2-Channel Digital PID for Cavity

Length Stabilization

Guide of operation
Version 1.1
August 23, 2021

Agile Optic GmbH

Krähenfeld 11, D-38110 Braunschweig, Germany
https://www.agile-optic.com/
info@agile-optic.com
Contents
1 Before you start 1
1.1 General safety remarks . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Safety Precausions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2.1 Electrical Safety . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Additional general remarks . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3.1 Switching the device off . . . . . . . . . . . . . . . . . . . . . 2
1.3.2 Deactivation of the display . . . . . . . . . . . . . . . . . . . . 2
1.3.3 Changing numerical values . . . . . . . . . . . . . . . . . . . . 3

2 System overview 5

3 Menu structure 9
3.1 Main menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.2 PID menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.3 Generator menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.4 Save/load menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.5 Info menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.6 Exit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

4 Examples 13
4.1 Scanning the cavity length . . . . . . . . . . . . . . . . . . . . . . . . 13
4.2 Stabilization of the cavity length using PID11 . . . . . . . . . . . . . 14
4.3 Minimum intensity lock . . . . . . . . . . . . . . . . . . . . . . . . . 16

5 Fault diagnosis 17
5.1 Controller does not start . . . . . . . . . . . . . . . . . . . . . . . . . 17
5.2 Screen is dark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

1
1 Before you start

1.1 General safety remarks

• We strongly recommend to read the complete guidelines before the installation,
alignment, and operation of the 2-channel PID controller.

• These guidelines try to describe the 2-channel PID controller correctly and
thoroughly. However, technical developments and customer-specific modifica-
tions can result in discrepancies between the guidelines and the actual res-
onator.

• In case of questions, ambiguities, or problems feel free to contact Agile Optic

GmbH.

• Only well-trained operators experienced in working with lasers should set up,
use, and maintain the PID controller and a connected resonator for second har-
monic generation. Improper use can result in serious danger for the operator
and others.

1.2 Safety Precausions

Only well-trained operators experienced in working with lasers should set up, use,
and maintain the PID controller. Improper use can result in serious danger for the
operator and others.
Agile Optic´s resonators for second harmonic generation are used by the customer
to build individual laser systems. The pump and second harmonic optical powers
reach from sub mW to several W and cover a broad spectral range between ultraviolet
(UV) and infra-red (IR). This fact results in individual laser classes for every system
build by our customers. Therefore, individual evaluation of the necessary laser safety
measures is required.

1
1 Before you start

We strongly recommend the operator to consult the responsible laser safety officer
during the design phase of the laser system and at before starting the operation.

1.2.1 Electrical Safety

The following list is a guide towards safe operation and maintenance of electrical
components within the resonator housing. This list is not exhaustive. Always con-
sult the responsible work safety officer.

• Turn of and disconnect all voltage sources from the cavity housing before
maintenance or repair.

• Avoid the usage of high voltages for the operation of the piezoelectric actuator,
whenever possible.

• Prevent electrostatic damage of the piezoelectric actuator by properly wearing

an ESD wrist-strap.

1.3 Additional general remarks

Please read the following remarks before using the device for the first time, as they
simplify operation quite significantly.

1.3.1 Switching the device off

After selecting Exit and accepting, the system will be shut down safely. Always
use this functionallity to protect the file system, as sudden removal of the supply
voltage can result in memory damage.

1.3.2 Deactivation of the display

In some cases, any stray light within the lab shut be avoided. Therefore, the display
of the PID can be deactivated during operation of the PID as follows. If no button
is active you can switch off the display by pushing the rotary encoder push button.
The display can be activated again by pushing the rotary encoder push button for
at least 5 seconds. Do not confuse the deactivation of the display with switching
the device off.

2
 1.3 Additional general remarks

1.3.3 Changing numerical values

Numerical values can be changed by two different methods:

1. Select the value by a quick click and turn the rotary encoder. To change the
digit to be changed, briefly push the rotary encoder.

2. Select the value by pushing the corresponding button for more than 1 second.
A number field will appear.

3
2 System overview
Fig. 2.1 shows the front panel of the two-channel digital PID controller. The de-
vice provides two main inputs IN 1 and IN 2 to connect error signals generated
by differential photodetectors. The two main outputs OUT 1 and OUT 2 can
drive two independent piezoelectric actuators. Important: Never drive 50 Ω loads,
this will damage the internal amplifier. The auxiliary inputs AUX 1 and AUX 2
can be employed for optical power monitoring via two independent photodetectors.
AUX 3 is not required for the length stabilization of SHG cavities. The central
element of the front panel is a touch display as user interface. The pushable rotary
encoder in the lower right can be used to easily modify the PID parameters.
The technical specifications are listed in Tab. 2.1, the limit values of the PID pa-
rameters in Tab. 2.2.

Figure 2.1: Picture of the front panel of the two-channel digital PID controller.

5
2 System overview

Table 2.1: General specifications

Dimensions
Width: 141.9 mm
Height: 128.4 mm
Length: 187.0 mm
Supply voltages
Red: +30 V (max.: +32 V)
Blue: −10 V (min.: −12 V)
Black: Gnc
Temperature ranges
Storage temperature range: −55 °C - 125 °C
Operating temperature range: 10 °C - 50 °C
Inputs
Number of channels: (IN) 2
Number of channels: (Aux) 3
Connectors: SMA
Bandwidth: 50 MHz
Sample rate: 125 MS/s
DAC resolution: 14 Bit
Full scale voltage: (IN 1 and IN 2) ±1V
Full scale voltage: (Aux) 0V - 1V
Minimal Voltage Sensitivity: ± 0.122 mV, ± 2.44 mV
Input impedance: 1 MΩ || 10 pF
DC offset error: < 5%
Gain error: LV: < 3 %, HV: < 10 %
Input noise level: −119 dBm/Hz
Outputs
Number of channels: 2
Connectors: SMA
Bandwidth: ≈ 5 MHz
Voltage range: 0 V - 16 V
Sample rate: 125 MS/s
ADC resolution: 14 Bit
1 Least significant bit: ≈ 1 mV
DC offset error: < 5%
Gain error: < 5%

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 Table 2.2: Limit values of the control parameters

Parameter Max. Step size Min. frequency Max. frequency Inaccuracy

Gain : 10 0.01 - - < 10 %
Kp : 10 0.01 - - < 10 %
Ki : 3600 ms
1
0.5 ms
1
80 Hz 573 kHz < 17 %
Kd : 58 ns 0.01 ns 2.74 MHz 16 GHz < 6%

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3 Menu structure

3.1 Main menu

After the controller has booted successfully, it shows the main menu. The full menu
structure is organized as follows:

1. PID: all PID-related settings.

• PID11: settings for a PID using input 1 and output 1.

• PID12: settings for a PID using input 1 and output 2.

• PID21: settings for a PID using input 2 and output 1.

• PID22: settings for a PID using input 2 and output 1.

• MinIntens

2. Generator: settings for the function generators.

• Scan CH1: settings for a function generator using output 1.

• Scan CH2: settings for a function generator using output 2.

3. Save / Load: save or load all current settings.

• Save to 1 / 2 / 3: saves all current settings to memory slot 1 / 2 / 3.

• Load 1 / 2 / 3: loads all settings from memory slot 1 / 2 / 3.

Warning: all current settings will be overwritten!

4. Info: shows the software version and internal hardware settings.

5. Reset: resets the device.

6. Exit: shuts the system down safely (protects file system).

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3 Menu structure

3.2 PID menu

The settings in the PID menu can be used to configure the PID controller for cavity
length stabilization.
The first value in the PID menu is the gain. During operation of the PID, all ADC
readings from the corresponding input channel will be multiplied by that value. The
following values Kp, Ki, 2. Ki, and Kd are the individual multiplication factors of
the proportional, integral and differential part of the controller. Slow I is a divider
that can be used to average over the laser n values of the integral part. In Sec. 4.2,
an example is given how the PID can be configurated.
The arrow-button "→" at the bottom right corner opens an additional menu with
further settings. The Setpoint defines the target value of the error signal in lock.
It can be used to fine tune to obtain maximum SHG. For a well-aligned system,
its absolute value is usually smaller than 100 mV. The Offset is added to the PID
output voltage at the end of the calculation. In lock, this value does not affect the
system. Therefore, it can be left at 0 V. Limit int defines the maximum value
of the integrator. When that value is reached and Reset I in the bottom right
corner is enabled, the integrator will be set to 0. Limit up and Limit low define
(unamplified) output value limits. If one of these is reached and AutoReset in the
bottom left corner is enabled, the PID output voltage will be reset automatically.
In Sec. 4.2, an example is given how the PID can be configurated.

3.3 Generator menu

The settings in the generator menu can be used to configure the controller for cavity
length scanning.
The first butteon Endable / Disable switches the generator on / off. Signal
type allows for the selection of a sine, triangle, or rectangular signal shape. The
following buttons are used to set the Amplitude, Frequency, and Offset. For the
purpose of cavity alignment, we recommend sine and 0 V offset.

3.4 Save/load menu

The PID controller has three memory slots to save or load all settings. By selecting
a slot behind Save to, all current settings are saved to that slot. By selecting a slot

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 3.5 Info menu

behind Load, all current settings are overwritten by the settings stored in that slot.

3.5 Info menu

Standard hardware configuration for cavity lenght stabilisation:
Offset = 8 V
Gain = 8
AUX1: Threshold 1
AUX2: Threshold 2

3.6 Exit
After selecting Exit and accepting, the system will be shut down safely. Always
use this functionallity to protect the file system, as sudden removal of the supply
voltage can result in memory damage.

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4 Examples
This chapter explains the use of the PID controller with a SHG cavity step by step
by in three examples. Fig. 4.1 schematically depicts a setup required for scanning
and stabilizing the length of the resonator making use of the minimum intensity lock
option.

Figure 4.1: Schematic wiring of the SHG setup. Note that either the circulating
pump light or SHG monitoring signal can be connected to the auxiliary
input channel. Before any signal is connected to the inputs of the PID
controller, please verify that the maximum of the absolute value must
not exceed 1 V.

4.1 Scanning the cavity length

For the optimization of the cavity alignment and the mode matching of the pump
light beam, it is helpful to scan the cavity length. Here, we assume that the piezo-

13
4 Examples

electric actuator of the cavity is connected to OUT 1. It is recommended to also

connect an oscilloscope to that output using a SMA tee connector. When the output
signal of a photodetector measuring the SHG and/or circulating fundamental light
and/or error signal is connected to another channel of the oscilloscope, the scan
signal can be used as trigger. This simplifies finding the peak corresponding to the
TEM00 Eigenmode of the resonator.
Before you start scanning the cavity length, it is recommended to ensure that
PID 11 and PID 21 are disabled. Then select Generator in the main menu and
choose Channel 1. Select signal type triangle and amplitude 2 Vpp . We recommend
≈ 85 Hz scan frequency. The DC offset should be 0 V. Finally, enable the generator
by pushing the topmost button.
When the output voltage and the SHG signal are connected to an oscilloscope,
the resulting signals should look like depicted in Fig. 4.2, when the oscilloscope is
triggered by the output voltage of the PID connected to the piezoelectric actuator
inside the cavity.

Figure 4.2: Schematic SHG signal during cavity length scan.

4.2 Stabilization of the cavity length using PID11

We assume that the cavity alignment has been optimized for maximum SHG in the
TEM00 Eigenmode of the resonator using the scanning technique described above.
The piezoelectric actuator of the cavity is connected to OUT 1.
Before the error signal is connected to the PID controller, please verify that the
maximum of the absolute value must not exceed 1 V. Otherwise, the PID is likely to
be damaged.. The SHG signal and the error signal should look similar to Fig. 4.3.
Then the error signal can be connected to IN 1. Deactivate Generator channel 1.

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 4.2 Stabilization of the cavity length using PID11

Go to PID → PID 11 menu. We recommend the settings listed in Tab. 4.1 as start
parameters.

Figure 4.3: Schematic SHG signal (red) and error signal (green) during cavity length
scan before locking the cavity length. The depicted signal shapes are
ideal curves for a fully optimized resonator.

Table 4.1: Suggested settings for the start of the PID.

Parameter Value
Gain 0.03
Kp 0.00
Ki 10.0
2. Ki 0.0
Kd 0.00
Slow I /30
Setpoint 0.000 V
Offset 0.000 V
Limit Int 1.000 V
Limit up 0.990 V
Limit low −0.990 V
AutoReset Enabled
Reset I Disabled

Then go back and switch PID 11 on. Now the settings can be modified to
achieve a stable and robust lock. In case the system does not lock, use a negative
gain. At the end of the optimization the gain is significantly smaller than 1, we
suggest to install an RF attenuator in between the differential photodetector and
the input of the PID controller and then increase the gain. Otherwise, the division
operation in the controller caused by the low gain can result in significant loss in

15
4 Examples

lock performance.

4.3 Minimum intensity lock

In some situations it can happen that there are more then just one dispersion feature
in the error signal. Therefore, the PID could lock on different resonator modes. This
section describes how to ensure that the desired mode with maximum SHG power
is selected by the PID.
We assume that the cavity alignment has been optimized for maximum SHG in the
TEM00 Eigenmode of the resonator using the scanning technique described in 4.1.
The piezoelectric actuator of the cavity is connected to OUT 1. The cavity length
can be stabilized as described in 4.2. However, from time to time the cavity might
be locked on the wrong mode. Moreover, a monitoring photo detector measuring
the SHG or the circulating fundamental light is connected to Aux 1. The signal
maximum must not exceed 1 V, otherwise the PID controller is likely to be damaged.
Go to PID → MinIntens. Change Threshold 1 to a voltage that is lower than
the peak voltage recorded by the monitoring photodetector in scanning operation,
but higher than the value of the second highest peak, s. Fig. 4.4. This ensures that
the system will only lock on the desired mode.
To deactivate the minimum intensity lock, set Threshold 1 back to 1 V.

Figure 4.4: Schematic SHG signal (red) and error signal (green) during cavity length
scan before locking the cavity length. The threshold for the minimum
intensity lock is chosen such that the system does not lock on resonator
Eigenmoden with low SHG power.

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5 Fault diagnosis

5.1 Controller does not start

If the controller does not seem to start correctly, please make sure that all supply
voltages are set correctly and that the power supply is switched on.

5.2 Screen is dark

If the PID controller has been active before, please check if the screen has been
deactivated, see 1.3.2. If the screen cannot be switched off and the controller is
powered, it is likely that another user has used the exit-function to safely shut the
system down. In that case, switch off the power supply, wait 5 seconds and switch
it on again. The PID controller should boot within a minute.

17