only by the specified mounting points provided –see specific
installation drawing. Use springwashers where applicable and do NOT exceed the recommended
tightening torques as stated on the installation drawing.
Stages should not be over constrained. The moving platform should not be restricted in its motion.
Stages are internally preloaded and can exert a pulling force up to the preload value –see stage
specification sheet.
3.4 Cabling
Ensure that the controller is switched offbefore installing or removing cables, especially the Stage
connector. The Stage devices use high voltages and all cables should be inspected before use.
Damaged cables should be rejected and replaced. Only use specified cables with the controller
and Stages. When routing cables ensure:
The route does not pose a safety hazard.
The cable is not twisted or kinked and is not unduly stressed.
There is no chafing or risk of future mechanical damage.
The cable is properly strain relieved.
Use connector locking screws (where fitted) to prevent accidental disconnection. Do not over
tighten.

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4 Controls and connections
4.1 Front panel
The front panel houses the NanoMechanism (stage) interface connectors, status indicators and
analogue interfaces –see Figure 1.
Figure 1: Front panel layout
Table 4-1: Front panel controls and indicators
Description
Range/Operation
“POWER”indicator LED
Indicates the power status and functionality of the product.
RED steady = Controller configuring/not ready (can take up to
30 seconds).
RED/GREEN flashing = Controller fault condition.
GREEN steady = Controller powered and ready for operation.
“COMM”indicator LED
Indicates the state of the controller communications with the
connected computer.
Not lit = No communications taking place.
GREEN lit or flashing = Communications are taking place.

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“CLOSED”indicator LED
(per channel)
Indicates the status of the stage control Loop
OFF = Stage NOT connected
ORANGE = Stage settings being loaded on connection
RED = Controller operating in OPEN loop mode
GREEN = Controller operating in CLOSED loop mode
YELLOW = Controller servo output frozen
“IN-POS” indicator LED
(per channel)
Indicates the status of the stage position in CLOSED loop mode.
ORANGE = Stage settings being loaded on connection
OFF = Stage has not reached the desired position
GREEN = Stage has reached the desired position (within
specified limits)
Note: In OPEN loop mode or with no stage connected, LED is
always off.
Nano Mechanism
Connector
Stage piezo HV supply, power for calibration EEPROM
and measuring signals for capacitive sensor operation.
NOTE High Voltage present on connector –up to 160Vdc
“POS MON” connector(s)
(per channel)
Analogue position monitor (POS MON) output BNC connector(s)
–single ended output(s). Indicates relative position of the stage.
“ANA I/P” connector(s)
(per channel)
Analogue command input BNC connector(s) –single ended
input(s). Signal used to control the stage position when used in
analogue mode.
4.2 Rear panel
The rear panel provides power input, ON/OFF switch, digital I/O and PC connectivity to the
controller –see Figure 2.
Figure 2: Rear panel layout

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Table 4-2: Rear panel interfaces
Description
Type
Signal
type/Range
Maximum
input
voltage
Function
Power
Connector
4 pin
miniDIN
with
screen
Input
+24V dc
±0.75V @
5A
24.75V
Provides power to the controller
electronics and the high voltage
generation.
ONLY connect an approved
power supply.
NOTE the power supply
provides the Safety Earth
connection.
Earth
Stud
M4
threaded
stud
0V ground
Do not
raise
above 0V
ground
potential
Provides additional product
ground to help reduce
interference of background
electrical noise. Note that under
some circumstances this
connection may increase
electrical noise due to ground
loops.
Ethernet Connector
Dual
RJ45
10BASE-T
100BASE-T
Ethernet communications. Dual
connector master/slave
configuration. Used to
communicate with an external
computer.
MUST use shielded Ethernet
cable.
USB Connector
Type B
USB signals
5V power
2.8V signal
+6V
power/data
USB communications. Used to
communicate with an external
computer. Note power is not
taken from the USB connector.
TRIG Input
TRIG Output
IN_POS Output
Stepped Input
Stepped Output
Interface
Connector
25 pin
D-type
socket
TTL input
Low < 0.8V
High > 2.4V
5.5V
Provides digital inputs and
outputs for interfacing controller
to external equipment.
MUST use shielded cable.
Controller
Synchronising
signals
9 pin D-
type
socket
Queensgate
use ONLY
Do not
apply
voltages to
connector
DO NOT CONNECT.
QUEENSGATE USE ONLY for
synchronising 2 or more NPC-D-
6xx0 controllers.

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Table 4-3: Rear panel 25 pin D-type digital I/O connector pin assignment.
Socket
Pin No.
Function
Socket
Pin No.
Function
1
TRIG INPUT CH1
14
TRIG OUTPUT CH1
2
STEPPED INPUT A CH1
15
STEPPED OUTPUT A CH1
3
STEPPED INPUT B CH1
16
STEPPED OUTPUT B CH1
4
0V
17
IN-POS OUTPUT CH1
5
0V
18
TRIG OUTPUT CH2
6
TRIG INPUT CH2
19
STEPPED OUTPUT A CH2
7
STEPPED INPUT A CH2
20
STEPPED OUTPUT B CH2
8
STEPPED INPUT B CH2
21
IN-POS OUTPUT CH2
9
0V
22
TRIG OUTPUT CH3
10
0V
23
STEPPED OUTPUT A CH3
11
TRIG INPUT CH3
24
STEPPED OUTPUT B CH3
12
STEPPED INPUT A CH3
25
IN-POS OUTPUT CH3
13
STEPPED INPUT B CH3
--------
NOTE:
INPUT is defined as input to the controller from external interface.
OUTPUT is defined as output from the controller to the external interface.

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5 Operating instructions
5.1 Set up
a) Ensure that the controller is switched OFF.
b) Connect NanoMechanism into the NPC-D-6xx0 stage connector (17W2 way D-type) on the
front panel.
NOTE: Ensure that the screw locks are tightened.
c) Attach the appropriate control interface cable between the controller and controlling computer
–USB, Ethernet, and/or analogue interface.
d) Connect power supply to the NPC-D-6xx0 rear panel.
NOTE: Do not use any other power supply than that specified. The power supply specified
provides the electrical Safety Earth connection.
e) If required, connect optional earth cable to the ground stud on the rear of the controller to
reduce background electrical noise.
NOTE: This connection may result in additional electrical noise due to ground loop problems
–in which case do not use. It is not intended as a Safety Earth connection
f) Connect the mains IEC lead to the power supply and plug into the wall outlet.
Mains IEC lead and wall outlet MUST have EARTH connection.
Turn on the wall socket.
g) On rear panel, toggle Power ON/OFF switch to turn ON the NPC-D-6xx0. The “POWER” LED
should be lit RED to indicate that the controller is being configured and then lit green to
indicate that the product is ready for use. May take up to 30 seconds to turn green.
If a stage is connected to any of the channels, then the appropriate CLOSED LED will either
be RED (open loop) or GREEN (closed loop) depending upon mode of operation selected.
NOTE: If a Stage is not connected, the CLOSED LED will remain OFF.
h) The system is now ready for use.
5.2 Turning on the controller
Always ensure the controller is switched OFF when connecting and disconnecting
stage connectors from the controller.
It is best practice to turn on the power supply before turning on the controller. Toggle the rear
panel ON/OFF power switch to ON. The POWER LED on front panel will turn RED until the unit
has been configured, at which point the LED will turn GREEN when the controller is ready for
use.
Note that this configuration process can take up to 30 seconds.

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If a stage is attached and is recognised by the controller (reading the stage calibration) then the
appropriate CLOSED LED will either be RED (Open loop) or GREEN (Closed loop) depending
upon mode of operation selected.
5.3 Moving the stage
There are multiple ways to control the position of the stage:-
via the analogue input;
by commands from the controlling PC;
by commands from the stepped inputs;
by function playback triggered by the controlling PC or external hardware.
All enabled commands are summed to give an overall position command.
5.3.1 Analogue command input
The ANA-IP is for the application of an analogue position command to the controller. The
analogue command is applied via the front BNC connector(s), with an independent input for each
channel.
It is used to change the stage position from minimum calibrated position to maximum calibrated
position. Note that the analogue command must be enabled in the control software.
The input is single ended, where signal is applied to the connector central core and the connector
shell is connected to 0V or signal ground.
Table 5-1: Analogue command table
Analogue input
Stage Position
+10V*
Maximum position (+Range/2)
0V (or disabled via software)
Nominal position
-10V*
Minimum position (-Range/2)
*See results sheet for exact values.
5.3.2 Digital command input
Digital commands are sent over the chosen communication interface –USB or Ethernet. Digital
commands are set in picometres for linear stages or picoradians for angular stages –see stage
results sheet for units.

EN-014635-UM Rev 2 NPC-D-6xx0 NanoMechanism Controller User Manual
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5.3.3 Stepped input command
The stepped inputs may be configured as quadrature or step and direction interfaces. For each
forwards or backwards step received, the commanded position moves by a configurable step in
the relevant direction.
For quadrature mode, input A leads input B when commanding forwards movement on the
stage; and input B leads input A when commanding backwards movement. With the standard
Gray Code system as used for stepper motor controllers, each edge on each input indicates a
step in the appropriate direction.
For step and direction mode, input B controls whether a step is to be forwards or backwards,
and a rising edge on input A triggers a step in the appropriate direction.
To ensure the controller can be easily integrated with other systems, this is also configurable to
reverse direction, and for step and direction mode to trigger on rising or falling edge.
5.3.4 Function playback
Function playback allows a waveform to be set up by the PC and triggered to play without
further intervention from the PC. Digital commands cannot be sent to the controller as fast as
the controller’s sample rate, so this allows the playback of more accurate movement profiles, as
well as ensuring the waveform does not suffer from the inevitable jitter associated with sending
periodic digital commands over a communications interface.
Configurable trigger outputs allow external equipment such as a camera to be triggered
synchronously with the waveform, for example at intervals during a constant-velocity ramp.
Configurable trigger inputs may be used to start, stop or pause playback on any channels, after
waveforms have been set up by the controlling PC, allowing integration with control hardware.
5.4 POSMON output
5.4.1 Analogue POSMON
The NPC-D-6xx0 generates an analogue output proportional to the stage position relative to its
nominal position for each channel. This is called Position Monitor or POSMON. It is a single ended
analogue output with the connector shell connected to ground.
Input A
Input B
Forwards steps Backwards steps
Quadraturemode
Forwards steps Backwards steps
Step and direction mode
Figure 3: Stepped input commands