SC-200 controller User Guide

SC-200 Controller User Guide

Sanying MotionControl Technology Ltd.

All rights reserved by SYMC Ltd

Sanying MotionControl Technology Ltd. Version 1.0

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Contents

CONTENTS...............................................................................................................................................I

CHAPTER 1 INTRODUCTION.............................................................................................................1

1.1 HOW TO USE THE SC-200 DOCUMENTATION.............................................................................................11.2 PRESCRIBED USE...................................................................................................................................11.3 UNPACKING......................................................................................................................................... 21.4 CONTROLLER INSTALLATION.....................................................................................................................21.5 MOTION SYSTEM REQUIREMENT..............................................................................................................21.6 SOFTWARE INSTALLATION....................................................................................................................... 2

CHAPTER 2 CONTROLLER INTERFACE........................................................................................ 5

2.1 FRONT PANEL.......................................................................................................................................52.2 BACK PANEL........................................................................................................................................ 5

CHAPTER 3 OPERATION.................................................................................................................... 7

3.1 GRAPHIC CONTROLS.............................................................................................................................. 83.2 CONTROL LOOP TUNING.........................................................................................................................93.2.1 PID CONTROL LOOP TUNING............................................................................................................. 103.2.2 NOTCH FILTER..................................................................................................................................113.3 WAVEFORM GENERATION.....................................................................................................................12

CHAPTER 4 MAINTENANCE AND CLEANING............................................................................13

4.1 MAINTENANCE................................................................................................................................... 134.2 CLEANING..........................................................................................................................................13

APPENDIXA: SPECIFICATIONS..................................................................................................... 14

APPENDIX B: TROUBLESHOOTING.............................................................................................. 15

APPENDIX C: INSTALLUSB DRIVER.............................................................................................16


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Chapter 1 Introduction

The SC-200 controller is a control system with digital input/output interface and analoginput/output interface. It is equipped with low-noise 24-bit A/D converters and low-noise 24-bitD/A converters. It can be commanded through an USB interface, or driven through BNCinterfaces with analog signals. The integrated wave generator can output sine, triangle and squarewave signals.

Low-Noise 24-bit A/D Converter Low-Noise 24-bit D/A Converter Sample Rate 48.8 kHz Universal Serial Bus Interface BNCAnalog I/O Interface 1-& 3-Channel Versions Wave Generator

1.1 How to use the SC-200 documentation

This User Guide enables you to put the SC-200 into operation for the first time and gives youan overview over the SC-200 functions.

Whenever you need detailed function descriptions, please call (+086)- 022-22977677 or

E-mail to [email protected] for more information.A basic nanopositioning system consists of a nanopositioning stage, a controller and software.

The SC-200 controller is specially designed to control Sanying nanopositioning stages. It isavailable in 1-channel, 2-channel and 3-channel configurations.

1.2 Prescribed Use

The SC-200 Controller is designed for controlling Sanying nanopositioning stages. It can becommanded by a PC or driven analogue signals. The LCD display shows the position values andthe current voltage.

The SC-200 is a laboratory apparatus as defined by IEC 61010-1-2010. It meets the followingminimum specifications for safe operation:

Indoor use only Altitude up to 2000 m Temperature range 5°C to 40°C At least one hour before you start working Max. relative humidity 80% for temperatures up to 31°C, decreasing linearly to 50%

relative humidity at 40°C Line voltage fluctuations not greater than ±10% of the line voltage Transient overvoltage as typical for public power supply Degree of pollution: 2Note: The nominal level of the transient overvoltage is the standing surge voltage according to the

overvoltage category II IEC 60364-4-43-2008.

mailto:[email protected]

http://www.baidu.com/link?url=yC6J_0lxs6_BjlFvB1D5aW-UdeU6BjBybrFRreOVpAvXGkR0N6wuKW-hjnx5TFxRFqy9GcBPoarWF0RcHX_U4EeJDb6Sj--BMHvie46CXh7lH2PGHdH-k7UzyGCyaxEj


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1.3 Unpacking

The Sanying nanopositioning system includes the following components: Nanopositioning stage The test data sheet of nanopositioning stage SC-200 Controller Power cable USB cable User Guide Manual CD-ROM with installation softwareCarefully remove the items from the package. Report any damage or missing itemsimmediately by phone (+86 022-22977677) or e-mail ([email protected]).

1.4 Controller Installation

1. The controller requires air intake through slots in the top and bottom cover. Position thecontroller on a hard flat surface such that the ventilation slots in the bottom cover are notobstructed.

2. Connect the power supply to AC power jack on the back panel3. Power to the controller can be switched ON and OFF with the power switch on the back

panel adjacent to the AC power jackNOTE: To provide proper EMC shielding it is required to connect the AC power cord to a fully earth grounded

(3-terminal) receptacle.

1.5 Motion System Requirement

To start working with the nanopositioning system, your motion system must also include thefollowing components：

The SC-200 controller in which the piezo control electronics is integrated The nanopositioning stage with which the piezo control electronics is calibrated For remote operation via the computer interface a PC with Windows operating system

(windows XP, Windows 7,Windows 8,Windows 10) is required. The SC-200 controller isconnected with computer through USB cable.

1.6 Software Installation

1、 Insert the SC-200 CD in your host PC.2、 Connect the SC-200 controller to your PC through USB cable, then power on the

controller.3、 For Windows 7: the USB driver should load automatically.

For Windows XP: if the Add New Hardware Wizard appears, choose to automaticallyfind the latest driver on the internet. If you do not have an internet connection, select theautomatic driver installation option.

4、 For Windows 7: go to step 5.For Windows XP: if you do not have the Microsoft .Net Framework V4.0 installed, runMicrosoft.NET Framework 4.exe located on the Sanying CD bin/ to install the .NetFramework V4.0.

5、 In the Sanying Software Installation directory of the CD, run bin/NanoPositioning.exe to



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complete installation of the Sanying PC software.6、 After installation is complete, the application will start automatically. And a shortcut to

the Sanying Control software will appear on the desktop.※ If the USB drivers fail to install correctly in step 3, the drivers can be manually installed from

the device manager by right clicking on the device “EZ-USB” and selecting the menu itemUpdate Driver Software (Appendix C).

Fig 1.1 Open the Setup Wizard and begin to install

Fig 1.2 Choose the folder in which to install the Nanopositioning software


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Fig 1.3 The installation is completed


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Chapter 2 Controller Interface

2.1 Front Panel

The front panel contains a communication interface and connectors for up to three ofnanopositioning channels. The communication interface use universal serial bus interface (USB2.0). Each nanopositioning channel contains a nanopositioning stage D-SUB15 connector, analogI/O connectors. The D-SUB15 connector contains the pins for sensor signals and high voltagepiezo signals, See Fig2.1.

The LCD screen display information contains the readings from the capacitive sensor, thehigh voltage output and temperature sensor.

The BNC connector labeled provides the option to drive the controller with an external

analog input. The range of the BNC input is ±10V. The BNC connector labeled is the output

of position sensor with a range of ±10V. The default value of the low-pass filter is set at 2 kHz(hardware) for the sensors in the system.

The LEDs on the front panel have two colors to indicate the channel’s operating status.(When the LEDs are off, the power is off):

LED Color Channel StatusGreen Closed-LoopRed Open-Loop

Fig 2.1 The front panel of the SC-200 controller.

2.2 Back Panel

The back panel contains a power ON/OFF switch. See Fig2.2.


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Fig 2.2 The back panel of the SC-200 controller.

To provide proper EMC shielding, it is required to connect the AC power cord to a fully earthgrounded receptacle. If not, connect the chassis to ground.


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Chapter 3 Operation

SYMC PC software consists of two main tabs：a) Step Response (for PID setting)b) Waveform Generation (for waveform signal generating)Their functions are described in following.

Fig 3.1 The overview of the control panel

Fig 3.2 The control panel in the Step Response Tab


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Fig 3.3 The control panel in the Waveform Generation Tab

3.1 Graphic Controls

This section describes the graphic controls available to the user, as shown in Tab 3.1.

Table 3.1. Description of the toolbar button

Allows users to import .csv format data and display it in graphical interfaceAllows the users to export the image data is saved as a .csv format fileAllows the users to zoom in the X-axis and Y-axis by placing and dragging the mouseover the axis of interest.

Allows the users to see the settling time.

Allows the users to disconnect controller with PC

Allows the users to copy the graph to the clipboard for pasting in another application.

Allows the users to view the signal generated by waveform generator

Allows the users to click on the icon and drag lines to show the locations of the peaks ofFFT frequencies

Allows the users to reset step response curve to default size

Allows the users to do FFT processing with step response data

Allows the graph to be printed.Allows the users to view or hide the cursor, and Allows the users to drag the cursor.Allows the users to save selected graphicsAllows the users to zoom in and see the interested graph area by clicking and dragging abox

Allows the users to start waveform generator after waveform parameters are set

Allows the users to stop waveform generator


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3.2 Control Loop Tuning

The Control Loop Tuning tab, shown in Fig 3.2, consists of: Channel operating mode.(Fig 3.4)

Close – Servo onOpen – Servo off

Control Mode Selection: Control Mode Selection for choose A/D Control1, Digital Control orwave generator (Fig 3.5)

P, I and D sliders: used for tuning P, I and D parameters to optimize the step response. Step response control: set up and execute the step response for P, I and D tuning and

performance checking. Step Response Graph to display the position of the nanopositioning stage as a function of

time during a step response operation. A white cursor is displayed at the settled point of thestep curve (defined as the point at which the stage settles to within 2% of the commandedposition). If the stage does not settle within the user selected sampling time, it will notdisplay any settling time or cursors. The user may have to increase the sampling time orspeed up the system.(Fig 3.6)

Note 1: A/D Control means that the output signal equals analogue signal plus digital signal.

Fig 3.4 The control panel in the Channel operating mode

Fig 3.5 The control panel in the Control Mode Selection

Fig 3.6 The control panel in the PID Loop Tuning


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3.2.1 PID Control Loop Tuning

The recommended P, I and D parameters for each axis of the unloaded nanopositioning stage arestored in the controller’s factory default settings. When the nanopositioning stage is loaded with alarge mass, the system should be slowed down to maintain stability. This is achieved by tuning oneor more of the P, I and D parameters. The I and P parameters have the largest impact on the stepresponse. Optimization of the P, I and D parameters is application specific. The user can vary thecontrol parameters by changing the values in the text boxes or by using the sliders, as shown inFig 3.8. The sampling length and amplitude size for step response can also be adjusted. To obtainthe small-signal response, a 1 µm step size is recommended.

After each adjustment a step response can be performed by clicking the Run button.

Fig 3.7 PID tuning

Fig 3.8 The control panel in the PID Tuning

Once the desired control parameters have been identified they can be saved by clicking the SaveConfiguration to Device button, as shown in Fig 3.9.

Fig 3.9 Save to the flash memory of the controller


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3.2.2 Notch Filter

PID control may not always achieve the desired system performance. A faster step response canusually be achieved with the proper selection of notch filters. The appropriate notch filters can beidentified. To generate a proper notch filter the following steps should be followed: Set the control axis to open loop mode Identify the resonance frequency of the system by executing a step response (Fig 3.10) and

executing FFT to the data displayed2. Select the peak of the first resonant frequency from FFT graph (Fig 3.11). Define the center

frequency of the notch filter as close to the first resonance frequency as possible. Load notch filter parameters.(Fig 3.12) Execute a step response to see the effects of the notch filter on the nanopositioning stage, as

shown in Fig 3.13.Note 2: Recommend setting the sampling time greater than 100ms

Fig 3.10 Step response of 1µm in Open loop mode

Fig 3.11 Step response of 1µm in Freq-Domain in Open loop mode


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Fig 3.12 The control panel in the Notch Filter

Fig 3.13 System’s freq-domain with a notch filter applied

3.3 Waveform Generation

The SC-200 controller is equipped with a built-in function generator. It allows user to selectvariety of waveforms, such as sine wave, triangle wave and square wave. Users can easily setthe amplitude, offset and frequency of the waveform as shown in Fig 3.14. After setting theparameter, click the Start button to start generating. To display the stage response (non real-timedisplay) during scanning, the Enable Position Monitoring icon button needs to be clicked.

Fig3.14 The control panel in the Waveform Generator


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Chapter 4 Maintenance and Cleaning

4.1 Maintenance

Periodically inspect the cooling vents on the case top/bottom cover to insure that they are notobstructed with dust or debris and clear as needed.

4.2 Cleaning

If desired the outside surfaces of the case may be wiped with a damp cloth using a mild cleaner orwater. Take care not to allow liquid to penetrate the seams as the controller case is not watertight.


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Appendix A: Specifications

Number of channels: 1- & 3-Channel Versions

Resolution: 24-bit

Processor: 32-bit floating point DSPSampling rate: 48.8 kHz

Controller Interfaces: USB 2.0

Channel Connectors:BNC analog command input（-10V～+10V）

BNC analog monitor output（-10V～+10V）

D-SUB 15 stage connector

HV driver voltage: -30V to 150V piezo driver signal

HV driver current: 100mA/ channel

Sensor Type: Capacitive

Software:Sanying control panel

LabVIEW and DLL drivers

Waveform generator

Software requirements: Microsoft Windows XP/Vista/7

Operating temperature: 10° C to 40° C

Maximum relative humidity: 80% to 31°C decreasing linearly to 50% at 40°C

Operating altitude: 2000 meters maximum

Dimensions:Height: 142 mm

Width: 449 mm

Depth: 376 mm

Weight: 3 Kg

Mains Voltage: 100~240 VAC, 50-60 Hz, recommended AC supply is CUIV-Infinity model ETMA120750U

Power Fuse: 2A, 250V

Power Current: 0.6A


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Appendix B: TroubleshootingCommunication with controller does not work※Check cableIn the process of communication the USB cable must be securely connected※Check USB DriverCheck if the USB driver installed correctly and confirm if the computer can identify the controller※Another control software is using the interfaceClose the other control software※Controller was power-cycled or rebootedWith USB connections, communication can’t be maintained after the SC-200 is power-cycled orrebooted. The Connection must then be closed and reopenedStage does not move.※Cable not connected properlyCheck the cable(s) connection※Stage or stage cable is defectiveExchange stage (channel) with a working stage (channel) to test a new combination of controllerand stage (channel).※Wrong axis commandedCheck if the correct axis command is sent and if the commanded axis is that of the expected stage※Check drive modeCheck if the drive mode is set correctlyUnsatisfactory system performance※The sensor values are not reliable, and the whole system is instable.Only thermally stable systems can have the best performance. For a thermally stabled system,powers on the SC-200 at least one hour before you start working with it.


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Appendix C: Install USB driver1 Open “Device Manager”, right click “EZ-USB”, click “Update Driver Software…”

2 Click “Browse my computer for driver software”

3 Click “Browse”, choose the USB driver according to the PC OS. Click “OK” , then click“Next”


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4 If “Windows Security” appear, click “Install this driver software anyway”

5 Wait a moment, then the driver will be installed successfully.


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Company Headquarters : C21 Building,Venture Headquarter Base,Fuyuan Road,Wuqing Development,Tianjin,ChinaZip code: 301700TEL: +86-022-22977677FAX: +86-022-29516023E-mail: [email protected]://en.symc-tec.com/


http://en.symc-tec.com/

SC-200 controller User Guide

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