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

EN-014635-UM Rev 2 NPC-D-6xx0 NanoMechanism Controller User Manual
Page 2 of 34
www.nanopositioning.com
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

EN-014635-UM Rev 2 NPC-D-6xx0 NanoMechanism Controller User Manual
Page 3 of 34
www.nanopositioning.com
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

EN-014635-UM Rev 2 NPC-D-6xx0 NanoMechanism Controller User Manual
Page 4 of 34
www.nanopositioning.com
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

EN-014635-UM Rev 2 NPC-D-6xx0 NanoMechanism Controller User Manual
Page 5 of 34
www.nanopositioning.com
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

EN-014635-UM Rev 2 NPC-D-6xx0 NanoMechanism Controller User Manual
Page 6 of 34
www.nanopositioning.com
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.

EN-014635-UM Rev 2 NPC-D-6xx0 NanoMechanism Controller User Manual
Page 7 of 34
www.nanopositioning.com
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.

EN-014635-UM Rev 2 NPC-D-6xx0 NanoMechanism Controller User Manual
Page 8 of 34
www.nanopositioning.com
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

EN-014635-UM Rev 2 NPC-D-6xx0 NanoMechanism Controller User Manual
Page 9 of 34
www.nanopositioning.com
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

EN-014635-UM Rev 2 NPC-D-6xx0 NanoMechanism Controller User Manual
Page 10 of 34
www.nanopositioning.com
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