Keysight / Agilent 10936B Overview

The Agilent 10936B Servo-Axis Board is a programmable, digital servo with built-in motion control algorithms. The combined servo-axis board provides a complete closed-loop positioning solution for Agilent 5527B laser interferometer systems. Outputs include ±10 V analog, pulse-width modulated, and 16-bit digital for a variety of commercially-available motors and amplifiers.

Custom algorithms can be downloaded to tune the servo for application requirements. A trace capability optimizes and verifies system performance. Special features include coordinated multiaxis moves, velocity profiling, buffered position profiling, and drive enable/disable.

Features:

• Typical Power Requirements (not including receiver): +5V at 2.5 A, +15V at 30 mA, -15V at 45 mA
• Selectable Difference Equation:
• Proportional, Integral, Difference (PID)
• 9th Order Infinite Impulse Response (IIR) Filter
• User-specified difference equation can be downloaded
• Programmal Difference: Equation Coefficients, Powerful TRACE command to aid user in optimizing difference equation and feedforward coefficients
• Programmable Feedforward Terms: Feedforward Velocity, Feedforward Acceleration, Feedforward Delta Acceleration
• Programmable Sample Rate: 250 Hz to 8 kHz
• Choice of Profiling, or contour, to be followed during motion: Position Profiling, Velocity Profiling, Buffered Position Profiling
• Motor Drive Outputs +/-10V Analog (DAC OUT and AGND):
• Resolution: 0.305 mV
• Offset: +/-15 mV
• Data Rate: Output updated at sample rate
• Pulse Width Modulated: (PULSE UP-, PULSE DOWN-)
• Resolution: 125 ns
• Data Rate: Output updated at sample rate
• 16-Bit Digital (uses binary interface DATA OUT lines): Format: 2''s complement
• Data Rate: Output updated at sample rate
• Additional Rear Panel Outputs
• DRIVE ENABLE OUT- to turn on user motor drive
• ERROR-, PATH ERROR- to inform user of error conditions
• WINDOW (high when position within a specified range of marker)
• Response Time: 2 us maximum
• THRESHOLD (high when position more positive than marker)
• Response Time: 2 us maximum
• Rear Panel Inputs
• EXT SAMPLE-/EXT CLOCK-HI LIMIT IN-, LOW LIMIT IN-:
• Negative true inputs to turn off Motor Drive outputs
• Maximum response time: Sample period (1/sample rate) + 0.3 ms
• 16-Bit Binary Interface Transfer Rates
• Input (Destinations and Commands): 0.1-10 kHz
• Output (Position): 0.1-10 kHz
• Rates vary depending on data format, system configuration, and servo-axis board setup.
• Trace capability simplifies optimization and servo-loop characterization
• Customized routines tune the system to your requirements
• Automatic environmental compensation available for maximum repeatability
• Field or factory installation offers system flexibility
• Output position data at up to 10 kHz
• Up to six boards per system for maximum design flexibility
• Trace Capability: Record up to four system signals, (including desired and actual position) as a move is taking place. Results are displayed on the controller through HP-IB or 16-bit binary interfaces.
• Customized Routines: Built-in or customized routines can be downloaded to the servo-axis board. Simply enter the coefficients of the chosen algorithm, and add the desired feed-forward terms and limits on velocity, acceleration, and change of acceleration.
• Environmental Compensation: The Agilent 10946C compensation board can be configured with the system to maximize system accuracy and repeatability in changing environments.

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