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1
Bedienungsanleitung
Spannungsverstärker
instruction manual
voltage amplifier
NV40/3
NV40/3CLE
NV120/1
NV120/1CLE
Bitte lesen Sie sorgfältig die Bedienungsanleitung vor dem Einschalten des Gerätes. Beachten Sie
bitte insbesondere die Sicherheitshinweise!
Read carefully before switching on the power! Please see also instructions for safety when using
piezoelectric actuators and power supplies!
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29
Table of contents
1 introduction ................................................................................................................. 30
2 certification of piezosystem jena ................................................................................. 30
3 declaration of conformity ............................................................................................. 31
4 purchased part package ............................................................................................. 32
5 instructions for using piezo electrical elements and power supplies ............................ 32
6 safety instructions ................................ ................................................................ ....... 33
6.1 installation, power supply ............................................................................................ 34
6.2 operation..................................................................................................................... 34
6.3 maintenance and inspection ....................................................................................... 35
6.4 environmental conditions ............................................................................................ 35
7 NV40/3, NV40/3CLE, NV120/1 and NV120/1CLE ....................................................... 36
7.1 key words ................................................................................................................... 36
7.2 user elements / connections ....................................................................................... 37
7.2.1 front panel ................................................................................................................... 37
7.2.2 back panel .................................................................................................................. 38
7.3 introduction ................................................................................................................. 38
7.3.1 block diagram ............................................................................................................. 39
7.3.2 amplifier with integrated feedback controller ............................................................... 39
7.3.3 amplifier without integrated feedback controller .......................................................... 39
7.4 initiation ...................................................................................................................... 39
7.4.1 main supply voltage .................................................................................................... 39
7.4.2 connecting piezo actuator ................................ ........................................................... 40
7.4.3 graphic display NV40/3, NV40/3CLE .......................................................................... 40
7.4.4 graphic display NV120/1, NV120/1CLE ...................................................................... 40
8 handling ...................................................................................................................... 41
8.1 manual control ............................................................................................................ 41
8.2 controlling via modulation / monitor ............................................................................. 41
8.2.1 modulation .................................................................................................................. 41
8.2.2 monitor NV40/3CLE, NV120/1CLE ............................................................................. 41
8.2.3 monitor NV40/3, NV120/1 ........................................................................................... 42
8.3 controlling via interface ............................................................................................... 43
8.3.1 configuration RS232 ................................................................................................... 43
8.3.2 command list overview ................................................................................................ 44
8.3.3 commands .................................................................................................................. 45
8.3.4 examples .................................................................................................................... 47
8.3.5 calibration of encoder ................................................................................................. 48
8.4 technical data ............................................................................................................. 50
8.5 pin assignment ........................................................................................................... 51
8.5.1 output connector for actuator D-SUB15pin .................................................................. 51
8.5.2 MOD/MON connector D-SUB25pin ............................................................................. 51
8.5.3 RS232 D-SUB9pin ..................................................................................................... 52
8.5.4 USB 1.1 ...................................................................................................................... 52
8.5.5 main supply voltage .................................................................................................... 52
9 trouble shooting .......................................................................................................... 53
10 your notes ................................................................................................................... 54
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1 introduction
This manual describes the piezo amplifiers NV40/3, NV40/3CLE, NV120/1 and NV120/1CLE
from piezosystem jena. You will also find additional information regarding piezoelectric
products.
definition: All systems from piezosystem jena such as electronics, actuators and optical
systems are called units.
If you have any problems please contact the manufacturer of the system: piezosystem jena,
Pruessingstrasse 27, 07745 Jena. phone: +49 3641 6688-0
2 certification of piezosystem jena
The company piezosystem jena GmbH has been certified by DIN EN ISO 9001 since 1999.
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31
This instruction manual includes important information for using piezo
actuators. Please take time and read this information. Piezo positioning
systems are mechanical systems with highest precision. Correct handling
guarantees the precision over long time.
3 declaration of conformity
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32
4 purchased part package
Please check the completeness of the delivery after receiving the shipment:
voltage amplifier NV40/3 (NV40/3CLE, NV120/1, NV120/1CLE)
wide range power supply 24VDC
MOD/MON cable
RS232 cable
USB cable
instruction manual
CD-ROM with drivers, software and instruction manual
5 instructions for using piezo electrical elements and power supplies
Piezoelectric actuators from piezosystem jena are controlled by voltages up to 150V.
These values can be quite hazardously. Therefore read the installation instructions carefully
and only authorized personal should handle the power supply.
After transportation, piezoelectric actuators should be allowed to adapt for approximately
2 hours to the room temperature before being switched on.
Piezoelectric actuators are made from ceramic materials with and without metallic casings.
The piezo-ceramic is a relatively brittle material. This should be noted when handling
piezoelectrical actuators. All piezo-elements are sensitive to bending or shock forces.
Due to the piezoelectric effect piezo-actuators can generate electrical charges by changing
the mechanical load or the temperature or such actions described above.
Piezoelectric actuators are able to work under high compressive forces. Only actuators with
a pre-load can be used under tensile loads (these tensile forces must be less then the preload, given in the data sheet).
Please note that the acceleration of the ceramic material (e.g., caused by fall down,
discharging or high dynamic application) will occur.
After excitation of the actuators by a voltage in the upper control range, the ceramic will
move and generate an opposite high voltage after disconnection.
Heating of the ceramic material will occur during dynamic operation and is caused by
structure conditional loss processes. This may cause failure if the temperature exceeds
specified values cited below.
With increasing temperature, up to the Curie temperature (usual values approx.
140°C - 250°C), the piezoelectric effect disappears.
Piezoelectric actuators such as stacks or other devices work electrically as a capacitor.
These elements are able to store electrical energy over a long period of time (up to some
days) and the stored energy may be dangerous.
If the actuator remains connected to the drive electronics, it will be unloaded within a
second after shutdown and quickly reaches harmless voltage values.
Piezo-actuators can generate voltages by warming or cooling only (caused by the
longitudinal change). The discharge potential should not be ignored due to the inner
capacitance. This effect is insignificantly at usual room temperature.
Piezo-actuators from piezosystem jena are adjusted and glued. Any opening of the unit
will cause misalignment or possible malfunction and the guarantee will be lost.
Please use only original parts from piezosystem jena.
Please contact piezosystem jena or your local representative, if there are any problems
with your actuator or power supply.
Caution!
Shock forces may damage the built-in ceramic elements. Please avoid such forces, and
handle the units with care, otherwise the guarantee will be lost.
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6 safety instructions
Icons:
RISK OF ELECTRIC SHOCK! Indicates that a risk of electric shock is present and the
associated warning should be observed.
CAUTION! REFER TO OPERATOR´S MANUAL – Refer to your operator’s manual for
additional information, such as important operating and maintenance instructions.
RISK OF ELECTRIC SHOCK!
Do not open the units! There are no user serviceable parts inside and opening or removing
covers may expose you to dangerous shock hazards or other risks. Refer all servicing to
qualified service personnel.
Do not spill any liquids into the cabinet or use the units near water.
CAUTION!
Allow adequate ventilation around the units so that heat can properly dissipate. Do not
block ventilated openings or place the units near a radiator, oven or other heat sources. Do
not put anything on top of the units except those that are designed for that purpose (e.g.
actuators).
Work with the units only in a clean and dry environment! Only specially prepared units (e.g.
actuators) can work under other conditions!
Please use only original parts from piezosystem jena.
piezosystem jena does not give any warranty for damages or malfunction caused by
additional parts not supplied by piezosystem jena. Additional cables or connectors will
change the calibration and other specified data. This can change the specified properties of
the units and cause them to malfunction.
Do not place the units on a sloping or unstable cart, stand or table as they may fall or not
work accurately.
Piezo elements are sensitive systems capable of the highest positioning accuracy. They will
demonstrate their excellent properties only if they are handled correctly! Please mount
them properly only at the special mounting points.
Immediately unplug your unit from the wall outlet and refer servicing to qualified service
personnel under the following conditions:
when the power supply cord or plug is damaged
if cleaning supplies or liquid has been spilled or objects have fallen into the unit
if the unit has been exposed to rain or water
if the unit has been dropped or the housing is damaged
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6.1 installation, power supply
RISK OF ELECTRIC SHOCK
Do not insert or unplug the power plug with wet hands, as this may result in electrical
shock.
Do not install in rooms, where inflammable substances are stored. If flammable substances
come into contact with electrical parts inside, this may result in fire or electrical shock.
Do not damage or modify the power cord. Also, do not place heavy objects on the power
cord, or pull on or excessively bend it, as this could cause electrical damage and result in a
fire or electrical shock.
Always grasp the plug portion when unplugging the power plug. Pulling on the power cord
may expose or snap the core wire, or otherwise damage the power cord. If the cord is
damaged, this could cause an electricity leak and result in a fire or electrical shock.
CAUTION!
Do not use accessories other than the provided (e.g. power cord). Plug the power cord only
in grounding equipment conductor power sockets.
Do not place any heavy objects on any cables (e.g. power cords, sensor cables, actuator
cables, optical cables).
Do not block ventilated openings or place the units near a radiator, oven or other heat
sources. Do not put anything on top oft he units except those that are designed for that
purposes (e.g. actuators).
Plug the power cord completely in the grounding equipment conductor power sockets so
that it can not loosening inadvertently.
Leave sufficient space around the power plug so that it can be unplugged easily. If objects
are placed around the power plug, you will be unable to unplug it in an emergency.
Install the system in that way that the on/off-switch is accessible without problems.
6.2 operation
Please note the area with general safety precautions (see section 6ons”)
RISK OF ELECTRIC SHOCK!
Do not spill inflammable substances inside the voltage amplifier. If these items come into
contact with an electrical component inside the voltage amplifier, this may result in a fire or
electrical shock.
CAUTION!
If the voltage amplifier emits smoke, big heat or unusual smells, immediately turn off the
power switch and unplug the power plug from the outlet. Then contact our technical service.
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6.3 maintenance and inspection
CAUTION!
When cleaning the exterior box of the voltage amplifier, first turn off the power switch and
unplug the power plug. Failure to observe these items may result in a fire or electrical
shock.
Cleaning the exterior box using a firmly wrung-out cloth. Do not use alcohols, benzene,
paint thinner or other inflammable substances. If flammable substances come into contact
with an electrical component inside the voltage amplifier, this may result in a fire or
electrical shock.
6.4 environmental conditions
The amplifier can be used:
indoor
altitude up to 2000 m
temperature: 5 ... 35 °C
relative humidity: 5 ... 95% (non-condensing)
The recommended environmental conditions are:
indoor
altitude up to 2000 m
temperature: 20...22 °C
relative humidity: 5 ... 80% (non-condensing)
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7 NV40/3, NV40/3CLE, NV120/1 and NV120/1CLE
These voltage amplifiers are very similar. In case of information which do refer to the
NV40/3CLE or NV120/1CLE the symbol “ → not available in NV40/3, NV120/1” will point it.
NV40/3
piezo amplifier for up to 3 PZT actuators; RS232/USB interface; for piezo actuating systems
without feed back sensor inside
NV40/3CLE
piezo amplifier for up to 3 PZT actuators; RS232/USB interface; for piezo actuating systems
with feed back sensors inside (strain gauge or capacitive)
NV120/1
piezo amplifier for one PZT actuator; RS232/USB interface; for piezo actuating system
without feed back sensor inside
NV120/1CLE
piezo amplifier for one PZT actuator; RS232/USB interface; for piezo actuating system with
feed back sensor inside (strain gauge or capacitive)
7.1 key words
GRAPHIC DISPLAY
dimmable 3.5“ TFT full colour graphic, 320x240 Pixel; constantly shows all values and status
information
ENCODER KNOB
for manually voltage or position adjustment and for switching on/off the CLOSED LOOP
mode (NV40/3CLE only)
CLOSED LOOP
operating mode for piezo actuating systems with integrated feed back sensor system,
position accuracy is constantly controlled
OPEN LOOP
operating mode for actuating systems without feedback sensor inside; no position
information available
MODULATION INPUT
the amplifier can be controlled by an applied analogue voltage signal from 0V…+10V
(see 8.2.1)
MONITOR OUTPUT
output voltage signal which corresponds with the position of the piezo actuating system
(CLOSED LOOP mode) or with the applied voltage signal (OPEN LOOP mode), (see 8.2.2)
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PC INTERFACE
serial RS232 interface or USB1.1 (see 8.3)
REMOTE CONTROL
The remote control switches all manual controls (ENCODER KNOB and MODULATION) off
or on. Please pay attention only if the remote control is switched on (1) it will be possible to
use the „set“ command.
HYPER TERMINAL PROGRAM
This software enables to control the piezo actuating system by using the RS232 interface.
The available commands are described in chapter 8.3.2.
ASI function (Automatical Sensor Identification)
NV40/3CLE, NV120/1CLE amplifiers can be used with strain gauge feed back sensors as
well as with capacitive feed back sensors. The ASI function makes it possible to show the
name of the actuator and the measurement system.
Soft Start
Initialization after turning-on procedure. During initialization sequence the piezo electrical
actuator is controlled for approximately 10 seconds with a voltage signal from -20V up to
130V. Please note: the actuating system is moving!
MAIN SUPPLY VOLTAGE
The main supply voltage to the amplifier is 24VDC; an external wide range power supply is
included in the shipment
7.2 user elements / connections
7.2.1 front panel
Graphic display
encoder knob
channel 1
encoder knob
channel 2
encoder knob
channel 3
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7.2.2 back panel
7.3 introduction
The amplifiers NV40/3 and NV40/3CLE are designed for parallel control of up to three low
voltage piezo actuators with and without internal feed back sensor system. NV120/1 and
NV120/1CLE are designed for control of one low voltage piezo actuators with higher output
current. The amplifiers come as a stand alone device with standard PC interface RS232 and
USB. A dimmable graphic display constantly shows all status information such as voltage
and motion. Each piezo can be controlled separately by turning the voltage offset, by
applying an analog voltage signal of 0 to 10V or by PC interface. The voltage of the monitor
output correspondents to either applied piezo voltage (NV40/3, NV120/1) or completed
motion (NV40/3CLE, NV120/1CLE).
The NV40/3 and NV120/1 are designed for controlling only open loop actuating systems
without any feedback sensor inside. The NV40/3CLE and NV120/1CLE are designed for
piezo actuating system with strain gauge or capacitive feed back sensors inside. In this case,
the sensor signal is prepared by an external pre-amplifier inside the cable. The Automatic
Sensor Identification “ASI” enables the customer to use the amplifier NV40/3CLE or
NV120/1CLE with different piezo actuators of the same product series. This enables the
controller unit to read all system information from the actuating systems which are stored
inside the connector and transmit this information to the amplifier unit.
The chart 7.3.1 shows the block diagram of the NV120/1CLE. With exception of the display
and the processor, the circuit is triplicate for the NV40/3CLE series. The series NV40/3 and
NV120/1 don’t have a PID-Controller, an ADC for measurement signals and the switch for
the monitor signal.
Power
switch ON/OFF
Connector
for actuators
Main supply
voltage
USB-
interface
RS232-
interface
Connector for
modulation (MOD) and
monitor (MON)
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7.3.1 block diagram
block diagram NV120/1CLE, NV40/3CLE
7.3.2 amplifier with integrated feedback controller
Analog actuating systems with integrated feedback sensors are calibrated with a particular
amplifier unit. Only systems consisting of piezo and amplifier which are calibrated to each
other can be used together to reach the full accuracy performance. Exchanging of actuating
system is possible in this case only if the actuating system is from the same product group.
Otherwise the closed loop controller can be damaged!
Example: If the amplifier NV40/3CLE is calibrated for a 3-axis system MIPOS100SG (range
of motion 100µm), then it can be used with different MIPOS100SG actuators, but not with
MIPOS250SG (range of motion 250µm) or a MIPOS100CAP (different measuring system).
Different actuators have different resonant frequencies and the PID controller have other
calibrations. If an actuator is connected to a channel of the amplifier NV40/3CLE which it was
not calibrated with, it won't be possible using in closed loop.
Please note that the information about the operation mode (closed loop, open loop) are
automatically stored if the system is switched off. When it is switched on again, the last
operation mode is set again. The system starts automatically at the zero position.
7.3.3 amplifier without integrated feedback controller
Any system delivered as open loop mode can not be modified to closed loop later on.
Any closed loop system can be easily calibrated to a different closed loop piezo afterwards.
This is only possible at piezosystem jena and will cause additional effort and costs.
Please contact our sales team for more information.
7.4 initiation
Please follow all safety instruction given in chapter 6 before using the amplifier.
7.4.1 main supply voltage
The amplifier NV40/3, NV40/3CLE, NV120/1 and NV120/1CLE require a main supply voltage
of 24VDC. A power supply unit suitable for voltages from 100 up to 240Volt AC is included in
the shipment. The socket for the main supply voltage is located on the back panel of the
amplifier.
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sample 2
7.4.2 connecting piezo actuator
Piezo electrical actuators are connected to the amplifier unit by using the D-SUB connector
on the back panel. Please make sure that the amplifier is switched off when connecting /
disconnecting the PZT to the amplifier. Please fasten the screws of the D-SUB connector
and guarantee a firm connection. After switching on the initialization procedure follows.
(please see chapter 7.1) Then the display shows the details of the used PZT.
If the display shows the information “NOT CONNECTED” please check the connection
between PZT connector and amplifier again. Please note: during initialization procedure the
operation of the unit is disabled.
7.4.3 graphic display NV40/3, NV40/3CLE
The graphic display shows the following status information:
7.4.4 graphic display NV120/1, NV120/1CLE
The graphic display shows the same status information as the NV40/3, NV40/3CLE but only for
one channel.
no actuator
connected
actuator position
(only NV40/3CLE)
internal
temperature
actuator out of
closed loop range
„OVL“, „UDL“
(only NV40/3CLE)
operating mode
„closed loop“
(only NV40/3CLE)
Piezo voltage
remote modus
activated
„REMOTE“
name of axis of
actuator
name of actuator
operation mode
„open loop“
sample 1
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8 handling
8.1 manual control
Each channel can be controlled by turning the encoder knob on the front panel. Turning
clockwise increases the applied voltage signal, turning counter clockwise reduces the applied
voltage signal. Depend on how fast the knob is turned, the change of the applied signal can
be adjusted.
The closed loop mode of the NV40/3CLE, NV120/1CLE amplifier can be switched on and off
by pressing the encoder knob for each channel. If you switch off the amplifier the operational
mode (closed loop, open loop) will be saved, and after switching on, the amplifier starts again
with its last operational mode.
8.2 controlling via modulation / monitor
8.2.1 modulation
The amplifier can be controlled by an external modulation signal from 0 to 10V. In addition,
the digital encoder can be used to shift the offset of the modulation input. Please note, the
signal of the encoder and the signal of the modulation input are added finally. The sum of
both voltages must be in range between 0 and 10 Volts. Voltages outside oft he permissible
field are signaled by UDL or OVL.
An adapter cable with BNC to D-SUB connector is included. The modulation is marked on
the back panel by MOD/MON.
By using an external modulation signal in open loop mode 0V correspond to a value of –20V
and 10V correspond to voltages signal of 130V applied to the piezo actuating system.
In closed loop mode () 0V corresponds to a motion of 0µm, 10V corresponds to the max.
motion based on the specification of the used piezo actuating system.
8.2.2 monitor NV40/3CLE, NV120/1CLE
The monitor output is an analogue feed back of the output parameters. The monitored value
based on a scaled value from 0 to +10 and in addition the reserve value of the overshooting
range.
The monitor output can be switch in different modes via RS232 or USB interface.
(x describes the number of channel)
monwpa,x,0: Output of a voltage proportional to the actuator voltage. This mode will set
the monitor output signal fixed to its characteristics. Shown in diagram 1.
diagram 1
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Based on this a signal of 0V is related to an applied voltage of –20V and +10V is related to
+130V. In closed loop the minimum and maximum values never reaches caused by the
closed loop control reserve.
monwpa,x,1: Output of a voltage proportional to the actuator position (delivery status).
Shown in diagram 2.
diagram 2
The monitor output provides a voltage signal which correspondents directly to the position of
the piezo actuating system (delivery status). The value of the monitor output voltage range is
from 0V to +10V in closed loop mode and from –13V to +13V in open loop mode (minimum
and maximum depends of motion range).
monwpa,x,2: In open loop the monitor provides a voltage signal of 0V up to +10V which
corresponds to the voltage signal applied to the piezo actuator. The monitor output follows
the characteristic curve shown in diagram 1.
In closed loop the monitor output provides a voltage signal which corresponds directly to the
position of the piezo actuating system. Shown in digram 2.
For amplifiers with “closed loop” operation (“CLE” version) in combination with open loop
actuating systems, the monitor output shows a voltage signal proportional to the applied
piezo actuator control signal. The command “monwpa” is deactivated.
8.2.3 monitor NV40/3, NV120/1
The monitor output of the NV40/3, NV120/1 always provides a signal of 0V up to +10V which
directly corresponds to the voltage signal applied to the piezo actuator. The command
„monwpa“ is deactivated.
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8.3 controlling via interface
The amplifier series NV 40/3 and NV 120/1 can be controlled via RS232 interface. Therefore
signal parameters and information about the actuator position or status can be adjusted or
settled directly. Furthermore, the system settings of the amplifier unit can be changed by
using the interface. A fully PC controlled piezo system for automation purposes is feasible.
Please connect the amplifier system by using the RS232 or the USB interface with your PC.
During this the piezo amplifier must be switched off!
For using the interface a simple Terminal-Program can be used. Please note that the
program “WINDOWS-HyperTerminal” isn’t a part of Microsoft® WINDOWS since
WINDOWS–VISTA is launched. By using the USB interface, please install the necessary
driver which is supplied on a CD-Rom with the amplifier unit or which is available for
download on our web site in the area “download & publications”. The installation procedure is
explained in the PDF-file “Treiberinstallation_NV40_3_NV120_1.pdf”.
The supplied VI-driver is used for the integration of the amplifier systems into an existing
Lab-View® program or for programming of a new program. As a part of the supplied software
package software for controlling of the amplifier units is included or can be downloaded from
our web site as well.
8.3.1 configuration RS232
For external control by PC interface RS232 the following settings are necessary:
Baud rate / Bits per second
19200
Data bits
8
Stop bits
1
Parity
no
Flow control
Software (XON / XOFF)
chart 1: configuration RS232
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8.3.2 command list overview
command
content
s
shows all available commands
setk
switches the remote control for one channel on or off
cloop
switches one channel to closed loop or open loop ()
set
sets the values to one channel
setall
sets the values to all channels
rk
measures either the position (only NV40/3CLE, NV120/1CLE) or voltage
(only NV40/3, NV120/1) only for one channel
measure
gives values of all channels either for position () or voltage
monwpa
switches the monitor in different modes
fenable
enables the soft start function for the given channel
fready
enables the soft start function for all channels
encmode
encoder: mode (EN)
enctime
encoder: sample interval (SI)
enclim
encoder: maximum step
encexp
encoder: exponent for calculation of acceleration (EM0)
encstol
encoder: interval for “open loop” (EM1,2)
encstcl
encoder: interval for “closed loop” (EM1,2) ()
ver
gives the version number of controller and amplifier software
ERR?
shows the last occurred error
light
display brightness
chart 2: command list overview
NV40/3, NV40/3CLE:
The numbers for the channels starts with „0“. Connector “PIEZO 1” equals channel number
“0”. The format of the command is: <command>,<channel>,<value>
NV120/1, NV120/1CLE:
Set command is without channel number. The format of the command is: <command>,<value>
Please use dot “.” if commands included a value to separate decimal places.
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8.3.3 commands
command 'setk'
call: setk,<ch>,<0|1> example: setk,0,1
answer: none set the actuator on channel 0 (PIEZO 1)
to remote control
The command setk switches the remote control for one channel <ch> on <1> or off <0>. If
the remote control is activated you won't be able to change the position neither by the
ENCODER KNOB nor via MODULATION. With the command setk,<ch>,1 the pre-settled
encoder value is taken over. If the remote control is switched off by the command <0>, the
pre-settled value, command set or setall is taken over into the analogue control.
Turning the remote control off, the position of the actuator goes to minimal position.
command 'cloop' ()
call: cloop,<ch>,<0|1> example: cloop,1,0
answer: none Channel 1 (PIEZO 2) is set to the
operation modus open loop
The command “cloop” switches channel of the amplifier () to the operation mode closed
loop <1> or to open loop <0>. Command without value reads out the current value.
command 'set'
call: set,<ch>,<wert> example: set,0,5.53
answer: none set the position of the actuator to the
given value. In closed loop (only CLE)
the value is 5.53 µm. In open loop the
value means 5.53 V
The command “set” sets a channel <ch> to the given value <value>. In closed loop () the
value means µm. In open loop the value means the voltage which is applied to the actuator.
Please pay attention that the remote control has been switched on before.
command 'setall'
call: setall,<value0>,< value 1>,< value 2> example: setall,22,1.5,5.53
answer: none sets the position of the actuator to the
given value <value0, 1, 2>, for instance
PIEZO1 to 22, PIEZO 2 to 1.5 and PIEZO
3 to 5.53
The command “setall” sets all channels to the given values <value>. In closed loop () the
value <value0, 1, 2> means µm. In open loop the value <value0, 1, 2> means the voltage
which is applied to the actuator. Please take care that the remote control for all channels has
to be switched on.
command 'rk'
call: rk,<ch> example: rk,1
answer: rk,<ch>,<value> rk,1,20.016
That means for
open loop: 20.016V
closed loop: 20.016µm ()
The command „rk“ reads out either the position value for one channel <ch> from the
measuring system in closed loop () or the voltage applied to the actuator in open loop. The
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46
readout value is given with 3 decimal places.
command 'measure'
call: measure example: measure
answer: aw,<value0>,<value1>,<value2> aw,0.015,5.003,150.002
The command „measure“ reads out either the position <value0, 1, 2> from the measuring
system in closed loop () or the voltage applied to the actuator in open loop. The readout
values <value0, 1, 2> are given with 3 decimal places.
command 'monwpa'
call: monwpa,<ch>,<0|1|2> example: monwpa,0,1
answer: none switches the monitor signal on channel
0 to the position of the piezo actuating
system
modes: 0 = always actuator voltage
1 = always voltage to the position of the piezo actuating system ()
2 = ol = actuator voltage, cl = measuring system voltage ()
Command without value reads out the current value.
command 'ver'
call: ver example: ver
answer: version,vnumber,vdate ver,1.000.799
sdate,11/09/2006
serno,23579
This command “ver” reads out the software version number of the internal controller, the date
and the serial number of the amplifier.
command 'ERR?'
call: ERR? example: ERR?
answer: ERROR,<“last error“> ERROR,"OK. No error."
The command “ERR?” gives the last failure from the controller. After read out the error from
the controller the failure status in the memory will be deleted. The output of the error
message occurs as plain text.
command 'fready'
call: fready,<0|1> example: fready,1
answer: none the soft start is switched on for all
channels
This command 'fready' enables the soft start function for all channels. After switching on the
system the soft start function is started for 10 seconds to initiate the actuator. While this
routine the actuator is moved once through the whole motion range and back. During soft
start the modulation input and the encoder are disabled. After soft start the amplifier is
working normally. Command without value reads out the current value.
command 'fenable'
call: fenable,<ch>,<0|1> example: fenable,0,1
answer: none the soft start function is switched on for
the channel 0 (PIEZO 1)
This command 'fenable' enables the soft start function for the given channel. After switching
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47
on the system the soft start function is started for 10 seconds to initiate the actuator. While
this routine the actuator is moved once through the whole motion range and back. During
soft start the modulation input and the encoder are disabled. After soft start the amplifier is
working normally. Command without value reads out the current value.
command 'light'
call: light,<0...255> example: light,0
answer: none switch off the display
The command „light“ can be used to control the brightness of the display. Adjustable values
are between “0” (display off) and “255” maximum brightness. The last adjustment will be
stored and will be automatically used if the amplifier will be switched on. Command without
value reads out the current value.
Please pay attention! If the display remains dark after switching on the amplifier the display
may have been adjusted to “light,0” before. Please read out the value by input command
“light” and change the value if necessary.
8.3.4 examples
example 1:
This example shows the sequence of the commands to move the actuator on channel 0 with
the NV40/3CLE from the minimal position 0 µm to 10µm, channel 1 is set in open loop to
90Volts and channel 2 is set to closed loop to position 20.5µm:
command
response
content
[Enter]
NV403CLE> (NV403,
NV120CLE, NV120)
after pressing the [Enter] key on the computer
keyboard the prompt shows “NV403CLE>”
(NV40/3, NV120/1CLE, NV120/1) in the
HYPER TERMINAL program
setk,0,1
none
activates the remote control on channel 0
cloop,0,1
none
switches channel 0 to closed loop mode
set,0,10
none
set channel 0 to 10µm
setk,1,1
none
activates the remote control on channel 1
cloop,1,0
none
switches channel 1 to open loop mode
set,1,90
none
set channel 1 to 90Volts
setk,2,1
none
activates the remote control on channel 2
cloop,2,1
none
switches channel 2 to closed loop mode
set,2,20.5
none
set channel 2 to 20.5µm
measure
aw,10.000,90.000,20.500
displays the set values
chart 3: example for remote control NV40/3CLE
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example 2:
This example shows the sequence of the commands to move the actuator with the
NV120/1CLE from the minimal position 0µm to 35,46µm:
command
response
content
[Enter]
NV120CLE
after pressing the [Enter] key on the computer keyboard the
prompt shows “NV120CLE>” in the HYPER TERMINAL
program
setk,1
none
activates the remote control
cloop,1
none
switches to closed loop mode
set,35.46
none
set the actuator to 35.46µm
rk
rk,35.460
displays the set value
chart 4: example for remote control NV120/1CLE
8.3.5 calibration of encoder
The encoder of NV40/3[CLE] e.g. NV120/1[CLE] is used for the calibration of the attached
actuator in open and closed loop. The encoder has a resolution of 30 detent / rotation.
With each step of the encoder an internal counter (EncIncre) within the scanning interval
(SI), will be incremented or decremented, depending on the direction of rotation. After
scanning interval the NV40/3[CLE] calculates a new stroke () or voltage (deltaValue),
depending on the mode (EM). The actuator will be charged with this calculated value.
EncIncre will be clear the encoder and the procedure start again.
The values of the encoder can be analyzed by 3 different modes (EM):
normal with acceleration (EM0) calculation deltaValue:
deltaValue = EncIncr
EncExponent
adjustable interval (EM1) calculation deltaValue:
deltaValue = EncStep
adjustable interval with acceleration (EM2) calculation deltaValue:
deltaValue = EncIncr * EncStep
encoder commands generally:
call: encmode,<0 to 2> example: encmode,1
answer: none the mode of encoders is set to EM1
(adjustable interval)
call: enctime,<0 to 255> example: enctime,2
answer: none scanning interval (SI) is set to 0.04 sec
Scanning interval (SI) can be adjusted in a range between 0 and 5.1sec with a step size of
0.02 sec. The evaluation of the encoder will be done in this time period. In each interval only
one encoder can be evaluated! This means, if you have 3 active channels and an adjusted
interval of 1 sec. the encoder will be scanned in an interval of 3 seconds.
call: enclim,<1...65535> example: enclim,10000
answer: none the step limitation is set to 10000
If the absolute value of deltaValue is higher than enclim, deltaValue will set to enclim with
the same prefix.
The above-named commands are valid for all modes.
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special commands for encoder:
normal with acceleration (EM0)
call: encexp,<1...10> example: encexp,3
answer: none the exponent is set to 3
adjustable interval with and without acceleration (EM1,2)
call: encstol,<0.001…150.000> example:encstol,1.000
answer: none the step size for„open loop“ is set to 1V
The numerical resolution of 1mV will be not achieved due to the resolution of the
DAC of 16 bit. The real step size is approximately 3mV
call: encstcl,<0.001…100.000>() example:encstcl,0.001
answer: none the step size for„closed loop“ is set to
1nm
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8.4 technical data
NV40/3 [CLE]
NV120/1 [CLE]
number of channels
3
1
output power
3x 5W
15W
output voltage
-20V to +130V
output current (continuous)
3x 40mA
120mA
noise of output voltage
<0,3mV
RMS
@ 500 Hz
modulation input (MOD)
0V to +10V, D-SUB25pin
input impedance
10 kΩ
manually control
digital encoder
display
TFT full colour graphic, 320x240 Pixel
output connector
3x D-SUB15pin
D-SUB15pin
monitor output (MON)
NV40/3CLE, NV120/1CLE
selectable
D-SUB25pin, output impedance <100Ω
-13 to +13V measuring system voltage (open loop)
0 to +10V measuring system voltage (closed loop)
monitor output (MON)
NV40/3, NV120/1
D-SUB25pin, output impedance <100Ω
0 to +10V (equates to actuator voltage -20 to +130V)
closed loop control ()
PID analogue, switched on/off by pushing the encoder
knob,
for CAP und SG sensors
dimensions w x h x l
210mm x 88mm x 240mm
mass
2,1kg
interface
RS232 D-SUB9pin, USB 1.1
converter resolution
16 bit
features
soft start function, ASI function, over voltage protection,
over temperature protection, short circuit proof,
dimmable display
main power supply
24VDC / 2,5A
(wide range power supply 100-240VAC is included in
the shipment)
order info
NV40/3 – E-101-20
NV40/3CLE – E-101-23
NV120/1 – E-101-90
NV120/1CLE – E-101-93
chart 5: technical data NV40/3 [CLE], NV120/1 [CLE]
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8.5 pin assignment
8.5.1 output connector for actuator D-SUB15pin
The D-SUB 15 connector for the piezo actuating system has two functionalities. First, connection
for the voltage signal of the piezo control, and second, the voltage supply for the feed back
sensors, when a closed loop system is used. In addition, the calibration data of the feed back
system, stored on an ID-Chip on the actuator side, are forwarded to the amplifier.
8.5.2 MOD/MON connector D-SUB25pin
The MOD/MON connector on the backside is used for modulation and for monitoring. With the
modulation an analogue signal is served to the amplifier. The monitor shows the response of the
system also as an analogue signal.
pin
description
1
modulation channel 1
14
Ground
2
monitor channel 1
15
Ground
3
MOD-MON difference channel 1
16
Ground
4
n.c.
17
n.c. 5 modulation channel 2
18
Ground
6
monitor channel 2
19
Ground
7
MOD-MON difference channel 2
20
Ground
8
n.c.
21
n.c. 9 modulation channel 3
22
Ground
10
monitor channel 3
23
Ground
11
MOD-MON difference channel 3
24
Ground
12
n.c.
25
n.c.
13
n.c.
chart 7: MOD/MON connector NV40/CLE
(for NV120/1CLE please use channel 3)
The MOD/MON adapter cable is part of the delivery. If the use of a self-made adapter cable
necessary, no liability for the functionality and the system parameters can be guaranteed. Please
contact piezosystem jena for detailed information.
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52
8.5.3 RS232 D-SUB9pin
pin
description
explanation
2
TxD
RS232 transmitter
3
RxD
RS232 receiver
5
GND
RS232 Ground
4,6 Bridge
7,8 Bridge
Chart 8: RS232-connector NV40/3CLE, NV120/1CLE
8.5.4 USB 1.1
pin
description
explanation
1
VCC
supply voltage +5V
2
D-
Data -
3
D+
Data +
4
GND
Main power supply ground
Chart 9: USB-connector NV40/3CLE, NV120/1CLE
8.5.5 main supply voltage
The NV40/3, NV40/3CLE, NV120/1 and NV120/1CLE needs 24VDC and require at least a
current of 2.5A. The 2.1mm barrel connector has the following layout. A wide range power
supply 100-240VAC is included in the shipment.
+24V
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53
9 trouble shooting
During operation the display can show a defined error code. A reason can be the buffer
overflowing, a temperature value out of range or a overshooting of the actuating system. Promptly
the error code is provided on the display and on the connected PC too. The code is 16bit wide and
it’s binary-coded (ERROR,FWch0,FWch1,FWch2). The code is based on follow:
bit
description
0
actuator not connected
1
actuator with shorten circuit
12
out of range downwards
13
out range overshooting
14
wrong actuator type
15
temperature out of range
2,3,4,5,6,7,8,9,10,11
not used
chart 10: error code
Some possible errors and their corrections are listed in the following table:
error
possible error correction
function after
switching on
Please check the main voltage supply and all connections. Please
check the position of the main power switch on the back side. Please
check if the main power module pluged in (indicated by a LED)
dispaly shows: „not
connected“
Please check if the actuator is pluged in and the connector fixed by
the screws correctly. Please check all cables and connectors for any
damage.
The UDL or OVL
sign flashes during
open loop mode
Check the value oft he Offset. High modulating voltage overdrives the
amplifier. Switch off the modulation or reduce the modulation voltage
until sign is off.
The UDL or OVL
sign flashes during
closed loop mode
Buffer overflow: please check the status of the actuating system. The
system must be able to move over the entire travel range without
limitation. Also an mechanically overloaded system can cause this
error code. For more information about the may. load, please check
the calibration information provided with the actuating system.
actuating system is
oszillating during
operation
The resonant mode of actuating system is reached. The calibration
datas needs to be adjusted according to the load or control function.
Reducing of the applied load.
chart 11: possible error correction
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