User's Guide for Model W200 Pulse Generator and Servo

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User's Guide for Model W200 Pulse Generator and Servo Powered By Docstoc
					WEB Research Co.                            www.webres.com                      September 2001




                                         User’s Guide for

                                            Model W200

                            Pulse Generator and Servo Amplifier

Overview

The Model W200 Pulse Generator and Servo Amplifier can be used as the core of a
Mössbauer1 Spectrometer. Mössbauer Spectroscopy involves the resonant absorption of
gamma rays2 and is more precisely named Resonant Gamma-ray Spectroscopy (RGS). For
the isotope 57Fe, the resonant absorption line width is approximately 1 part in 1012 which
equals the Doppler shift generated by a source velocity of 0.3 mm/s. The magnitude of the
hyperfine interactions between the 57Fe nucleus and the surrounding electrons is on the
order of 10-7 eV or one part in 1011 of the 14 keV gamma energy. A scan of the source
velocity from –10 mm/s to +10mm/s is large enough to sweep the gamma energy through
the several possible resonances. The Model 200 controls the motion of a linear velocity
transducer so as to provide a constant acceleration velocity sweep. The Model 200 also
generates TTL digital pulses to cycle the memory address of a Multi-Channel-Scaler in synch
with the source velocity sweep. The counts stored in a given channel of the MCS will
correspond to a well-defined velocity value. The plot of the counts in each channel vs. the
velocity associated with each channel is the Mössbauer spectrum.


Set Up
Figure 1 shows the connections between the W200C and the other components of the
spectrometer. Table 1 lists the Input and Output connectors. Table 2 lists the controls and
their functions. With all power off, especially the power to the High Voltage Power Supply,
connect the components as shown in Figure 1. Turn on the power to the W200.

         If the Velocity Transducer generates any audible noise, turn off
         the W200 immediately and see instructions below for adjusting the
         bandwidth and gain of the servo amplifier.




1
 Named after Prof. Rudolph Mössbauer, the discoverer of recoilless resonant emission and absorption of
gamma rays. See http://nobel.sdsc.edu/physics/laureates/1961/mossbauer-bio.html

2
  The historical name “gamma ray” was given to photons generated by nuclear transitions, in contrast to X-
rays which are photons generated by electronic transitions.
WEB Research Co.                                     W200 User’s Guide                                  Page 2



The servo amp controls the motion of the velocity transducers motor shaft. The bandwidth,
gain and offset controls should have been previously adjusted for optimum performance.
The displayed Vref and Vpu signals on the oscilloscope should be the same within 2%, i.e.
the peak-peak amplitude of Verror should be approximately 2% or less of the peak-to-peak
amplitude of Vref. Once the W200 is controlling the motion of the source and generating
the SSP and CAP pulses, set the SCA window and then start the MCS to record the
Mössbauer spectrum of your sample. The use of the MCS, proportional counter and HVPS
are not cover here.



                                                                                       Proportional
                                                               Sample                  Counter
                   Linear Motor           Gamma
                                          Source




                   V drive        V pick-up

                                                                                       CS PreAmp
                   D
                                  W200C
         Power Amp                                                 Address                            HVPS
                                                   SSP

       V error     C
                                  Up/down                        Memory                 Shaping
               Diff.              digital                                                Amp
               Amp                counter
            A          B                           CAP
         V ref
                                                                         SCA
             DAC                    20 kHz
                                    Clock                    Multi-Channel-Scaler
                   C                                         with
               B
         A                 D                                 Single-Channel-Analyzer




     Monitor
                                  Scale Switch




             Oscilloscope




Figure 1.              Layout of a Transmission Mode Mössbauer Spectrometer using the
                       Model 200C Pulse Generator and VT Controller
WEB Research Co.                          W200 User’s Guide                                 Page 3



                                      Table 1: Connectors

 Signal              Connector                                 Description
                   Type & Location
SSP           BNC, Rear Panel            Start Sweep Pusle (TTL output)
CAP           BNC, Rear Panel            Channel Advance Pulse (TTL output)
Vdrive        9-pin sub-D, Rear          Motor Drive signal (analog output)
              Panel
Vpick-up 9-pin sub-D, Rear               Motor Velocity Sensor Pick-Up (analog input)
         Panel
Monitor       BNC, Rear Panel            Servo Amp Monitor Output (analog output)
                                         Selected by Monitor Switch on front panel (see below).


                                       Table 2: Controls

   Control              Type and Location                              Function
Power Switch        Single throw toggle on front     Switches +/- 12 VDC from NIM BIN PS
                    panel.
Scale               10-position thumb wheel          Scales Vref by 0 to 9.
                    switch on front panel
Monitor             Four-position rotary switch      Selects internal analog single to route to BNC
                    on front panel                   jack on rear panel.
                                                     Choices are:
                                                     Vref = Triangular velocity reference
                                                              waveform after filtering and scaling.
                                                              TP2 on schematic.
                                                     Vpu = Signal generated by velocity
                                                              transducer’s velocity sensor after
                                                              amplification and filtering. TP1 on
                                                              schematic.
                                                     Verror = (Vpu – Vref)
                                                              TP5 on schematic.
                                                     Vdrive = Voltage applied to velocity
                                                              transducer drive coil. J1, pin 7 on
                                                              schematic.
BW                  25-turn potentiometer on         Controls high-frequency roll of servo amp.
                    front panel
Gain                25-turn potentiometer on         Controls low-frequency gain of servo amp.
                    front panel
Offset              25-turn potentiometer on         Controls DC offset of input to Gain and BW
                    front panel                      amplifier. (This is not the offset of Vdrive.)
WEB Research Co.                                 W200 User’s Guide                                               Page 4



W200 Function

The relationships of the start sweep pulse (SSP), the channel advance pulses (CAP), the
digital reference waveform (Dref) and the analog reference waveform, Vref, are shown in
Figure 2. An embedded, custom-programmed micro controller performs the digital
functions of the W200. The CAP pulses are generated as a free running clock with a period
of 50 µs. The CAP pulses are routed to the Channel Advance input of the external MCS
and to an internal up/down counter. This counter is set to count up from 0 to 511, then
down to 0 and repeat. Every time the counter reaches 0, a SSP pulse is generated. The SSP
pulse is routed to the Start Sweep input of the external MCS. The 9-bit binary output of the
counter is Dref and is routed to the input of a digital-to-analog converter (DAC). The output
of the DAC is routed to the reference input of the analog servo amplifier3.
The reference signal is scaled and filtered on the analog circuit board of the W200. The
schematic of the analog servo amp is shown in Figure 4. This scaled and filtered signal is
Vref. Similarly, the amplified and filtered velocity sensor input signal is labeled Vpu. The
signals Vref and Vpu are input to a difference amplifier whose output is Verror. Verror is
then amplified and filtered and used to drive the motor shaft. The motor drive coil, the
motor shaft, the pick-up sensor and the amplifiers U1A, U1B, U4B U7A, U7B and U8 form
a negative feedback loop. The drive signal, Vdrive, is the product of Verror and the gain of
U4B, U7A, U7B and U8. The larger the gain is, the smaller Verror. As discussed below,
there are limits to how large the servo amplifier gain can be.
Figure 3 shows the relationship of the acceleration, a, velocity, v, and displacement, x, of the
motor shaft and source. Also shown is the drive force required to achieve the desired
motion. A constant acceleration provides the desired linear velocity sweep. The resulting
displacement is parabolic. There are two pertinent forces acting of the motor shaft: 1) the
force generated by the drive coil and 2) a restoring spring force generated by the flexure
plates that support the shaft. The drive coil force, Fd, is proportional to Vdrive. The spring
force is – k x. If m is the mass of the moving shaft-source assembly, then the net force on
the shaft is given by


                                           Fnet = m a = Fd – k x
Solving for Fd,
                                               Fd = m a + k x
The drive force and Vdrive are the sum of a square wave and the parabolic displacement.
Confirm this by observing Vdrive on the oscilloscope via the Monitor output.




3
  A servo amplifier is a device that tries to force an actuator to follow the input reference signal. A common
example of such a control loop is the thermostat and furnace in a house.
WEB Research Co.                        W200 User’s Guide                                Page 5




Adjusting the Gain and Bandwidth of the Servo Amplifier
If the gain and bandwidth of the servo amplifier are set improperly, the system can break
into oscillation. The control function of the servo amplifier is stable as long as the phase
shift around the feed back loop is 180°. However, if at a given frequency the phase shift is
360° and the loop gain is unity or larger then the system will oscillate. At first glance, the
only phase shift is the 180° shift introduced by connecting the sensor signal to the negative
input of the difference amplifier. This is a good approximation as long as the phase shifts
introduced by the other components in the loop are small. The operational amplifiers used
in the W200 servo amplifier are limited to individual maximum gains of ten or less. The
associated phase shifts are small up to 100 kHz. However, the mechanical system of the
drive coil and sensor coil connected by the motor shaft is not perfectly rigid. At
approximately 10 kHz the motion of the sensor coil will be out of phase with the drive coil
due to the motor shaft compressing and expanding. If the gain of the electronic system is
too large at this frequency the motor will oscillate and emit a high pitch whistle. The
oscillation can be observed in the Vpu or Verror signals. To suppress this oscillation,
decrease setting of the Bandwidth and/or Gain controls.
The high frequency gain is controlled by the Bandwidth control on the front panel of the
W200. The Gain control sets the frequency independent gain. If the Bandwidth control is
set too low, the phase shift across op amp U7A will be significant at lower frequencies and
the system will oscillate at approximately 400 Hz. The sensitivity of the system to the setting
of the Bandwidth control will depend of the setting of the Gain control.
To adjust the Bandwidth and Gain controls to the best compromise, observe the Verror
signal and increase the Gain until the system oscillates. Then reduce the Gain by rotating
the Gain control until the oscillation stops. Then reduce the Gain control 1 or 2 more
revolutions. Increase the Bandwidth control until the high frequency oscillation is observed.
Then reduce the Bandwidth control, noting the number of turns, until the low frequency
oscillation is observed. Set the Bandwidth control midway between the low frequency and
high frequency oscillation limits. Increase the Gain again until the system oscillates and then
reduced the Gain 1 or 2 revolutions. This procedure should minimize the magnitude of
Verror and make the system stable.
       +Vmax


Vref          0


       -Vmax


         511
Dref
          0

       1023


Address

          0

SSP
CAP
                  1 2 3 4   ...      512           ...      1024
                                  Channel Number

                  0                  25.6                    51.2

                                   Time [ms]

   Figure 2 Time dependence of CAP, SSP, MCS memory address, Dref and Vref.
            Number of Channels is 1024 and Dwell Time is 0.05 ms.
    Vdrive




        x(t)




        v(t)




        a(t)



                                             Time

Figure 3 Time dependence of source (A) acceleration, (B) velocity and (C) displacement.
         Also, shown is (D) Vdrive, the voltage applied to the drive coil.
        WEB Research Co.                                                                                                                                                                       Date: August 16, 1999
   7317 Cahill Rd. #261, Minneapolis, MN 55439                                             Title: Analog PID Servo Controller
                                                                                                                                                                                               Drawn by: T. Kent
   Tel. (612) 328-3714 FAX 952-943-9762                                                    Project: W200                                                                                       Last revision: Sept. 6, 2001
    e-mail: info@webres.com
    WWW: http://www.webres.com                                                             Part #: pcb1                                                                                        File: W200cpsu.fcw
                                 C2                     TP1
                          R2    0.01                                            R7
                                                                                                      TP5                                                                                                   9.50" x 4.0" Double Sided PCB
                          698
                                        R29
                                              9k
                                                                                10k         Vpu                                                  Verror
                                                             1k    R6                                     1k

                                    2   -          1
                                                             R28   10k
                                                                               -      7
                                                                                                          R30
                                                                                                                 P                       R14
                                                                                                                                                       TP3
                                                                                                                                                                           P4
                                                                                                                                                                                                                       Front
                                                                                                                                                                                                                                                             Rear
Sensor Input                    3       U1A                                    U1B                                        R10            10k             R17               100k
                                        +                            A B       +                                                                          1k
J1, 2                                                                                                                     10k                                          1          3 CW
                                                       AB or BC                               TP6
                                                                                                                                     -                                     2         R21
J1, 4
                                                        Jumper             C
                                                                                  Vref              1k
                                                                                                    R31
                                                                                                                                     U4A
                                                                                                                                     +                       R18
                                                                                                                                                                       -             10k               P7 Bandwidth
                                                                                                                                                             10k
                                                                                                                                                                       U4B
                                                                                                                                                                       +                                (Fr. Panel)            V+
                                                                                                                          10k
                                                                                                                          R11                                                                  C6        P7                     3
                                                                                                                                                                                                                                    P10
                                                                                                                                         10k                                                    0.1 uf 100k
                                                                                                            G     H                      R15                                                        1       3 CW                    2
                                        TP2
                                                                                               C3                                                                                                                               1
                                                                   Scale                                                                                                                                2
  Reference Input                       1k    R3                                               4700                   Jumper GJ or HJ                                                                              TP4                                            R34
                                                               P2 10k                                            J
                                                        R4                                                                                                                                       P8 100k           R24         V-                                 10k
                                                                1          3 CW                                                      C5 4.7                                                       1      3                                 R32

        4.7 C1
                          -
                          U2A
                          +
                                                       10k

                                                                       2
                                                                                     R8
                                                                                              90k
                                                                                                                      I                                                  Jumper                       2
                                                                                                                                                                                                                   1k
                                                                                                                                                                                                                         C7
                                                                                                                                                                                                                      4.7 uf
                                                                                                                                                                                                                                           10k

                                                                   -                 10k         R9                                      1M                  P5 100k    ED or EF                    -                                                        -
                                                                                                                           P11
                                                                   U2B                        -                                                               1      3 CW                           U7A                                                      U7B
                                                                                                                          200k                                                                                                       R33
                 200k                                  10k         +                          U3B                     1          3     R16                                                          +                                      10k               +
                 R1                                    R5                                     +                                      -                           2           R22    D                                           200k
                                                                                                                             2
                                                                                                                                     U5A                       -            10k                         P8 Gain                 R26
                                                                                                                                     +             R19
                                                                                                                                                  100k
                                                                                                                                                               U5B
                                                                                                                                                               +
                                                                                                                                                                                                       (Fr. Panel)
                                                                                                                                                                                     E     F                                                                      R36 10k
                 V+                                                C8    C9
                                                                                                                                                                                                                                        R35
                          -                                        330   330                                                                                                                                                                                 V+
    P1         3
                          U3A
                                                                     +     +                                                                                                                                                            10k
                                                                                                                                                                                                                                                     -        5         Vdrive
                      2                                                                                                                                                                                                                          2                  6
  DC Offset               +                                                                                                              P3                                                                                                           U8                    J1, 7
                                                                                                                            R13                                                                        V+                                        1                  3
                                                                                                                                                                                                                                                     +
(on board)         1                                          V-           V+
                                                               PS Connection
                                                                                                                 D          1k
                                                                                                                                     1
                                                                                                                                         100k
                                                                                                                                                3 CW         P6 100k
                                                                                                                                                                                               P9       3
                                                                                                                                                                                                                                                         4
                                                                                                                                                                                                                                                         V- Limit 90k=0.2A
                                                                                                                                                              1      3 CW                                       R25                                          R27
                                                                                                                                          2
                 V-                                              on board                                                                                                                  DC Offset        2
                                                                                                                                                                                                                                                                         J1, 8
                                                                                                                                     -                                       R23
                                                                                                                                     U6A
                                                                                                                                                               -
                                                                                                                                                                   2
                                                                                                                                                                            10k
                                                                                                                                                                                         (Fr. Panel)    1       10k
   Parts List:                                                                                                  0.1                  +             R20         U6B
   U1-U7: TI TL062 duals, 8 pin DIP                                                                             C4                                100k         +
                                                                                                                                                                                                       V-
   U8      OPA547, 7 lead stagger-formed TO-220
   All resistors are 1/4 watt 1% metal film, e.g. Digi-key Part No. 10.0KXBK
   P2, P7, P8, P9 at front panel. P10 at rear panel. DK 3296X 25-turns                                                     Notes:
   P1, P3, P4, P5, P6             DK 3296W 25-turns
   C1, C5,C7 4.7 uf Digi-Key EF1475 (0.8 mm leads with 22.5mm spacing)
                                                                                                                           1. All op-amp V+ and V- power pins bypassed to
   C4, C6      0.10 uf Digi-Key P4923 (leads 0.55 mm x 5 mm)                                                                  ground with 0.01 uf caps
                                                                                                                                      .
   C2          0.01 uf DK# BC1078CT (lead spacing 2.54 mm)                                                                    Digikey # BC1078CT (lead spacing 2.54 mm)
   C3         4700 pf DK# BC1076CT (lead spacing 2.54 mm)
   C8, C9       330 uf Digi-key P5167 (leads 0.6 X 5 mm)
   J1         9-pin D female at rear panel.
                                                                                                                           2. Board length 9.50" (not 9.55") TK 2/9/01