Amplifiers/Drives
Ndrive QL and QLe

Ndrive QL andQLe
Digital Panel-Mount Piezo Drive

Real-time distributed control architecture
allows synchronized motion control on up to 32
axes of piezo and/or servo motor stages
Deterministic FireWire (IEEE-1394) high-speed
serial communication protocol
Single or multi-axis Position SynchronizedOutput (PSO) for real-time triggering of events
Available with high-precision (to 20-bit)
sensor resolution for capacitive sensor feedback
Configurable analog input (to 18-bit) for
external feedback sensor integration orcommand generation
Advanced control features such as Learning
Control, Harmonic Cancellation, and CommandShaping improve tracking error and overall
process throughput
Comprehensive software tools for diagnostics,tuning, and programming
Program in RS-274 G-code, AeroBasic™ using
Aerotech’s IDE or create custom interfaces with
Microsoft .NET including C#, VB.NET®, Managed
C++, or LabVIEW®
The Ndrive QL/QLe is a family of panel-mountnanopositioning piezo drives designed to be used with theAutomation 3200 (A3200) motion controller. The A3200 is
the controller of choice in many markets such as
semiconductor, data storage, medical device manufacturing,laser processing, and metrology. The Ndrive QL andNdrive QLe drives enable coordinated motion between
piezo stages and servo axes at much higher rates than othercontroller/drive products.
Featuring a dual-core 456 MHz, double-precision, floatingpoint DSP, the QL/QLe drives provide extreme processing

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The Ndrive QL andQLe provide multiaxis functionality in a
discrete single-axis,
panel-mount package.

power in a wide variety of applications including point-topoint motion, linear and circular interpolation, multi-axis
error correction, and autofocusing. High-speed interrupts
and data logging capabilities provide a real-time link toexternal systems. The QL/QLe also offers high-speed
positioning latching capability and single-axis (QL) or
multi-axis (QLe) position synchronized output (PSO) for
generation of pulses based on actual position feedback forapplications ranging from laser firing to data acquisition
system triggering.

Ultra-Precision Feedback Options
Using the latest technology and high-resolution A/D andD/A converters, the QLe enables sub-nanometer positioning
resolution at high bandwidths. The QLe capacitive sensor
feedback circuitry provides ultra-low noise performanceover the full travel range. In applications that do not
require extreme positioning resolution, the QL drive offers
lower-resolution ADCs and DACs providing the benefits ofhigh-speed feedback and command generation at a more
economical price point. In closed-loop mode, linearity
better than 0.01% over the full travel range is achieved withboth the QL and QLe.

I/O Options
In addition to the four optically-isolated digital inputs, twohigh-speed digital inputs, and four optically-isolated digital
outputs, both the Ndrive QL and QLe are equipped with
two analog inputs and two analog outputs. For ultra-precise
applications, the QLe offers an 18-bit analog input that canbe programmatically configured to accept an external
feedback sensor or position command. This analog input
also allows the high-voltage power amplifier to be

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Ndrive QL and QLe DESCRIPTION

The A3200 software uses PID servo loops with advanced
feedforward and multiple integrators coupled with eightprogrammable filters to supply the user with all necessary
tools needed to optimize motion performance. Additional
software options such as the Dynamic Controls Toolbox
and Motion Designer packages make available a host ofadvanced, yet easy-to-use, tools such as Learning Control,
Harmonic Cancellation, Command Shaping, and CrossAxis Feedforward to improve tracking errors and provide
faster step-and-settle times.

Integrated Development Environment and a comprehensive.NET motion library provide classes for motion, I/O, status,and diagnostic information. Program in Visual Studio anduse the .NET library, or use the Motion Composer (IDE) todevelop code with Aerobasic™ commands or G code. ALabVIEW® VI library is available for NI users, while acomplete C library is available for those using Visual Basic,
C++, or C.

Ndrive QL and QLe

Advanced Software and Control Features

Amplifiers/Drives

controlled directly by an external low-level analog input.
Also, the QLe has one 20-bit analog output that can be
programmatically configured for position or voltage
monitoring at very high resolutions. The QL drive offers
the same analog input/output functionality at 16-bitresolutions.

Automatic Parameter Configuration
Aerotech’s piezo stages all include a “FlashConfig” featurethat stores all of the parametric information required tooperate the stage. The stage is automatically identified andall operational parameters including axis calibration data
are uploaded into the Ndrive QL/QLe, ensuring safe,accurate, and true “plug-and-play” operation.

Powerful Programming Environment
Aerotech’s A3200 focuses on ease of use for theprogrammer, shortens development times compared withother tools, and provides the flexibility to use the tools orcontroller most familiar to programmers. A complete

The Ndrive QL and Ndrive QLe enables coordinated motion of piezo axes and brushless, DC brush, andstepper motor axes with the powerful A3200 software-based motion control platform.

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Amplifiers/Drives

Ndrive QL and QLe SPECIFICATIONS
Feature

QL250

QLe250

Package Type

Panel-Mount

Processor

Dual-Core 456 MHz, Double-Precision, Floating Point DSP

Power Supply

100-240 VAC; 50/60 Hz

Voltage Output-30 to +150 V

Ndrive QL and QLeSensor TypeCapacitive Sensor

Sensor Resolution

17-bitVoltage Resolution

18-bit20-bit
20-bitCont. Power Output

10 Watts

Peak Current Output

250 mA

Cont. Current Output

50 mA

Digital Inputs(4) Optically Isolated, (2) High Speed, and (1) ESTOP

Digital Outputs(4) Optically Isolated

Analog Inputs

2 Total, 16-bit ±10 V Differential, (1) Configurable for External
Feedback or External Command Input

2 total, ±10 V Differential(1) 16-bit General Purpose, (1) 18-bit High-Resolution
Configurable for External Feedback or External Command Input

Analog Outputs

2 Total, 16-bit ± 10 V Single-Ended, (1) Configurable for
Position or Voltage Monitoring

2 Total, ± 10 V Single-Ended(1) 16-bit General Purpose, (1) 20-bit High-Resolution
Configurable for Position or Voltage Monitoring

High-Speed Data Capture

Yes (50 ns latency)

Position SynchronizedOutput (PSO)

Single-Axis

Three-Axis

Cap Sensor Synchronization

Yes

Communication Interfaces

Firewire (IEEE-1394)

Servo Loop Update

24 kHzProgramming Environment
WeightMulti-Tasking AeroBasic, G-Code/RS274
1.4 kg (3.0 lbs)

1.4 kg (3.0 lbs)

pk-pk sinusoidal voltage with a DC offset of 60V
continuous current = 50 mA; peak current = 250 mA

QL/QLe250 sinusoidal peak-peak voltage limits (with a 60
VDC offset) for various piezo stack capacitances

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Ndrive QL250 DIMENSIONS
Amplifiers/Drives

Ndrive QL250

Ndrive QL and QLe

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Ndrive QLe250

Ndrive QL and QLe

Amplifiers/Drives

Ndrive QLe250 DIMENSIONS

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Ndrive QL and QLe ORDERING INFORMATION
Amplifiers/Drives

Ndrive QL and QLe Panel-Mount Piezo Drive
Cost-effective, discrete panel-mount piezo drive with capacitive sensor feedback, 250 mA peak current, 50 mA
continuous current, -30 to +150 V output. Features include:• Configurable input/outputs; 4 opto-isolated inputs, two high-speed digital inputs, 4 opto-isolated outputs, two
16-bit analog inputs, and two 16-bit analog outputs.
• Single-axis Position Synchronized Output (PSO) standard

Ndrive QLe250-C

High-performance, discrete panel-mount piezo drive with capacitive sensor feedback, 250 mA peak current, 50mA continuous current, -30 to +150 V output. Features include:• High-precision 20-bit sensor resolution for cap sensor feedback in closed-loop.
• Configurable input/outputs; 4 opto-isolated inputs, two high-speed digital inputs, 4 opto-isolated outputs, twoanalog inputs (1 18-bit, 1 16-bit), and two analog outputs (1 20-bit, 1 16-bit).
• 3-axis Position Synchronized Output (PSO) standard

Ndrive QL and QLe

Ndrive QL250-C

A3200 Software Options-DYNAMIC CONTROLS TOOLBOX-LABVIEWThe Dynamic Controls Toolbox provides control algorithms that increase system
performance such as settle time, accuracy, in-position stability and/or velocity stability.
Motion Designer is used to graphically generate and edit motion profiles that execute on
the controller, providing the ability to import, run and evaluate motion profiles(trajectories). Included in the Motion Designer software is learning control that reduces
tracking errors by as much as 1000 times.
LabVIEW® VI samples-MATLAB

Includes MATLAB library for motion, parameters, and data collection.

-MOTION DESIGNER

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