THORLABS KST101 User Manual

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KST101 K-Cube Stepper Motor Controller

APT User Guide

Original Instructions

Contents

Chapter 1 Safety .............................................................................................4

1.1 Safety Information .................................................................................. 4

1.2 General Warnings .................................................................................. 4

Chapter 2 Overview and Setup ..................................................................... 5

2.1 Introduction ............................................................................................. 5

2.2 K-Cube Controller Hub ........................................................................... 6

2.3 APT PC Software Overview ...................................................................7

2.3.1 Intro duction ..................................................................................................... ....7

2.3.2 APTUser Utility ................................................................................................... 8

2.3.3 APT Config Utility ...............................................................................................9

2.3.4 APT Server (ActiveX Controls) .........................................................................10

2.3.5 Software Upgrades ...........................................................................................11

Chapter 3 Getting Started ............................................................................ 12

3.1 Install The Software .................................................................... .......... 12

3.2 Mechanical Installation .........................................................................13

3.3 Electrical Installation ............................................................................. 14

3.4 Connect The Hardware ........................................................................ 16

3.5 Use with Legacy Actuators and Stages ...................................... ... .. ..... 17

3.6 Verifying Software Operation ...............................................................18

Chapter 4 Standalone Operation ................................................................ 20

4.1 Introduction ........................................................................................... 20

4.2 Control Panel ....................................................................................... 21

4.2.1 Digital Display - Operating Mode ......................................................................21

4.3 Velocity Wheel Operation ............................... ... .. ............................... ..22

4.3.1 Homing ............................................................................................................. 22

4.3.2 Go to Position ................................................................................................... 22

4.3.3 Jogging .............................................................................................................22

4.3.4 Velocity Moves .................................................................................................23

4.4 Settings Menu ............................ ... ............................ ... ........................23

4.4.1 Overview ..........................................................................................................23

4.4.2 Menu Option - Go to position ...........................................................................24

4.4.3 Menu Option - Start homing .............................................................................25

4.4.4 Menu Option - Velocity .....................................................................................25

4.4.5 Menu Option - Joystick Mode ........................................................................... 26

4.4.6 Menu Option - Jog Step Size ...........................................................................27

4.4.7 Menu Option - Teach Position .......................................................................... 28

4.4.8 Menu Option - Brightness .................................................................................29

4.4.9 menu Option - Disp.Level.................................................................................. 29

4.4.10 Menu Option - Disable ......................................................................................30

4.4.11 Menu Option - Select stage .............................................................................. 31

Continued...

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Chapter 5 PC Operation - Tutorial ............................................................. 32

5.1 Introduction ........................................................................................... 32

5.2 Using the APT User Utility ....................................................................32

5.3 Homing Motors ........................... ... ............................ .. .........................34

5.4 Moving to an Absolute Position ............................................................35

5.5 Changing Motor Parameters ................................................................36

5.6 Jogging .................................................................................................37

5.7 Stopping the Stage ...................................... .........................................38

5.8 Graphical Control Of Motor Positions (Point and Move) .......................39

5.9 Setting Move Sequences ......................................................................41

5.10 Creating a Simulated Configuration Using APT Config ........................44

5.11 Stage/Axis Tab ..................................................................... ................47

Chapter 6 Software Reference .................................................................... 48

6.1 Introduction ........................................................................................... 48

6.2 GUI Panel .............................................................................................48

6.3 Settings Panel .................................................. ... .................................50

6.3.1 Moves/Jogs Tab ............................................................................................... 50

6.3.2 Stage/Axis Tab ................................................................................................. 55

6.3.3 Panel/Triggering Tab ....................................................................................... 58

6.3.4 Rotation StagesTab ......................................................................................... 63

Appendices

Appendix A Rear Panel Connector Pinout Details .................................... 64

Appendix B Preventive Maintenance ......................................................... 65

Appendix C Specifications ..... ................................. ... ... ... .... ... ... ... .... ... ... ... . 66

Appendix D Motor Control Method Summary ........................................... 68

Appendix E Stepper Motor Operation - Background .. ... .... ... ... ... .... ...... ... . 72

Appendix F Regulatory ........ ... .... ... ... ... .... ... ................................ ... .... ... ... ... . 78

Appendix G Thorlabs Worldwide Contacts ............................................... 81

Chapter 1 Safety

1.1 Safety Information

For the continuing safety of the operators of this equipment, and the protection of the equipment itself, the operator should take note of the Warnings, Cautions and Notes throughout this handbook and, where visible, on the product itself.

The following safety symbols may be used throughout the handbook and on the equipment itself.

Shock Warning

Given when there is a risk of injury from electrical shock.

Warning

Given when there is a risk of injury to users.

Caution

Given when there is a risk of damage to the product.

Note

Clarification of an instruction or additional information.

1.2 General Warnings

Warnings

If this equipment is used in a manner not specified by the manufactu rer, the

protection provided by the equipment may be impaired. In particular,

excessive moisture may impair operation.

Spillage of fluid, such as sample solutions, should be avoided. If spillage does occur, clean up i mmediately u sing absorba nt tissue. Do not allow spille d fluid

to enter the internal mechanism.

Chapter 2 Overview and Setup

2.1 Introduction

The K-Cube Stepper Motor Controller (KST101) is a compact single channel controller for easy manual and automated co ntrol of small 2-phase bi-polar stepper motors. This driver has been designed to operate with a variety of lower powered motors (up to 15V at 12W operation) equipped with or without encoder feedback. Although targeted at lower power operations this product is fully featured with a highly flexible and powerful DSP controller that provides a unique high resolution microstepping capability for such a compact unit. The KST101 is optimised for 'out of the box' operation with the Thorlabs range of ZST stepper motor actuators, however its highly flexible parameter set also supports operation a wide range of stepper motors and associated stages/actuators.

For convenience the footprint of this unit has been kept to a minimum, measuring only 60 mm x 60 mm x 47 mm (2.36" x 2.36" x 1.85") and with the facility to directly mount to the optical table close to the motorised device - convenient when manually adjusting motor positions using the top panel controls (jog buttons and velocity control slider). Table top operation also allows minimal dri ve ca ble lengths for easi er cable management.

USB connectivity provides easy 'Plug and Play' PC controlled operation - multiple units can be connected to a single PC via standard USB hub te chnology or b y using the new K-Cube Controller Hub (see over) for mul ti-axis motion con trol applica tions. Coupling this with the very user friendly apt™ software (supplied) allows the user to

Fig. 2.1 K-Cube Stepper Motor Driver

Chapter 2

very quickly get up and running with complex move sequences in a short space of time – for example all relevant operating parameters are set automatically for Thorlabs stage/actuator products. Advanced custom motion control applications and sequences are also possible using the extensive ActiveX® programming environment also supplied. This programming library is compatible with many development tools such as LabView, Visual Basic, Visual C++, C++ Builder, LabWindows/CVI, Matlab and Delphi.

In the remainder of this handbook, operation of the unit is described for both fro nt panel and PC operation. Tutorial sections (Chapter 4 and Chapter 5) provide a good initial understanding on using the unit and referen ce section (Chapter 6) covers all operating modes and parameters in detail.

2.2 K-Cube Controller Hub

For power, a single way wall plug supply (KPS101) is available for powering a single K-Cube Driver.

As a further level of convenience when using the new K-Cube Controllers Thorlabs also offers the 3-channel and 6-channel K-Cube Controller Hubs (KCH301 and KCH601). These products have been designed specifically with multiple K-Cube operation in mind in order to simplify issues such as cable management, power supply routing, multiple USB device communications and different optical table mounting scenarios.

The K-Cube Controller Hub comprises a slim ba se-plate type carrier with electrical connections located on the upper surface to accept the K-Cubes.

Internally the Controller Hub contains a fully compliant USB 2.0 hub circuit to provide communications for all K-Cubes – a sin gle USB connection to the Controlle r Hub is all that is required for PC control. The Controller Hub also provides power distribution for the K-Cubes, requiring only a single power connection.

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2.3 APT PC Software Overview

2.3.1 Introduction

As a member of the APT range of controllers, the Stepper Driver K-Cube shares many of the associated software benefits. This includes USB connectivity (allowing multiple units to be used together on a single PC), fully featured Graphical User Interface (GUI) panels, and extensive software function libraries for custom application development.

The APT software suite supplied with all APT controllers, including the Stepper Driver K-Cube, provides a flexible and powerful PC based control system both for users of the equipment, and software programmers aiming to automate its operation.

For users, the APTUser (see Section 2.3.2.) and APTConfig (see Section 2.3.3.) utilities allow full control of all settings a nd operating modes enabli ng complete ‘outof-box’ operation without the need to develop any further custom software. Both utilities are built on top of a sophisticated, multi-threaded ActiveX ‘engine’ (called the APT server) which provides all of the necessary APT system software services such as generation of GUI panels, communications handling for multiple USB units, and logging of all system activity to assist in hardware trouble shooting. It is this APT server ‘engine’ that is used by software developers to allow the creation of advanced automated positioning applications very rapidly and with great ease. The APT server is described in more detail in Section 2.3.4.

Aside ActiveX®, a Windows®-based, language-independe nt technology, allows a user

to quickly develop custom applications that automate the control of APT system hardware units. Development environments supported by ActiveX® technology include Visual Basic®, LabView™, Borland C++ Builder, Visual C++, Delphi™, and many others. ActiveX® technology is also su pported by .NET development environments such as Visual Basic.NET and Visual C#.NET.

ActiveX controls are a specific form of ActiveX technology that provide both a user interface and a programming interface. An ActiveX control is supplie d for each type of APT hardware unit to provide specific controller functionality to the software developer. See Section 2.3.4. for further details.

Chapter 2

2.3.2 APTUser Utility

The APTUser application allows the user to inte ract with a numb er of APT ha rdware control units connected to the host PC. This program displays multiple graphical instrument panels to allow multiple APT units to be controlled simultaneously.

All basic operating parameters can be altered and, similarly, all ope rations (such as motor moves) can be initiated. Settings and p arameter changes can be saved and loaded to allow multiple operating configurations to be created and easily applied.

For many users, the APTUser application provides all of the functio nality nece ssary to operate the APT hardware without the need to develop any further custom software. For those who do need to further customi se and automate usage of the Stepper Driver K-Cube (e.g. to implement a positioning algorithm), this application illustrates how the rich functionality provided by the APT ActiveX server is exposed by a client application.

Use of the APT User utility is covered in the PC tutorial (Chapter 5) and in the APTUser online help file, accessed via the F1 key when using the APTUser utility.

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K-Cube Stepper Motor Controller

2.3.3 APT Config Utility

There are many system parameters and configuration settings associated with the operation of the APT Server. Most can be directly accessed using the various graphical panels, however there are several system wide settings that can be made 'off-line' before running the APT software. These settings have global effect; such as switching between simulator and real operating mode, associating mechanical stages to specific motor actuators and incorporation of calibration data.

The APTConfig utility is provided as a convenient means for making these system wide settings and adjustments. Full details on u sing APTConfig are provided in the online help supplied with the utility.

Use of the APT Config utility is covered in the PC tutorial (Chapter 5) and in the APTConfig online help file, accessed via the F1 key when using the APTConfig utility.

Chapter 2

2.3.4 APT Server (ActiveX Controls)

ActiveX Controls are re-usable compiled software components that supply both a graphical user interface and a programmable interface. Many such Controls are available for Windows applications development, providing a large range of re-usable functionality. For example, there are Controls available that can be used to manipulate image files, connect to the internet or simply provide user interface components such as buttons and list boxes.

With the APT system, ActiveX Controls are deployed to allow direct control over (and also reflect the status of) the range of electronic controller units, including the Stepper Driver K-Cube. Software applications that use ActiveX Controls a re often referred to as 'client applications'. Based on ActiveX interfacing technolog y, an ActiveX Control is a language independent software component. Consequently ActiveX Controls can be incorporated into a wide range of software development environments for use by client application developers. Development environments sup ported include Visual Basic, Labview, Visual C++, C++ Builder, HPVEE, Matlab, VB.NET, C#.NET VBA, Microsoft Office applications such as Excel and Word.

Consider the ActiveX Control supplied fo r the KST101 stepper driver unit.

and, via

This Control provides a complete user graphical instrument pa nel to all ow the mo tor unit to be manually operated, as well as a complete set of software functions (often called methods) to allow all parameters to be set and motor operations to be automated by a client application. The instrument panel reflects the current operating state of the controller unit to which it is associated (e.g. such as motor position). Updates to the panel take place automatically when a user (client) application is making software calls into the same Control. For example, if a client application instructs the associated stepper motor Control to move a motor, the progress of that move is reflected automatically by changing position readouts on the graphical interface, without the need for further programming intervention.

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K-Cube Stepper Motor Controller

The APT ActiveX Controls collection provides a rich set of graphical user panels and programmable interfaces allowing users and client application developers to interact seamlessly with the APT hardware. Each of the APT controllers has an associated ActiveX Control and these are described fully in system online help or the handbooks associated with the controllers. Note that the APTUser and APTCon fig utilities take advantage of and are built on top of the powerful functionality provided by the APT ActiveX Server (as shown in Fig. 2.2).

Refer to the main APT Software online help file for a complete programmers guide and reference material on using the APT ActiveX Controls collection. This is available either by pressing the F1 key when running the APT server, o r via the Start menu, Start\Programs\Thorlabs\APT\APT Help.

2.3.5 Software Upgrades

Thorlabs operate a policy of continuous product development and may issue software upgrades as necessary.

Fig. 2.2 System Architecture Diagram

Chapter 3 Getting Started

3.1 Install The Software

Note

When operating via a PC, direct user interaction with the unit is

accomplished through intuitive graphical user in terface panels (GUIs),

which expose all key operating parameters and modes. The user can

select multiple panel views displaying different information about a

particular hardware unit. The multitasking architecture ensures that the

graphical control panels always remain live, showing all current

hardware activity.

Caution

Some PCs may have been configured to restrict the users ability to load

software, and on these systems the software may not install/run. If you are

in any doubt about your rights to install/run software, please consult your

system administrator before attempting to install.

If you experience any problems when installing software, contact Thorlabs on

+44 (0)1353 654440 and ask for Technical Support.

DO NOT CONNECT THE CONTROLLER TO YOUR PC YET

1) Download the software from www.thorlabs.com.

2) Locate the downloaded setup.exe file and move to a suitable file locatio n.

3) Double-click the setup.exe file and follow the on-screen instructions.

K-Cube Stepper Motor Controller

3.2 Mechanical Installation

3.2.1 Environmental Conditions

Caution

This unit is designed for operation within normal operational limits. It is not

recommended to use this equipment outsi de the fol lo wing limits.

Location Indoor use only Maximum altitude 2000 m Temperature range 5 Maximum Humidity Less than 80% RH (non-condensing) at 31°C To ensure reliable operation the unit should not be exposed to corrosive agents or

excessive moisture, heat or dust. If the unit has been stored at a low temperature or in an environment of high humidity,

it must be allowed to reach ambient conditions before being powered up.

C to 40oC

3.2.2 Mounting Options

The K-Cube Stepper Driver is shipped with a baseplate, for use whe n fitting the unit to a breadboard, optical table or similar surface - see Section 3.2.3.

For multiple cube systems, a 3-channel and 6-channel K-Cube Controller Hub (KCH301 and KCH601). ) are also available - see Section 2.2. for further details. Full instructions on the fitting and use of the controller hub are contained in the handbook available at www.thorlabs.com.

Caution

When siting the unit, it should be positioned so as not to impede the

operation of the control panel.

Ensure that proper airflow is maintained to the unit.

Chapter 3

3.2.3 Using the Baseplate

The baseplate must be bolted to the worksurface before the K-Cube is fitted, as shown below. The K-cube is then located on two dowels in the baseplate and secured by two clips.

3.3 Electrical Installation

3.3.1 Rear Panel

Fig. 3.1 Using The Baseplate

Fig. 3.2 Rear Panel Connections

The rear panel of the unit is fitted with a 15 pin D-type connector as shown above, which is compatible with all new Thorlabs DC servo motor actuators (refer to Appendix A for details of pin outs).

DO NOT connect a motor actuator while the K-Cube is powered up.

Only use motor drive cables su pplied by Thorlabs, other cabl es may have

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Caution

incompatible wiring.

3.3.2 Front Panel

TRIG 1

TRIG 2

USB

POWER

DC 15V 1A

+5V TTL +5V TTL

KST101

K-Cube Stepper Motor Controller

Fig. 3.3 Front Panel Power Supply Connections

Shock Warning

The unit must be connected only to a DC supply of 15V, 1A regulated.

Connection to a supply of a different rating may cause damage to the unit

and could result in injury to the operator.

POWER - A Standard 3.5 mm front panel jack connector for connecting the unit to a

regulated DC power supply of 15 V, 1A. Thorlabs offers a compact, multi-way power supply unit (TPS008), allowing up to

eight Driver K-Cubes to be powered from a single mains outlet. A single way wall plug supply (KPS101) for powering a single Driver K-Cube is also available.

USB - USB port for system communications.

Note

The USB cable length should be no more than 3 metres unless a powered

USB hub is being used.

ON - Power ON/Standby switch. When in the ON position, the unit is fully powered

up. When the switch is turned to the Standby position, the unit initi ates a controlled power down sequence, saving all user-adjustable parameters to non-volatile memory before turning off the power. For the first few seconds, the shutdown can be cancelled by turning the switch on again, in which case the unit will save the parameters but will remain powered up. In a powered down (Standby) state, the logic circuits are powered off and the unit will draw only a sma ll quiescent curre nt. The switch should always be used to power down th e un i t .

TRIG 1 and TRIG 2 - SMA connectors for use with external trigger input and output signals (5V TTL levels). The function is set to trigger IN or OUT via the settings panel

- see Section 6.3.3.

Chapter 3

Thorlabs KST101 SwRev 10001

Stage Connected: ZFS25

At +0.0000 mm Stopped V

3.4 Connect The Hardware

1) Perform the mechanical installation as detailed in Section 3.2.

2) Install the APT Software.

Caution

During items (3) to (6) the instructions should be followed in the order stated.

Problems may occur if the process is not performed in the correct sequence.

3) Connect the Controller unit to your PC. (Note. The USB cable should be no more than 3 metres in length. Communication lengths in excess of 3 metres can be achieved by using a powered USB hub)

4) Connect the stepper motor actuator to the Controller unit - see Section 3.3.1..

Caution

During item (5) ensure the power switch on the front panel of the unit is

switched off before connecting power to the K-Cube. Always power up

the K-Cube unit by its ON switch. DO NOT connect the K-Cube unit to a

'live' external power supply. Do ing so (i.e. “hot plugging”) carries the risk

of PERMANENT damage to the unit. Similarly, to power down the unit,

turn the power switch off before disconnecting the power sup pl y.

5) Connect the Controller unit to the power supply - see Section 3.3.

6) Connect the PSU to the main supply.

7) Switch ‘ON’ the unit using the switch on the front panel.

The unit takes about 5 seconds from power application until warm up is finished, during which time the following screens are displayed.

8) WindowsTM should detect the new hardware. Wait while W indowsTM installs the drivers for the new hardware.

Fig. 3.4 KST101 start up screens

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If any problems are encountered during the connection and power up

process, power cycle the unit, which should clear the error.

Note

K-Cube Stepper Motor Controller

3.5 Use with Legacy Actuators and Stages

To ensure that a particular stage is driven properly by the system, a number of parameters must first be set. These parameters relate to the physical characteristics of the stage being driven (e.g. min and max positions, leadscrew pitch, homing direction etc.).

Later version actuators and stages have an id entification eprom fitted such that the system will recognise the actuator type and install suitable defaults. Older version devices must be associated manually using the top panel menu - see Section 4.4.11. Once this association has been made, the APT server applies automatically, suitable default parameter values on boot up of the software.

Note

If the actuator/stage has been recognised automatically via the eprom,

the start up screens will display ‘Stage connected xxxx’ as shown in Fig.

3.4. If the stage is not fitted with an eprom, the display will show the last stage type persisted, e.g. Stage persisted: ZST13B

Chapter 3

3.6 Verifying Software Operation

3.6.1 Initial Setup

The APT Software should be installed (Section 3.1.) and the stage association performed (Section 3.5.) before software operation can be verified.

1) Ensure power is applied to the unit, then switch the unit ON using the switch on the front panel.

2) If required, make the stage/actuator association as detailed in Section 4.4.11.

3) Run the APTUser utility and check that the Graphical User Interface (GUI) panel appears and is active.

Fig. 3.5 Gui panel showing jog and ident buttons

4) Check that the actuator type associated is displayed in the GUI panel.

5) Click the ‘Ident’ button. The top panel display of the Stepper Driver K-Cube flashes. This is useful in multi-channel systems for identifying which driver unit is associated with which GUI.

6) Click the jog buttons on the GUI panel and check that the motor or axis connected to the Stepper Driver K-Cube moves. The position display for the associated GUI should increment and decrement accordingly.

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Follow the tutorial steps described in Chapter 4 for further verification of operation.’

Note

The 'APT Config' utility can be used to set up simulated hardware

configurations and place the APT Server into simulator mode. In this way

it is possible to create any number and type of simulated (virtual)

hardware units in order to emulate a set of real hardware. This is a

particularly useful feature, des ig ne d a s an aid to applic a t io n program

development and testing. Any number of 'virtual' control units are

combined to build a model of the real system, which can then be used to

test the application software offline. If using real hardware, ensure that

Simulator Mode is disabled. If using a simulated setup, enable Simulator

Mode and set up a ‘Simulated Configuration’ - see Section 5.8. or the

APTConfig helpfile for detailed instructions.

Chapter 4 Standalone Operation

Stepper Motor Controller

4.1 Introduction

The Stepper Driver K-Cube has been designed specifically to operate with lower power stepper motors such as the Thorlabs ZST series, however it can also drive a variety of other stepper motors (15V operation) equipped with or without encoder feedback.

The unit offers a fully featured motion control capability including velocity profile settings, limit switch handling, homing sequences and, for more advanced operation, adjustment of settings such as lead screw pitch and gearbox ratio, allowing support for many different actuator configurations. These parameters can be set via the APT Server software - see Chapter 5. Furthermore, when used with the extensive range of Thorlabs ZST motorised opto-mechanical products, many of these parameters are automatically set to allow “out of the box” operation with no further “tuning” required.

The following brief overview explains how the front panel controls can be used to perform a typical series of motor moves.

In conjunction with this chapter, it also may be useful to read the background on stepper motor operation contained in Appendix E .

4.2 Control Panel

Fig. 4.1 Front Panel Controls and Indicators

MOVE Controls - These controls allow all motor moves to be initiated.

Velocity Wheel - Used to drive the moto r at a varying speed in either forward or reverse directions for full and easy motor control - see Section 4.3.

K-Cube Stepper Motor Controller

Stepper Motor Controller

At 0.0000 mm Stopped V

Digital Display - The display shows the menu options and settings, accessed via the menu button - see Section 4.4. When the Ident button on the associated GUI panel is clicked, the display will flash for a short period.

MENU - used to access the settings menu - see Section 4.4. Also used to stop a move when the stage is in motion.

4.2.1 Digital Display - Operating Mode

During normal operation, the digital display shows the current position (in millimeters or degrees) and the current state of the motor (Stopped or Moving). If the stage being driven has been homed, the display will also show ‘Homed’.

Fig. 4.2 Digital Display - Normal Operation

For rotation stages, the position display will be restricted to the "Equivalent Angle" display mode (see Section 6.3.4. for more details), so the position displayed will always be a positive number between 0 and 360 degrees. If set to T otal Angle in the settings panel, the LED display will still show the equivalent 0 to 360° value but the GUI screen will show the total rotation.

4.3 Velocity Wheel Operation

The velocity wheel is a sprung potentiometer, such that when released it returns to it’s central position. In this central position the motor is stationary. Different types of move can be initiated by the wheel, depending on its mode setting. The mo de can be set either via the GUI Settings panel, see Section 6.3.3. or via the top panel display menu, see Section 4.4. The various operating modes are described in Section 4.3.1. to Section 4.3.3.

4.3.1 Homing

A ‘Home’ move is performed to establish a datum from which subsequen t absolute position moves can be measured (see Section 5.3. and Section E.2.2. for further information on the home position).

To initiate a ‘Home’ see Section 4.4.3.

4.3.2 Go to Position

In ‘Go To Position’ mode, two preset position values can be spe cified, such that the motor moves to position 1 when the wheel is moved down, and to position 2 when it

Chapter 4

is moved up. These ‘taught’ positions can be set through the software GUI - see Section 6.3.3. or via the display menu, see Section 4.4.7.

This mode of operation is enabled by setting the ‘Whe el Mode’ to ‘Go To Position’ through the software GUI - see Section 6.3.3. or via the display menu, see Section

4.4.5.

Note for Rotation Stage Users

If the current absolute position is outside the 0 to 360 degree range, then "go

to position" will result in a move to the correct angular position within the same 0..360 degree full turn "segment". This means that the move will always stay in the current full turn segment, and from this point of view it is not always

the quickest position move. For example, if you are at 350 de grees and you

enter a "go to" position of 10 degrees, the stage will rotate anticlockwise 340

degrees and not clockwise 20 degrees.

4.3.3 Jogging

The top panel wheel can also be configured to ‘jog’ the motor. This mode of operation is enabled by setting the ‘Wheel Mode’ parameter to ‘Jogging’ thro ugh the software GUI - see Section 6.3.3. or via the display menu, see Section 4.4.5.

Once set to this mode, the j ogging paramet ers for the wheels ar e taken from the ‘Jog ’ parameters on the ‘Move/Jogs’ settings tab - see Section 6.3.1. or via the display menu, see Section 4.4.6.

4.3.4 Velocity Moves

Lastly, the wheel can be used to initiate a move at a spe cified vel ocity. As the wh eel is moved away from the centre, the motor begins to move. Bidirectional control of the motor is possible by moving the wheel in both directions. The speed of the motor increases by discrete amounts as a function of wheel deflection, up to a maximum as set in through the software GUI - see Section 6.3.3. or via the display menu, see Section 4.4.4. The move stops when the wheel is returned to its centre position.

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4.4 Settings Menu

At 0.0000 mm Stopped V

Menu options Use wheel

Menu options 1 Go to position

Menu options 2 Start homing

Menu options 3 Velocity

Menu options 4 Joystick mode

Menu options 5 Jog step size

Menu options 6 Teach position

Menu options 7 Brightness

Menu options 8 Disp.Timeout

Menu options 9 Disable

Menu options 10 Select Stage

4.4.1 Overview

Press the MENU button

Use the wheel to scroll through the menu options

K-Cube Stepper Motor Controller

Press the MENU button to enter a particular option

Move the stage to an absolute position - see Section 4.4.2.

Move the stage to the Home position - see Section 4.4.3.

Set the Max Velocity - see Section 4.4.4.

Set the joystick wheel mode - see Section 4.4.5.

Set the Jog Step Size - see Section 4.4.6.

Set the teach positions - see Section 4.4.7.

Set the display brightness - see Section 4.4.8.

Set the display time out period - see Section 4.4.9.

Disable the wheel - see Section 4.4.10.

Set the stage being driven - see Section 4.4.11.

Chapter 4

At 0.0000 mm Stopped V

At 2.0000 mm Stopped V

Menu options Use wheel

Menu options 1 Go to position

P = 0.00 mm adjust Pos

4.4.2 Menu Option - Go to position

This mode is used to move to an absolute position.

Press the MENU button, then use the wheel to scroll through the menu options.

Press the MENU button to enter the Go to positions option.

Use the wheel to adjust the position value, (within the travel range for linear stages, or 0 to 360 ° for rotation stages) then press the MENU button to store the selection.

Note for rotation stages. If the current absolute position is outside the 0 to 360 degree range, then "go to position" will result in a move to the correct angular position within the same 0..360 degree full turn "segment". This mean s that the move will always stay in the current full turn segment, and from this point of view it is not always the quickest position move. For example, if you are at 350 degrees and you enter a "go to" position of 10 degrees, the stage will rotate anticlockwise 340 degree s and not clockwise 20 degrees.

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The stage moves to the position entered, and the display shows the change in position.

To stop the move, press the MENU button.

K-Cube Stepper Motor Controller

Menu options 2 Start homing

At 2.0000 mm Stopped V

Menu options Use wheel

At 2.0000 mm Homing V

At 0.0000 mm Homed Stopped V

Menu options Use wheel

Menu options 3 Velocity

1.680 mm/s adjust MaxVel

At 0.0000 mm Homed Stopped V

4.4.3 Menu Option - Start homing

This mode is used to home the stage.

Press the MENU button, then use the wheel to scroll through the menu options.

Press the MENU button to enter the Star t Homing op tion.

The display shows a decreasing position count whil e the stage is homing.

Once homing is complete, the display shows the position at 0.0000 mm and ‘Homed’ is displayed.

To stop the move, press the MENU button.

4.4.4 Menu Option - Velocity

This mode is used to move to set the max velocity.

Press the MENU button, then use the wheel to scroll through the menu options.

Press the MENU button to enter the Velocity option.

Use the wheel to adjust the max velocity, e.g. 0.168 mm/s, then press the MENU button to store the setting.

Subsequent moves will be performed at the velocity entered.

Chapter 4

At 0.0000 mm Homed Stopped V

Menu options Use wheel

Menu options 4 Joystick Mode

Velocity control to select

Jog to positions to select

Jogging in steps to select

At 0.0000 mm Homed Stopped V

Homed Stopped P

Homed Stopped J

4.4.5 Menu Option - Joystick Mode

This mode is used to set the operating mode of the joystick wheel.

Press the MENU button, then use the wheel to scroll through the menu options

Press the MENU button to enter the Joystick mode option. Use the wheel to scroll through the options, then press MENU when the required option is displayed.

In Velocity control mode, deflecting the wheel starts a move with the velocity proportional to the deflection. The maximum velocity (i.e. velocity corresponding to the full deflection of the joystick wheel) is set in the preceding 3 Velocity option. The move will stop when the wheel is released.

In Jog to positions mode, deflecting the wheel starts a move from the current position to one of the two predefined “teach” positions. The teach positions are specified in option 6 Teach Position.

In Jog in steps mode, deflecting the whe el initiates a jog move, using the parameters specified by the 3 Velocity and 5 Jog step size options. Keeping the wheel deflected repeats the move automatically after the current move has completed.

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Use the wheel to display the required option, then p ress MENU to store the selection and return to the main display.

The selected mode is indicated at the righ t hand side of the bottom line:

V = Velocity mode P = Jog to position mode J = Jog in steps mode

K-Cube Stepper Motor Controller

At 0.0000 mm Homed Stopped V

Menu options Use wheel

Menu options 5 Jog step size

S = 0.10 mm adjust JogStep

At 0.0000 mm Homed Stopped V

4.4.6 Menu Option - Jog Step Size

This mode is used to set the jog step size.

Press the MENU button, then use the wheel to scroll through the menu options.

Press the MENU button to enter the Jog step size option.

Use the wheel to adjust the step size, e.g. 0.10 mm, then press the MENU button to store the selection.

When Jog in steps mode is selected in the Joystick mode option (see Section 4.4.5.), subsequent moves will be performed at the step size entered.

Chapter 4

At 10.0000 mm Homed Stopped V

Menu options Use wheel

Menu options 6 Teach position

P1 = 10.0000 mm num store

At 10.0000 mm Homed Stopped V

At 5.0000 mm Homed Stopped V

Menu options Use wheel

Menu options 6 Teach position

P2 = 5.0000 mm num store

4.4.7 Menu Option - Teach Position

This mode is used to set the teach positions, used when the Joystick mode option is set to Jog to positions mode - see Section 4.4.5.

To set Teach Position 1... Move the stage to the position to use as teach position 1.

Press the MENU button, then use the wheel to scroll through the menu options.

Press the MENU button to enter the Teach position option.

Use the wheel to select P1, then press the MENU button to store the current position as teach posi tion 1 an d return to the main display.

To set Teach Position 2... Move the stage to the position to use as teach position 2.

Press the MENU button, then use the wheel to scroll through the menu options.

Press the MENU button to enter the Teach position option.

Use the wheel to select P2, then press the MENU button to store the current position as teach posi tion 2 an d return to the main display.

When Jog to position mode is selected in the Joystick mode option (see Section 4.4.5.), a downwards deflection of the wheel moves the stage to position 1, and an upwards deflection moves to position 2.

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At 0.0000 mm Homed Stopped V

Menu options Use wheel

Menu options 7 Brightness

Brightness = 67 to adjust

At 0.0000 mm Homed Stopped V

Menu options Use wheel

Menu options 8 Disp.Timeout

At 0.0000 mm Homed Stopped V

After 2 min to adjust

4.4.8 Menu Option - Brightness

In certain applications, it may be necessary to adjust the brightness of the LED display. The brightness is set as a value from 0 (Off) to 100 (brightest). The displ ay can be turned off completely by entering a setting of zero, however, pressing the MENU button on the top panel will temporarily illuminate the display at its lowest brightness setting to allow adjustments. When the display returns to its default position display mode, it will turn off again.

Press the MENU button, then use the wheel to scroll through the menu options.

Press the MENU button to enter the Brightness option.

Use the wheel to adjust the brightness, then press the MENU button to store the selection and return to the main display.

4.4.9 Menu Option - Disp.Timeout

'Burn In' of the display can occur if it remains static for a long time. To prevent this, the display is automatically dimmed after a specified time interval.

Press the MENU button, then use the wheel to scroll through the menu options.

Press the MENU button to enter the Disp.Timeout option.

The time out interval is specified in minutes in the range 1 to 480. timeout is between 1 to 10 minutes, 10 minute steps between 10 minutes and 1 hour, and 30 minute steps above, up to a maximum of 480 minutes. After 480 minutes there is an option for Never.

The dim level can only be adjusted via the Settings panel

- see Section 6.3.3.

The adjustment is done in steps of 1 minute if the

Press the MENU button to store the selection an d return to

the main display.

Chapter 4

At 0.0000 mm Homed Stopped V

Menu options Use wheel

Menu options 9 Disable

At 0.0000 mm Homed Stopped V

4.4.10 Menu Option - Disable

In certain applications, it may be advantageous to disable the wheel to remove the possibility of unwanted motion due to accidental movement of the wheel.

Press the MENU button, then use the wheel to scroll through the menu options.

Press the MENU button to enter the Disable option.

Press the MENU button to store the selection a nd return to the main display.

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At 0.0000 mm Homed Stopped V

Menu options Use wheel

Menu options 10 Select stage

Select stage DRV014

At 0.0000 mm Stopped V

4.4.11 Menu Option - Select stage

Note

Later version actuators and stages have an identification eprom fitted such

that the system will recognise automatically the actuator type and install

suitable defaults at start up. In this case, the start up screens will show ‘Stage

connected xxx’ as shown in Fig. 3.4 and this menu option is not visible.

If this menu option is visible then the stage/actuator connected is not fitted

with an eprom and the stage association must be performed manually as

detailed below.

Older version devices must be associated manually using the top panel menu. Once this association has been made, the APT server applies automatically, suitable default parameter values on boot up of the software.

Press the MENU button, then use the wheel to scroll through the menu options.

Press the MENU button to enter the Select stage option.

Use the wheel to scroll through the options to the required stage type. The stage types supported are:

NR360S, FW103, DRV013, DRV014, PLS2, PLS3, ZFS25, ZFS13, ZFS06, ZST225, ZST213, ZST206, ZST25, ZST13, ZST6

Press the MENU button to store the selection an d return to the main display.

Chapter 5 PC Operation - Tutorial

5.1 Introduction

The following brief tutorial guides the user through a typical series of moves and parameter adjustments performed using the PC based APT software. It assumes that the unit is electrically connected as shown in Section 3.3., and that the APT Software is already installed - see Section 3.1. For illustration purposes, it also assumes that a ZST motor is connected to the ‘Motor’ connector on the rear panel.

5.2 Using the APT User Utility

The APT User.exe application allo ws the user to interact with any number of APT hardware control units connected to the PC USB Bus (or simulated via the APTConfig utility). This program allows multiple graphical instrumen t panels to be displayed so that multiple APT units can be controlled. All basic operating pa rameters can be set through this program, and all basic operations (such as motor moves) can be initiated. Hardware configurations and parameter settings can be saved, which simplifies system set up whenever APT User is run up.

1) If required, perform the stage association as detailed in Section 4.4.11.

2) Run the APT User program - Start/Programs/Thorlabs/APT/APT User.

Fig. 5.1 Typical APT User Screen

K-Cube Stepper Motor Controller

3) The actuator type recognised/associated is displayed in the ‘Settings’ window.

See Section 5.11. and Section 6.3. for further details on th e parameter values shown in the ‘Settings’ display.

Fig. 5.2 Stepper Driver K-Cube Software GUI

The APT User utility will be used throughout the rest of this tutorial to interface with the Stepper Driver K-Cube.

Chapter 5

5.3 Homing Motors

Homing the motor moves the actuator to the home limit switch and resets the internal position counter to zero. The limit switch provides a fixed datum that can be found after the system has been powered up.

Fig. 5.3 Stepper Driver K-Cube GUI

1) Click the ‘Home’ button. Notice that the led in the button lights to indicate that homing is in progress and the displayed position counts down to 000.0 00, i.e the home position.

Note

Homing can also be performed by holding down both front panel bu ttons

for around 2 seconds.

2) When homing is complete, the ‘Homed’ LED is lit as shown above.

See Appendix E , Section E.2.2. for background information on the home position.

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5.4 Moving to an Absolute Position

Absolute moves are measured in real world units (e.g. millimetres), relative to the Home position.

1) Click the position display.

Fig. 5.4 Absolute Position Popup Window

2) Enter 0.3589 into the pop up window

3) Click ‘OK’. Notice that the position display counts up to 0.35900 to indicate a move

to the absolute position entered.

Chapter 5

5.5 Changing Motor Parameters

Moves are performed using a trapezoidal velocity profile (see Appendix E , Section E.1.3.). The velocity settings relate to the maximum velocities at which a move is performed, and the acceleration at which the motor speeds up from zero to maximum velocity.

1) On the GUI panel, click the ‘Settings’ button (bottom right hand corner of the display) to show the Settings panel.

Fig. 5.5 Settings Panel - Move/Jogs Tab

2) Select the Move/Jogs tab as shown in Fig. 5.5.

3) In the ‘Moves’ field, enter para me te r val u es as follows: ‘Max. Vel’ - ‘4’ ‘Accn/Dec’ - ‘1.5’

Note

In current versions of software, the ‘Min Vel’ parameter is locked at zero

and cannot be adjusted.

4) Click ‘OK’ to save the settings and close the window.

5) Any further moves initiated will now be perfo rmed at a maximum velocity of 4.0 mm per second, with an acceleration of 1.5 mm/sec/sec.

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5.6 Jogging

During PC operation, the motor actuators are jogged using the GUI panel arrow keys. There are two jogging modes available, ‘Single Step’ and ‘Continuous’. In ‘Single Step’ mode, the motor moves by the step size specified in the Step Distance parameter. If the jog key is held down, single step jogging is repeated until the button is released - see Fig. 6.3. In ‘Continuous’ mode, the motor actuator will accelerate and move at the jog velocity while the button is held down.

1) On the GUI panel, click the ‘Settings’ button to display the Settings panel.

Fig. 5.6 Settings Panel - Move/Jogs Tab

2) Select the Move/Jogs tab as shown in Fig. 5.6.

3) In the ‘Jogs’ field, enter parameter values as follows:

Velocity Profile

‘Max. Vel’ - ‘1’ ‘Accn/Dec’ - ‘0.5’

Note

In current versions of s oftwa re, the ‘Min Vel’ parameter is locked at zero

and cannot be adjusted.

Operating Modes

‘Jogging’ - ‘Single Step’ ‘Stopping’ - ‘Profiled’ ‘Step Distance’ - ‘0.5’

4) Click ‘OK’ to save the settings and close the window.

5) Click the Jog Arrows on the GUI panel to jog the motor. Notice that the position

display increments 0.5 every time the button is clicked.

Chapter 5

5.7 Stopping the Stage

The drive channel is enabled and disabled by clicking the ‘Enable’ button on the GUI panel. The green indicator in the button center is lit when the drive channel is enabled. Disabling the channel removes the drive power.

During operation, the stage can be stopped at an y time by clicking the ‘Stop’ button on the GUI panel. Using this button does not remove power to the drive channel.

Fig. 5.7 APT GUI User Screen

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5.8 Graphical Control Of Motor Positions (Point and Move)

The GUI panel display can be changed to a graphical display, showing the position of the motor channel(s). Moves to absolute positions can then be initiated by positioning the mouse within the display and clicking.

To change the panel view to graphical view, right click in the screen and select ‘Graphical View’.

Fig. 5.8 Stepper Driver K-Cube GUI Panel - Graphical View

Consider the display shown above for an Stepper Driver K-Cube . The right hand display shows the channel and motor unit parameters; i.e. controll er

unit type and serial number, associated stage and actuator type, minimum and maximum positions, current position, units per grid divi sion and cursor position. All units are displayed in real world units, either millimetres or degrees.

Note

For single channel units such as the Stepper Driver K-Cube, the Channel

2 parameters are greyed out.

The left hand display shows a circle, which represents the current position of the motor associated with the specified controller (abso lute position data is displayed in the 'Chan Pos' field).

The vertical divisions relate to the travel of the stage/actuator associated with the Stepper Driver K-Cube (the stage/actuator is selected in the ‘APT Config’ utility). For example, the screen shot above shows the parameters for a 25mm travel ZFS25(B) motor actuator. The graph shows 10 divisions in the X axis, which relates to 2.5 mm of travel per division (25mm in total).

The graphical panel has two modes of operation, ‘Jog’ and ‘Move’, which are selected by clicking the buttons at the bottom right of the screen.

Chapter 5

Move Mode

When ‘Move’ is selected, the motors move to an absolute position which corresponds to the position of the cursor within the screen.

To specify a move:

1) Position the mouse within the window. For reference, the absolute motor position values associated with the mouse position is displayed in the 'Cursor Position field.

2) Click the left hand mouse button to initiate the move.

Jog Mode

When ‘Jogging’ mode is selected, the motors are jogged each time the left mouse button is clicked.

The Jog direction corresponds to the position of the cursor relative to the circle (current motor position), e.g. if the cursor is to the left of the circle the motor will jog left. The Jog Step size is that selected in the Settings panel - see Section 6.3.

Stop

To stop the move at any time, click the ‘Stop’ button.

Returning to Panel View

To return to panel view, right click in the graphical panel and select ‘Panel View’.

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5.9 Setting Move Sequences

This section explains how to set move sequences, allow ing several positions to be visited without user intervention.

For details on moving to absolute positi ons initiated by a mouse click – see Section

5.8.

1) From the Motor GUI Panel, select 'Move Sequencer' tab to display the Move

Sequencer window.

Fig. 5.9 Move Sequencer Window

2) Right click, in the move data field to display the pop up menu.

Fig. 5.10 Move Sequencer Pop Up Menu

Chapter 5

3) Select 'New' to display the 'Move Editor' panel.

Fig. 5.11 Move Editor Window

Move data is entered/displa ye d as follows: Dist/Pos: - the distance to move from the current position (if 'Relative' is selected) or the position to move to (if 'Absolute' is selected). Dwell Time: - after the move is performed, the system can be set to wait for a

specified time before performing the next move in the sequence. The Dwell time is the time to wait (in milliseconds).

Return - if checked, the system will move to th e position specified in the Dist/Pos field, wait for the specified Dwell time, and then return to the original position.

4) Min Vel: Acc: and Max Vel: - the velocity profile parameters for the move.

Note

In current versions of software, the ‘Min Vel’ parameter is locked at zero

and cannot be adjusted.

The motor accelerates at the rate set in the Acc field up to the speed set in the Max Vel field. As the destination approaches, the moto r decelerates again to ensure that there is no overshoot of the position.

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5) Enter the required move data into the Move Editor and click OK. The move data

is displayed in the main window as shown below.

Fig. 5.12 Main Window with Move Data

6) Repeat step 4 as necessary to build a sequence of moves. Move data can be

copied, deleted, cut/pasted and edited by right clicking the data line(s) and selecting the appropriate option in the pop up menu (shown below).

Fig. 5.13 Pop Up Options

7) To run a single line of data, right click the appropria te data and select 'Run' from

the pop up menu (shown above).

8) To run the entire sequence, click the 'Run' button (shown below). A Home move

can also be performed from this panel by clicking the ‘Home’ button.

Fig. 5.14 Home and Run Buttons

9) To save data to a file, or load data from a previously saved file, click the ‘Save’ or

‘Load’ button and browse to the required location.

Chapter 5

5.10 Creating a Simulated Configuration Using APT Config

The 'APT Config' utility can be used to set up simulated hardware configurations and place the APT Server into simulator mode. In this way it is possible to cre ate any number and type of simulated (virtual) hardware units in order to emulate a set of real hardware. This is a particularly useful feature, designed as an aid learning how to use the APT software and as an aid to developing custom software applications ‘offline’.

Any number of 'virtual' control units can be combined to emulate a colection of physical hardware units For example, an application pr ogram can be written, then tested and debugged remotely, before running with the hardware.

To create a simulated configuration proceed as follows:

1) Run the APT Config utility - Start/All Programs/Thorlabs/APT/APT Config.

2) Click the 'Simulator Configuration' tab.

Fig. 5.15 APT Configuration Utility - Simulator Configuration Tab

3) Enter ‘LAB1’ in the Configuration Names field.

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4) In the 'Simulator' field, check the ‘Enable Simulator Mode’ box. The name of the

most recently used configuration file is displayed in the 'Current Configuration' window.

5) In the ‘Control Unit’ field, select ‘1 Ch Stepper Driver K-Cube (KST101)’.

Chapter 5

6) In the ‘Enter 6 digit serial number’ field, enter the serial number of your stepper drive unit.

Note

Each physical APT hardware unit is factory programmed with a unique 8 digit serial number. In order to simulate a set of ‘real’ hardware the Config

utility allows an 8 digit serial number to be associated with each

simulated unit. It is good practice when creating simulated

configurations for software development purposes to use the same serial

numbers as any real hardware units that will be used. Altho ugh serial numbers are 8 digits (as displayed in the ‘Load Configuration Details’

window), the first two digits are added automatically and identify the type

of control unit.

The prefixed digits relating to the Stepper Driver K-Cube are:

26xxxxxx - 1 Ch Stepper Drive K-Cube

7) Click the 'Add' button.

8) Repeat items (1) to (7) as required. (A unit can be removed from the configuration by selecting it in the 'Loaded Configuration Details' window and clicking the 'Remove' button or by right clicking it and selecting the ' Remove' option from the pop up window).

9) Click 'Save'.

10)Click 'Set As Current' to use the configuration.

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5.11 Stage/Axis Tab

This tab contains a number of parameters which are related to the physical characteristics of the particular stage or actuator being driven. They need to be set accordingly such that a particular stage is driven properly by the system.

Fig. 5.16 Stage/Axis Tab

These parameters were set automatically when the ZST6 actuator was selected using the APTConfig utility in Section 3.5. The APT server auto matically applied suitable defaults for the parameters on this tab during boot up of any client software such as APTUser. These parameters should not be altered for pre-defi ned Thorlabs stages and actuators selected using APT Config, as it may adversely affect the performance of the stage.

For third party stage types not available using the APT Config utility, these stage details must be entered manually.

Individual parameters are described in Section 6.3.

Chapter 6 Software Reference

6.1 Introduction

This chapter gives an explanation of the parameters and settings accessed from the APT software running on a PC. For information on the methods and properties which can be called via a programming interface, see Appendix D .

6.2 GUI Panel

The following screen shot shows the graphical user interface (GUI) displa yed when accessing the Stepper Driver K-Cube using the APTUser utility.

Fig. 6.1 Stepper Driver K-Cube Software GUI

The serial number of the Stepper Driver K-Cube associated with the GUI

panel, the APT server version number, and the version number (in

brackets) of the embedded software running on the unit, are displayed in

the top right hand corner. This in formation should always be provided

when requesting customer support.

Jog - used to increment or decrement the motor position. When the button is clicked,

the motor is driven in the selected direction at the jog velocity one step per click. The step size and jog velocity parameters are set in the 'Settings' panel (see Section 6.3.).

Note

K-Cube Stepper Motor Controller

Travel - displays the range of travel (in millimeters or de grees) of the motor. Moving - lit when the motor is in motion. Enable - applies power to the motor. With the motor enabled, the LED in the button

is lit. Digital display - shows the position (in millimetres or degrees) of the motor. The motor must be 'Homed' before the display will show a meaningful value, (i.e. the displayed position is relative to a physical datum, the limit switch).

Home - sends the motor to its 'Home' position - see Appendix E Section E.2.2. The LED in the button is lit while the motor is homing.

Homed - lit when the motor has previously been 'Homed' (since power up). Stop - halts the movement of the motor. Limit switches - the LEDs are lit when the associated limit switch has been activated

- see Appendix E Section E.2.3. for further details on limit switches. Settings display - shows the following user specified settings:

Driver - the type of control unit associated with the specified channel. Stage - the stage type and axis associated with the specified channel.

Note. By default, the software associates a ZST6 type actu ator, unless the user h as used the APTConfig utility to associate a particular stage.

Calib File - the calibration file associated with the specified channel. See the APTConfig utility helpfile for more details on assigning a nd using cal ibration

files. Min/Max V - the minimum veloci ty at which a move is initiated, and the maximum

velocity at which the move is performed. Values are displayed in real world units (mm/ s or degrees/s), and can be set via the 'Settings' panel (see Section 6.3.).

Accn - the rate at which the velocity climbs to, and slows from, maximum velocity, displayed in real world units (mm/s/s or degrees/s/s). The acceleration can be set via the 'Settings' panel (see Section 6.3.) and is used in conjunction w ith the Min/Max velocity settings to determine the velocity profil e of a motor move. See Appendix E

Section E.1.3. for more information on velocity profiles.

Jog Step Size - the size of step (in mm or degrees) taken when the jog signal is initiated. The step size can be set either via the Settings panel or by calling the SetJogStepSize method.

Settings button - Displays the 'Settings' panel, which allows the operating parameters to be entered for the motor drive - see Section 6.3.

Ident - when this button is pressed, the Channel LED on the front panel of the associated hardware unit will flash for a short period.

Active - lit when the unit is operating normally and no error condition exists. Error - lit when a fault condition occurs.

Chapter 6

6.3 Settings Panel

When the 'Settings' button on the GUI panel is clicked, the 'Settings' window is displayed. This panel allows motor operation parameters such as move/jog velocities, and stage/axis information to be modified. Note that all of these parameters have programmable equivalents accessible through the ActiveX me thods and properties on this Control (refer to the Programming Guide in the APTServer helpfile for further details and to Section 2.3.4. for an overview of the APT ActiveX controls).

6.3.1 Moves/Jogs Tab

Fig. 6.2 Stepper Driver K-Cube - Move/Jog Settings

Moves - Velocity Profile

Moves can be initiated via the GUI panel, by using the velocity wheel (see Section

4.3.) or by entering a position value after clicking on the position display box (see

Section 5.4.). The following settings determine the velocity profile of such moves, and are specified in real world units, millimetres or degrees.

Note

The minimum velocity is locked at zero and cannot be adjusted.

MaxVel - the maximum velocity at which to perform a move.

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Accn/Dec - the rate at which the velocity climbs from zero to maximum, and slows from maximum to zero.

Note

Under certain velocity parameter and move distan ce conditions, the

maximum velocity may never be reached (i.e. the move comprises an

acceleration and deceleration phase only).

Jogs

Jogs are initiated by using the ‘Jog’ keys on the GUI panel (see Section 5.6.), or the Jog Buttons on the front panel of the unit.

Velocity Profile (specified in real world units, millimetres or degrees) MaxVel - the maximum velocity at which to perform a jog Accn/Dec - the rate at which the velocity climbs from minimum to maximum, and

slows from maximum to minimum.

Operating Modes

Jogging - The way in which the motor moves when a jog command is received (i.e. front panel button pressed or GUI panel button clicked).

There are two jogging modes available, ‘Single Step’ and ‘Continuous’. In ‘Single Step’ mode, the motor moves by the step size specified in the Step Distance parameter. If the jog key is held down, single step jogging is repeated until the button is released - see Fig. 6.3. In ‘Continuous’ mode, the motor actuator will accelerate and move at the jog velocity while the button is held down..

Single Step - the motor moves by the step size specified in the Step Distance parameter.

Fig. 6.3 Jog Modes

Chapter 6

Continuous - the motor continues to move until the jog signal is removed (i.e. jog button is released).

Stopping - the way in which the jog motion stops when the demand is removed.

Immediate - the motor stops quickly, in a non-profiled manner Profiled - the motor stops in a profiled manner using the jog Velocity Profile

parameters set above.

Step Distance - The distance to move when a jog command is initiated. The step size is specified in real world units (mm or degrees dependent upon the stage).

Backlash Correction - The system compensates for lead screw backlash during reverse direction moves, by moving passed the demanded position by a sp ecified amount, and then reversing. This ensures that positions are alwa ys approach ed in a forward direction. The Backlash Correction Distance is specified in real world un its (millimeters or degrees). To remove backlash correction, this value should be set to zero.

Position Profiling

To prevent the motor from stall ing, it must be ramped up gradually to its maximum velocity. Certain limits to velocity and acceleration result from the torq ue and speed limits of the motor, and the inertia and friction of the parts it drives.

The system incorporates a trajectory generator, which performs calculations to determine the instantaneous position, velocity and acceleration of each axis at any given moment. During a motion profile, these value s wil l chang e continuously. Once the move is complete, these parameters will then remain unchanged until the next move begins.

Bow Index – This field is used to set the profile mode to either Trapezoidal or S-curve. A Bow Index of ‘0’ selects a trapezoidal profile. An index value of ‘1’ to ‘18’ selects an S-curve profile. In either case, the velocity and acceleration of the profile are specified using the Velocity Profile parameters on the Moves/Jogs tab.

The Trapezoidal profile is a standard, symmetrical acceleration/deceleration motion curve, in which the start velocity is always zero. This profile is selected when the Bow Index field is set to ‘0’.

In a typical trapezoidal velocity profile, (see Fig. 6.4.), the stage is ramped at acceleration ‘a’ to a maximum velocity ‘v’. As the destination is approached, the stage

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velocity

maximum velocity (v)

time

acceleration (slope) a

BI BI

-BI -BI

Velocity

12 3 4 56 7

A - acceleration D - deceleration V - velocity BI - bow index

is decelerated at ‘a’ so that the final position is approached slowly in a controlled manner.

Fig. 6.4 Graph of a trapezoidal velocity profile

The S-curve profi le is a trapezoidal curve with an additi onal 'Bow Value' parameter, which limits the rate of change of acceleration and smooths out the contours of the

motion profile. The Bow Value is applied in mm/s

and is derived from the Bow Index

field as follows: Bow Value = 2

(Bow Index -1)

within the range 1 to 262144 (Bow Index 1 to 18).

In this profile mode, the acceleration increases gradually from 0 to the specified acceleration value, then decreas es at the same rate until it reaches 0 again at the specified velocity. The same sequence in reverse brings the axis to a stop at the programmed destina ti o n po si ti on.

Example

Fig. 6.5 Typical S-Curve Profile

The figure above shows a typical S-curve profi le. In segment (1), the S-curve profile drives the axis at the specified Bow Index (BI) until the maximum acceleration (A) is reached. The axis continues to accelerate linearly (Bow Index = 0) through segment (2). The profile then applies the negative value of Bow Index to reduce the acceleration to 0 during segment (3). The axis is now at the maximum velocity (V), at which it continues through segment (4). The profile then decelerates in a similar

Chapter 6

manner to the acceleration phase, using the Bow Index to reach the maximum deceleration (D) and then bring the axis to a stop at the destination.

Note

The higher the Bow Index, then the shorter the BI phases of the curve, and the steeper the acceleration and deceleration phases. High values of Bow

Index may cause a move to overshoot or may result in instability.

Persist Settings to Hardware - Many of the parameters that can be set for the

Stepper Driver K-Cube can be stored (persisted) within the unit itself, such that when the unit is next powered up these settings are applied automatically. This is particularly important when the driver is being used manually in the absence of a PC and USB link. The Velocity Profile and Jogging parameters described previo usly are good examples of settings that can be altered and then persisted in the driver for use in absence of a PC. To save the settings to hardware, check the ‘Persist Settings to Hardware’ checkbox before clicking the ‘OK button.

Caution

The ‘Persist Settings’ functionality is provided to simplify use of the unit

in the absence of a PC. When the unit is connected to a PC and is

operated via APTUser, the default APTServer settings will be loaded at

boot up, even if the ‘Persist Settings’ option has been checked.

54 HA0362T Rev C Jan 2017

6.3.2 Stage/Axis Tab

K-Cube Stepper Motor Controller

Fig. 6.6 Stepper Driver K-Cube - Stage/Axis Settings

Note

This tab contains a number of parameters which are related to the physical

characteristics of the particular stage being driven. They need to be set

accordingly such that a particular stage is driven properly by the system.

For Thorlabs stages, the APT Config utility can be used to associate a specific

stage and axis type with the motor channel (refer to the APT Config helpfile

for further details on how to associate a stage and axis). Once this association

has been made, the APT server will automatically apply suitable defaults for

the parameters on this tab during boot up of the software. These parameters

should not be altered for pre-defined Thorlabs stages selected using APT

Config, as it may adversely affect the performance of the stage.

For custom stage types not available using the APT Config utility, the stage

details must be entered manually. Individual parameters are described in the

following paragraphs.

Stage and Axis Ty pe - For Thorlabs stages, the stage type is displayed automatically

once the axis has been associated using the APTConfig utility. For third party stages, the display shows ‘Unknown’.

Extreme care must be taken when modifying the stage related settings that

follow. Some settings are self consistent with respect to each other, and illegal

combinations of settings can result in incorrect operation of the physical

motor/stage combination being driven. Consult Thorlabs for advice on settings

for stage/actuator types that are not selectable via the APTConfig utility.

Caution

Chapter 6

Min Pos - the stage/actuator minimum position (typically zero). Max Pos - the stage/actuator maximum position. Pitch - the pitch of the motor lead screw (i.e. the distance travelled (in mm or degrees)

per revolution of the leadscrew). Units - the ‘real world’ positioning units (mm or degrees).

Homing

When homing, a stage typically moves in the reverse direction, (i.e. towards the reverse limit switch). The following settings allow support for stages with both Forward and Reverse limits.

Note

Typically, the following two parameters are set the same, i.e. both

Forward or both Reverse.

Direction - the direction sense to move when homing, either Forward or Reverse. Limit Switch - The hardware limit switch associated with the home position, either

Forward HW or Reverse HW. Zero Offset - the distance offset (in mm or degrees) from the limit switch to the Home

position. Velocity - the maximum velocity at which the motors move when Homing.

Caution

The homing velocity should not be increased above the 250 µm/s factory

setting as this may damage the limit switches.

For further information on the home position, see Section E.2.2.

Hardware Limit Switches

Note

The minimum velocity and acceleration/deceleration parameters for a

home move are taken from the existing move velocity profile parameters.

The operation of the limit switches is inherent in the design of the associated stage or actuator. The following parameters notify the system to the action of the switches when contact is made. Select Rev Switch or Fwd Switch as required, then select the relevant operation.

Switch Makes - The switch closes on contact Switch Breaks - The switch opens on contact Ignore/Absent - The switch is missing, or should be ignored.

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K-Cube Stepper Motor Controller

Motor

These parameters are used to set the 'resolution' characteristics of the stepper motor connected to the selected channel. The reso lution of the motor, combined with other characteristics (such as lead screw pitch) of the associated actuator or stage, determines the overall resolution.

Steps Per Rev - The number of full steps per revolution of the stepper motor (minimum '1', maximum '10000').

Note

The Gearbox Ratio parameter is applicable only to motors fitted with a

gearbox.

Gearbox Ratio - The ratio of the gearbox. For example, if the gearbox has a reduction ratio of X:1 (i.e. every 1 turn at the output of the gearbox requires X turns of the motor shaft) then the Gearbox Ratio value is set to X. (minimum '1', maximum '1000').

Note

The ‘Steps Per Rev’ and ‘Gearbox Ratio’ parameters, together with the

‘Pitch’ and ‘Units’ parameters are used to calculate the calibration factor

for use when converting real world units to microsteps. However, the

‘Steps Per Rev’ parameter is entered as full steps, not microsteps. The

system automatically applies a factor of 2048 microsteps per full step.

The majority of Thorlabs stepper motor actuators have 200 full steps per

rev and no gearbox fitted. For these motors the Steps Per Rev and

Gearbox Ratio parameters have values of 200 and 1 respectively. As an

exception to this, the ZST family of actuators use 24 steps per rev stepper

motors fitted with a 41:1 reduction gearbox. In this case, the Steps Per

Rev and Gearbox Ratio should be set to '24' and '41' respectively. The

equivalent calibration constant is then calculated as:

24 x 2048 x 41 = 2,015,232

24 steps per revolution

2048 microsteps per full step

41:1 reduction gearbox

1.0 mm lead screw pitch

Persist Settings to Hardware - Many of the parameters that can be set for the

Stepper Driver K-Cube can be stored (persisted) within the unit itself, such that when the unit is next powered up these settings are applied automatically. This is particularly important when the driver is being used manually in the absence of a PC and USB link. The homing parameters and limit switch settings described previou sly are good examples of settings that can be altered and then persisted in the driver for

Chapter 6

use in absence of a PC. To save the settings to hardware, check the ‘Persist Settings to Hardware’ checkbox before clicking the ‘OK button.

Caution

The ‘Persist Settings’ functionality is provided to simplify use of the unit

in the absence of a PC. When the unit is connected to a PC and is

operated via APTUser, the default APTServer settings will be loaded at

boot up, even if the ‘Persist Settings’ option has been checked.

6.3.3 Panel/Triggering Tab

Fig. 6.7 Stepper Driver K-Cube - Advanced Settings

Adjustment Wheel Settings

The velocity wheel is sprung such that when released it returns to it’s central position. In this central position the motor is stationary. As the wheel is moved away from the center, the motor begins to move; the speed of this movement increases as the wheel deflection is increased. Bidirectional control of motor moves is possible by moving the wheel in both directions.

Wheel Mode

Velocity Control - Deflecting the wheel starts a move with the velocity proportional

to the deflection. The maximum velocity (i.e. velocity corresponding to the full deflection of the joystick wheel) and acceleration a re set in the Max Wheel Vel. and Wheel Accn. parameters.

Position Jogging - Deflecting the wheel initiates a jog move, using the parameters specified by the Move/Jogs tab. Keeping the wheel deflected repeats the move automatically after the current move has completed.

Go To Position - Deflecting the wheel starts a move from the current position to one of the two predefined “teach” positio ns. The teach positions are specified in

58 HA0362T Rev C Jan 2017

K-Cube Stepper Motor Controller

the Preset Pos. 1 and Preset Pos. 2 parameters, and are measured in number of steps from the home position.

Wheel Direction

The direction of a move initiated by the velocity wheel is specified as follows: Disabled - The wheel is disabled to remove any unwanted motion due to

accidental movement of the wheel. Direction Sense Positive - Upwards rotation of the wheel results in a positive

motion (i.e. increased position count). Note. The following option applies only when the Wheel Mode is set to Velocity

Control. If set to Position Jogging or Go to Position Mode, the followin g option is ignored.

Direction Sense Negative - Upwards rotation of the wheel re sults in a negative motion (i.e. decreased position count).

Display Brightness

In certain applications, it may be necessary to adjust the brightness of the LED display on the top of the unit. The brightness is set in the Active Level parameter, as a value from 0 (Off) to 100 (brightest). The display can be turned off completely by entering a setting of zero, however, pressing the MENU button on the top panel will temporarily illuminate the display at its lowest brightn ess setting to a llow ad justments. When the display returns to its default position display mode, it will turn off again.

Furthermore, 'Burn In' of the display can occur if it remains static for a long time. To prevent this, the display is automatically dimmed after the time interval specified in the Timeout (min) parameter has elapsed. The time interval is specified in minutes in the range 0 (never dimmed) to 480. The dim level is set in the Idle Level parameter, as a value from 0 (Off) to 10 (brightest) but is also limited by the Active Value parameter if this is lower.

Persist Settings to Hardware - Many of the parameters that can be set for the DC Driver K-Cube can be stored (persisted) within the unit itself, such that when the unit is next powered up these settings are applied automatically. This is particularly important when the driver is being used manually in the absence of a PC and USB link. The wheel, and trigger parameters described here are good examples of settings that can be altered and then persisted in the driver for use in absence of a PC. To save the settings to hardware, check the ‘Persist Settings to Hardware’ checkbox before clicking the ‘OK button.

The ‘Persist Settings’ functionality is provided to simplify use of the unit

in the absence of a PC. When the unit is connected to a PC and is

operated via APTUser, the default APTServer settings will be loaded at

boot up, even if the ‘Persist Settings’ option has been checked.

Caution

Chapter 6

Triggering Introduction

The K-Cube motor controllers have two bidirectional trigger ports (TRIG1 and TRIG2) that can be used to read an external logic signal o r output a logic level to control external equipment. Either of them can be independently configured as an input or an output and the active logic state can be selected High or Low to suit the requirements of the application. Electrically the ports output 5 Volt logic sign als and are designed to be driven from a 5 Volt logic.

When the port is used in the input mode, the logic levels are T TL compatible, i.e. a voltage level less than 0.8 Volt will be recognised as a logic LOW and a level greater than 2.4 Volt as a logic HIGH. The input contains a weak pull-up, so the state of the input with nothing connected will default to a logic HIGH. The weak pull-up feature allows a passive device, such as a mechanical switch to be connected directly to the input.

When the port is used as an ou tput it provides a push -pull drive of 5 Volts, with the maximum current limited to approximately 8 mA. The current limit prevents damage when the output is accidentally shorted to ground or driven to the opposite logic state by external circuity.

Warning: do not drive the TRIG ports fr om any voltage source that can p roduce an output in excess of the normal 0 to 5 Volt logic level range. In any case the voltage at the TRIG ports must be limited to -0.25 to +5.25 Volts.

Input Trigger Modes

When configured as an input, the TRIG ports can be used as a general purpose digital input, or for triggering a relative, absolute or home move. When used for triggering a move, the port is edge sensitive. In other words, it has to see a transition from the inactive to the active logic state (Low->High or High->Low) for the trigger inpu t to be recognized. For the same reason a sustained logic level will not trigger repeated moves. The trigger input has to return to its inactive state first in order to start the next trigger. The mode is set in the Trig 1 Mode and Trig 2 Mode parameters as follows:

Disabled - The trigger IO is disabled Digital Input - General purpose logic input (read through status bits using the

LLGetStatusBits method).

Trig In Rel. Move - Input trigger for relative move. Trig In Abs. Move - Input trigger for absolute move. Trig In Home - Input trigger for home move.

When the trigger mode is selected to Trig In Rel Move or Trig In Abs Move, the relative distance or absolute position to move, can be entere d in the Rel ative Move Dist and Absolute Move Pos. parameters.

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K-Cube Stepper Motor Controller

Output Trigger Modes

When the Trig 1 Mode and Trig 2 Mode parameters are configured as outputs, the TRIG ports can be used as a general purpose digital output, or to indicate motion status or to produce a trigger pulse at configurable positions as follows:

Digital Output - General purpose logic output (set using the LLSetGetDigOPs method).

Trig Out In Motion - Trigger output active (level) when motor 'in motion'. The output trigger goes high (5V) or low (0V) (as set in the Trig 1. Polarity and Trig. 2 Polarity parameters) when the stage is in motion.

Trig Out Max Vel - Trigger output active (level) when motor at 'max velocity'. Trig Out Pos. Steps Fwd - Trigger output active (pulsed) at pre-defined positions

moving forward. Only one Trigger port at a time can be set to this mode. See Trigger Out Position Steps for further details.

Trig Out Pos. Steps Rev - Trigger output active (pu lsed) at pre-defined positio ns moving backwards. Only one Trigger port at a time can be set to th is mode. See Trigger Out Position Steps for further details.

Trig Out Pos. Steps Both - Trigger output active (pulsed) at pre-defined positions moving forwards and backward. Only one Trigger port at a time can be set to this mode. See Trigger Out Position Steps for further details.

Trigger Out Position Steps

Note

If the trigger mode is not set to one of the three position modes described

previously, then the following parameters are not applicable and will be

greyed out.

In the last three modes described above, the controller outputs a configurable number of pulses (set in the Num. Pulses Fwd and Num. Pulses Rev parameters), of configurable width (Trig Pulse Width), when the actual position of the stage matches the position values configured as the Start Position and Positio n Interval (Start Pos. Fwd and Start Pos. Rev. These modes allow external equipment to be triggered at exact position values.

Using the last three modes, position triggering can be configured to be unidirectional (Trig Out Pos. Steps Fwd or Trig Out Pos. Steps Rev) or bidirectional (Trig Out Pos. Steps Both). In bidirectional mode the forward and reverse pulse sequen ces can be configured separately. A cycle count setting (Num. of Move Cycles) allows the uni- or bidirectional position triggering sequence to be repeated a number of times.

Chapter 6

Time

Trig Voltage

Pos1 Fwd

Pos2 Fwd

Pos1 Rev

10 mm

15 mm 12 mm

StartPosFwd

StartPosRev

PosIntervalFwd

Fig. 6.8 Position Steps Triggering

Example for a move from 0 to 20 mm and back. In forward direction: The first trigger puls e occurs at 10 mm (StartPosFwd), the next

trigger pulse occurs after another 5 mm (PosIntervalFwd), the stage then moves to 20 mm.

In reverse direction: The next trigger occurs when the stage gets to 12 mm. Note that position triggering can only be used on one TRIG port at a time, as there is

only one set of position trigger parameters.

Triggering Polarity

The polarity of the trigger pulse is specified in the Trig. 1 Polarity and Trig 2 Polarity parameters as follows:

Active is High - The active state of the trigger port is logic HIGH 5V (trigger input and output on a rising edge).

Active is Low - The active state of the tri gger port is logic LOW 0V (trigger input and output on a falling edge).

62 HA0362T Rev C Jan 2017

6.3.4 Rotation StagesTab

K-Cube Stepper Motor Controller

Absolute Position Reporting Mode

This setting relates to the way in which th e angular position is displayed on the GUI panel. There are two options:

Equivalent Angle 0 to 360 degrees – The maximum displayed position is 359.99°. If a stage is driven past the 360° rotation point, the display re verts back to zero and counts up to 360° again.

Total Angle (360 x Num Revs + Angular Offset) – The total angular rota tion is displayed, e.g. for a movement of two full rotations plus 10°, the display will show 730°.

Note. The following parameters are applicable only if the Absolute Position Reporting Mode is set to ‘Equivalent Angle 0 to 360 degrees’.

Panel Display Rotation Move Mode

This setting specifies the move direction. There are three options:

Rotate Positive – The move is performed in a positive direction Rotate Negative - The move is performed in a negative direction Rotate Quickest - The move is performed in the quickest direction

Appendix A Rear Panel Connector Pinout Details

A.1 Rear Panel Motor Control Connector

The ‘Motor’ connector provides connection to the stepper motor actuator. The pin functions are detailed in Fig. A.1.

Pin Description Pin Description

1 Ground 9 Stage Identificatio n 2 CCW Limit Switch 10 +5V 3 CW Limit Switch 11 Enc A +ve 4 Phase B -ve 12 Enc A -ve 5 Phase B +ve 13 Enc B +ve 6 Phase A -ve 14 Enc B -ve 7 Phase A +ve 15 For Future Use 8 For Future Use

Caution

DO NOT connect a motor actuator while the K-Cube is powered up.

Only use motor drive cables supplied by Thorlabs, other cables may have

incompatible wiring.

Fig. A.1 MOTOR I/O Connector Pin Identification

Appendix B Preventive Maintenance

Note

The equipment contains no user servicable parts. Only personnel authorized by Thorlabs Ltd and trai ned in the maintenance of this

equipment should remove its covers or attempt any repairs or

adjustments. Maintenance is limited to safety testing and cleaning as

described in the following sections.

B.1 Safety Testing

PAT testing in accordance with local regulations, shoul d be performed on a regular basis, (typically annually for an instrument in daily use).

B.2 Cleaning

Warning

Disconnect the power supply before cleaning the unit.

Never allow water to get inside the case.

Do not saturate the unit.

Do not use any type of abrasive pad, scouring powder or solv ent, e.g.

alcohol or benzene.

Appendix C Specifications

C.1 Specifications

Parameter Value

Motor Output

Motor Drive Voltage 12-15 V (Depending on Supply) Motor Drive Current 750 m A (peak) Motor Drive Type 12-bit PWM Control Control Algorithm Open Loop Microstepping High Resolution Stepping 2048 Microsteps per Full Step

49,152 Microsteps per Revolution (24 Step Motor)(

409600 Microsteps per Revolution (200 Step Motor) Position Feedback Quadrature Encoder (QEP) Input, 5 V Differential Encoder Feedback Bandwidth 500 kHz Position Counter 32-bit Operating Modes Position, Velocity Velocity Profile Trapezoidal or ‘S’ Profile

Motor Drive Connector (15 Way D-Type)

Motor Drive Outputs Phase A & B Quadrature Encoder (QEP) Input Differential Limit Switch Inputs Forward, Reverse (+ Common Return) Encoder Supply 5 V

Front Panel Controls

Sprung Potentiometer Wheel Bidirectional Velocity Control,

Forward/Reverse Jogging or Position Presets

Input Power Requirements

Voltage 12 - 15V Regulated DC (15V recommended) Current 1 A (peak)

General

Housing Dimensions (W x D x H) Excluding Buttons and Baseplate

Instrument Weight 140 g (5.0 oz)

60 x 60 x 47 mm (2.36" x 2.36" x 1.85)

K-Cube Stepper Motor Controller

Recommended Motor Requirements

Peak Powers 15 W Step Angle Range 20° to 1.8° Rated Phase Current up to 1 A Peak Motor Mode Current Coil Resistance (nominal) 5 to 20 Ω Coil Inductance (nominal) 2 to 5.5 mH Phases 2 Position Control Open Loop

Appendix D Motor Control Method Summary

The 'Motor' ActiveX Control provides the functionality required for a client application to control one or more of the APT series of motor controller units.

To specify the particular controller being addressed, every unit is factory programmed with a unique 8-digit serial number. Thi s serial numb er is key to the ope ration of the APT Server software and is used by the Server to enumerate and communicate independently with multiple hardware units connecte d on the same USB bus. The serial number must be specified using the HWSerialNum property before an ActiveX control instance can communicate with the hardware unit. This can be done at design time or at run time. Note that the appearance of the ActiveX Control GUI (gra phical user interface) will change to the required forma t when the serial number has been entered.

The Methods and Properties of the Motor ActiveX Control can be use d to perform activities such as homing stages, absolute and relative moves, and changing velocity profile settings. A brief summary of ech method and property is given below, for more detailed information and individual parameter descriptiond please see the on-line help file supplied with the APT server.

Methods

DeleteParamSet Deletes stored settings for specific controller. DisableHWChannel Disables the drive output. DoEvents Allows client application to process other activity. EnableHWChannel Enables the drive output. GetAbsMovePos Gets the absolute move position. GetAbsMovePos_AbsPos Gets the absolute move position (returned by value). GetBLashDist Gets the backlash distance. GetBLashDist_BLashDist Gets the backlash distance (returned by value). GetCtrlStarted Gets the ActiveX Control started flag. GetDispMode Gets the GUI display mode. GetHomeParams Gets the homing sequence parameters. GetHomeParams_HomeVel Gets the homing velocity parameter (returned by

value).

GetHomeParams_ZeroOffset Gets the homing zero offset parameter (returned by

value).

GetHWCommsOK Gets the hardware communications OK flag.

K-Cube Stepper Motor Controller

GetHWLimSwitches Gets the limit switch configuration settings. GetJogMode Gets the jogging button operating modes. GetJogMode_Mode Get the jogging button operating mode (returned by

value).

GetJogMode_StopMode Gets the jogging button stopping mode (returned by

value). GetJogStepSize Gets the jogging step size. GetJogStepSize_StepSize Gets the jogging step size (returned by value). GetJogVelParams Gets the jogging velocity profile paramete rs. GetJogVelParams_Accn Gets the jogging acceleration parameter (returned

by value). GetJogVelParams_MaxVel Gets the jogging maximum velocity parameter

(returned by value). GetKCubePanelParams Gets the operating parameters of the velocity wheel

on the top panel GetKCubePosTriggerParams Gets operating parameters used when the triggering

mode is set to a trigger out position steps mode GetKCubeTriggerParams Gets the operating parameters of the TRIG1 and

TRIG2 connectors on the front panel. GetMotorParams Gets the motor gearing parameters. GetPhaseCurrents Gets the coil phase currents. GetPosition Gets the current motor position. GetPosition_Position Gets the current motor position (retu rned by value). GetPositionEx Gets the current motor position. GetPositionEx_UncalibPosition Gets the current uncalibrated motor position

(returned by value). GetPositionOffset Gets the motor position offset. GetRelMoveDist Gets the relative move distance. GetRelMoveDist_RelDist Gets the relative move distance (returned by

reference). GetStageAxis Gets the stage type information associated with the

motor under control. GetStageAxisInfo Gets the stage axis parameters. GetStageAxisInfo_MaxPos Gets the stage maximum position (returned by

GetStageAxisInfo_MinPos Gets the stage minimum position (returned by

GetStatusBits_Bits Gets the controller status bits encoded in 32 bit

value).

integer (returned by value).

Appendix D

GetVelParamLimits Gets the maximum velocity profile parameter limits. GetVelParams Gets the velocity profile parameters. GetVelParams_Accn Gets the move acceleration (returned by value). GetVelParams_MaxVel Gets the move maximum velocity (returned by

value). Identify Identifies the controller by flashing unit LEDs. LLGetStatusBits Gets the controller status bits encoded in 32 bit

integer. LoadParamSet Loads stored settings for specific controller. MoveAbsolute Initiates an absolute move. MoveAbsoluteEnc Initiates an absolute move with specified positions

for encoder equipped stages. MoveAbsoluteEx Initiates an absoloute move with specified positions. MoveAbsoluteRot Initiates an absolute move with specified positions

for rotary stages. MoveHome Initiates a homing sequence. MoveJog Initiates a jog move. MoveRelative Initiates a relative move. MoveRelativeEnc Initiates a relative move with specified distances for

encoder equipped stages. MoveRelativeEx Init ia te s a re la tive move with specified distances. MoveVelocity Initiates a move at constant velocity with no end

point. SaveParamSet Saves settings for a specific controller. SetAbsMovePos Sets the absolute move position. SetBLashDist Sets the backlash distance. SetDispMode Sets the GUI display mode. SetHomeParams Sets the homing sequence parameters. SetHWLimSwitches Sets the limit switch configuration settings. SetJogMode Sets the jogging button operating modes. SetJogStepSize Sets the jogging step size. SetJogVelParams Sets the jogging velocity profile parameters. SetKCubePanelParams Sets the operating parameters of the velocity wh eel

SetKCubePosTriggerParams Sets operating parameters used when the triggering

SetKCubeTriggerParams Sets the operating parameters of the TRIG1 and

70 HA0362T Rev C Jan 2017

on the top panel

mode is set to a trigger out position steps mode

TRIG2 connectors on the front panel of the unit.

K-Cube Stepper Motor Controller

SetMotorParams Sets the motor gearing parameters. SetPhaseCurrents Sets the coil phase currents. SetPositionOffset Sets the motor position offset. SetPotParams Sets the velocity control potentiometer parameters

(Cube drivers). SetRelMoveDist Sets the relative move distance. SetStageAxisInfo Sets the stage axis parameters. SetVelParams Sets the velocity profile parameters. ShowSettingsDlg Display the GUI Settings panel. StartCtrl Starts the ActiveX Control (starts communication

with controller) StopCtrl Stops the ActiveX Control (stops communication

with controller) StopImmediate Stops a motor move immed i at el y. StopProfiled Stops a motor move in a profiled (decelleration)

manner.

Properties

APTHelp Specifies the help file that will be accessed when the

user presses the F1 key. If APTHelp is set to 'True',

the main server helpfile MG17Base will be launched. DisplayMode Allows the display mode of the vi rtual display panel

to be set/read. HWSerialNum specifies the serial number of the hardware uni t to

be associated with an ActiveX control instance.

Appendix E Stepper Motor Operation - Background

E.1 How A Stepper Motor Works

E.1.1 General Principle Thorlabs’ actuators use a stepper motor to drive a precision lead screw.

Stepper motors operate using the principle of magneti c attraction and repulsion to convert digital pulses into mechanical shaft rotation. The amount of rotation achieved is directly proportional to the number of input pulses generated and the speed is proportional to the frequency of these pulses. A basic stepper motor has a permanent magnet and/or an iron rotor, together with a stator. Th e torque req uired to rota te th e stepper motor is generated by switching (commutati ng) the current in the stator coils as illustrated in Fig. E.1.

Fig. E.1 Simplified concept of stepper motor operation

Although only 4 stator poles are shown above, in reality there are numerous tooth-like poles on both the rotor and stator. For exam ple, with a 24 step motor such as that used in the ZST actuators positional increments (steps) of 15 degrees can be achieved by switching the coils. If the current through one coil is increased as it is decreased in another, the new rotor position is somewhere between the two coils and the step size is a defined fraction of a full step (microstep).

The size of the microstep depends on the resolution of the driver el ectronics. When used with the Thorlabs Stepper Driver K-Cube,128 microsteps per full step can be achieved, giving a total resolution of 3072 microsteps per revolution for a 24 full step motor. In the case of the ZST actuators, further mechanical gearing provides a higher effective angular resolution.

In practise, the mechanical resolution achieved by the system may be coarser than a single microstep, primarily because there may be a small difference between the orientation of the magnetic field generated by the stator and the orientation i n which the rotor shaft comes to rest.

K-Cube Stepper Motor Controller

velocity

maximum velocity (v)

time

acceleration (slope) a

E.1.2 Positive and Negative Moves Positive and negative are used to describe the direction of a move. A positi ve move means a move from a smaller absolute position to a larger one, a negative move means the opposite.

In the case of a linear actuator, a positive move takes the platform of the stage further away from the motor.

In a rotational stage, a positive move turns the platform clockwise when viewed from above.

E.1.3 Velocity Profiles To prevent the motor from stalling, i t must be ramped up gradually to its maximum velocity. Certain limits to velocity and acceleration result from the torque and speed limits of the motor, and the inertia and friction of the parts it drives.

The system incorporates a trajectory generator, which performs calculations to determine the instantaneous position, velocity and acceleration of each axis at any given moment. During a motion profile, these values will change continuously. Once the move is complete, these parameters will then remain unchanged until th e next move begins.

The specific move profile created by the system depends on several factors, such as the profile mode and profile parameters presently selected, and other conditions such as whether a motion stop has been requested. The profile mode can be set to ‘Trapezoidal’ or ‘Bow Index’ as described in Section 6.3.1.

The Trapezoidal profile is a standard, symmetrical acceleratio n/deceleration motion curve, in which the start velocity is always zero. This profile is selected when the Bow Index field is set to ‘0’.

In a typical trapezoidal velocity profile, (see Fig. E.2.), the stage is ramped at acceleration ‘a’ to a maximum velocity ‘v’. As the destination is approached, the stage is decelerated at ‘a’ so that the final position is approached slowly in a controlled manner.

Fig. E.2 Graph of a trapezoidal velocity profile

Appendix E

BI BI

-BI -BI

Time

Velocity

12 3 4 56 7

A - acceleration D - deceleration V - velocity BI - bow index

The S-curve profile is a trapezoidal curve with an additional ' Bow Value' parameter, which limits the rate of change of acceleration and smooths out the contours of the

motion profile. The Bow Value is specified in mm/s

and is derived from the Bow Index

field as follows: The Bow Value is applied in mm/s3 and is derived from the Bow Index field as follows: Bow Value = 2

(Bow Index -1)

within the range 1 to 262144 (Bow Index 1 to 18).

In this profile mode, the acceleration increases gradually from 0 to the specified acceleration value, then decreases at the same rate until it reaches 0 again at the specified velocity. The same sequence in reverse brings the axis to a stop at the programmed destination position.

Example

Fig. E.3 Typical S-Curve Profile

The figure above shows a typical S-curve profil e. In segment (1), the S-curve profile drives the axis at the specified Bow Index (BI) until the maximum acceleration (A) i s reached. The axis continues to accelerate linearly (Bow Index = 0) through segme nt (2). The profile then applies the negative value of Bow Index to reduce the acceleration to 0 during segment (3). The axis is now at the maximum velocity (V), at which it continues through segment (4). The profile then decelerates in a similar manner to the acceleration phase, using the Bow Index to reach the maximum deceleration (D) and then bring the axis to a stop at the destination.

Note

The higher the Bow Index, then the shorter the BI phases of the curve, and the steeper the acceleration and deceleration phases. High values of Bow

Index may cause a move to overshoot.

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E.2 Positioning a Stage

E.2.1 General Whenever a command is received to move a stage, the movement is specified in motion units, (e.g. millimetres). This motion unit value is converted to microsteps before it is sent to the stage by the APT software.

Each motor in the system has an associated electronic counter in the controller, which keeps a record of the net number of microste ps moved. If a request is received to report the position, the value of this counter is converted back into motion units.

E.2.2 Home position When the system is powered up, the position cou nters in the controller are all set to zero and consequently, the system has no way of knowing the position of the stage in relation to any physical datum.

A datum can be established by sending al l the motors to their ‘Ho me’ positions. The ‘Home’ position is set during manufacture and is determined by driving the motor until the negative limit switch is reached and then driving positi vely a fixed distance (ze ro offset). When at the Home position, the counters are reset to zero thereby establishing a fixed datum that can be found even after the system has been switched off.

See Section 5.3. for details on performing a Home move.

E.2.3 Limit Switches A linear stage moves between two stops, and movement outside these limits is physically impossible. Linear stages can include stages that control the ang le of a platform within a certain range, although the movement of the platfo rm is not really linear but angular. Rotary stages can rotate indefinitely, like a wheel.

Linear and rotary stages can contain microswitches that detect certain positions of the stage, but they differ in the way these switches are used.

All linear stages have a –ve limit switch, to prevent the stage from accidentally being moved too far in the –ve direction. Once this switch is activated, movement stops. The switch also provides a physical datum used to find the Home position. Some linear stages and actuators also have a +ve limit switch (such as the ZST range of actuators), whereas others rely on a physical stop to halt the motion in the posi tive direction. A rotary stage has only one switch, used to provide a datum so that the

Appendix E

Rotary stageLinear stage

Datum switch

-ve limit switch

+ve limit switch (or stop)

Travel

Min. position (zero)

(home)

Max. position

Offset

-ve limit switch

SW positive limitSW negative limit

Home position can be found. Movement is allowed right through the switch position in either direction.

Fig. E.4 Stage limit switches

E.2.4 Minimum and Maximum Positions These positions are dependent upon the stage or actuator to which the mo tors are fitted, and are defined as the minimum and maximum useful position s of the stage relative to the ‘Home’ position - see Fig. E.5.

The distance from the Minimum position to the Maximum position is the ‘useful travel’ of the stage. It is often the case that the Minimum position is zero. The Home and Minimum positions then coincide, with movement always occurri ng on the positive side of the Home position.

Rotary stages have effectively no limits of travel. The Minimum and Maximum positions are conventionally set to 0 and 360 degrees respectively. When the position of a rotary stage is requested, the answer will be reported as a number between 0 and 360 degrees, measured in the positive direction from the Home position.

Fig. E.5 Minimum and Maximum Positions

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negati ve move

p osi tive mo ve

10mm 20mm

position

E.2.5 Power Saving The current needed to hold a motor in a fixed position is much smaller than the current needed to move it. When a stepper motor is at rest it is advisable to reduce the phase (holding) currents so that the motor does not overheat. Furthermore, this heating can cause thermal movements through expansion of the metal of the stage.

For this reason, power saving is implemented by default from the software drivers. When a motor is moving, the ‘Move Power’ is applied. When a motor is stationary, the

‘Rest Power’ is applied. See ‘Phase Powers’ in Section 6.3.3. Stage/Axis Tab for more details on these power settings.

E.3 Error Correction

E.3.1 Backlash correction The term backlash refers to the tendency of the stage to reach a different position depending on the direction of approach.

Backlash can be overcome by always making the last portion of a move in the same direction, conventionally the positive direction. Consider the situation in Fig. E.6, a

positive move, from 10 to 20 mm, is carried out as one simple move, whereas a negative move, from 20 to 10 mm, first causes the stage to overshoot the target

position and then move positively through a small amount.

The particular stage selection will usually have this type of ‘backlash correction’ enabled as its default mode of operation, but it can be overridden if the overshoot part of the move is unacceptable for a particular application.

See Chapter 6 Software Reference, Move/Jogs Tab for details on setting the backlash correction.

Fig. E.6 Backlash correction

Appendix F Regulatory

F.1 Declarations Of Conformity

F.1.1 For Customers in Europe

See Section F.3.

F.1.2 For Customers In The USA This equipment has been tested and found to comply with the limi ts for a Class A digital device, persuant to part 15 of the FCC rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense.

Changes or modifications not expressly approved by the company could void the user’s authority to operate the equipment.

F.2

Waste Electrical and Electronic Equipment

F.2.1 Compliance As required by the Waste Electrical and Electronic Equipment (WEEE) Directive of the European Community and the corresponding national laws, we offer all end users in the EC the possibility to return "end of life" units without incurring disposal charges.

This offer is valid for electrical and electronic equipment

• sold after August 13th 2005

• marked correspondingly with the crossed out "wheelie bin" logo (see Fig. 1)

• sold to a company or institute within the EC

• currently owned by a company or institute within the EC

• still complete, not disassembled and not contaminated

(WEEE)

Directive

K-Cube Stepper Motor Controller

Fig. F.1 Crossed out "wheelie bin" symbol

As the WEEE directive applies to self contain ed ope rational electri cal and electronic products, this "end of life" take back service does not refer to other products, such as

• pure OEM products, that means assemblies to be built into a unit by the user (e. g.

OEM laser driver cards)

• components

• mechanics and optics

• left over parts of uni ts disassembled by the user (PCB's, housings etc.).

If you wish to return a unit for waste recovery, please contact Thorlabs or your nearest dealer for further information.

F.2.2 Waste treatment on your own responsibility If you do not return an "end of life" unit to the company, you must hand it to a company specialized in waste recovery. Do not dispose of the u nit in a litter bin or at a public waste disposal site.

F.2.3 Ecological background It is well known that WEEE pollutes the environment by releasing toxic products during decomposition. The aim of the European RoHS directive is to reduce the content of toxic substances in electronic products in the future.

The intent of the WEEE directive is to enforce the recycling of WEEE. A controlled recycling of end of life products will thereby avoid negative impacts on the environment.

Appendix F

F.3 CE Certificate

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Appendix G Thorlabs Worldwide Contacts

USA, Canada, and South America

Thorlabs, Inc. 56 Sparta Ave Newton, NJ 07860 USA Tel: 973-579-7227 Fax: 973-300-3600 www.thorlabs.com www.thorlabs.us (West Coast) email: feedback@thorlabs.com Support: techsupport@thorlabs.com

Europe

Thorlabs GmbH Hans-Böckler-Str. 6 85221 Dachau Germany Tel: +49-(0)8131-5956-0 Fax: +49-(0)8131-5956-99 www.thorlabs.de email: Europe@thorlabs.com

UK and Ireland

Thorlabs Ltd. 1 Saint Thomas Place, Ely Cambridgeshire CB7 4EX Great Britain Tel: +44 (0)1353-654440 Fax: +44 (0)1353-654444 www.thorlabs.de email: sales.uk@thorlabs.com Support: techsupport.uk@thorlabs.com

France

Thorlabs SAS 109, rue des Côtes 78600 Maisons-Laffitte France Tel: +33 (0) 970 444 844 Fax: +33 (0) 811 381 748 www.thorlabs.de email: sales.fr@thorlabs.com

Scandinavia

Thorlabs Sweden AB Bergfotsgatan 7 431 35 Mölndal Sweden Tel: +46-31-733-30-00 Fax: +46-31-703-40-45 www.thorlabs.de

email: scandinavia@thorlabs.com

Japan

Thorlabs Japan Inc. Higashi Ikebukuro Q Building 1st Floor 2-23-2 Toshima-ku, Tokyo 170-0013 Japan Tel: +81-3-5979-8889 Fax: +81-3-5979-7285 www.thorlabs.jp email: sales@thorlabs.jp

China

Thorlabs China Oasis Middlering Centre 3 Building 712 Room 915 Zhen Bei Road Shanghai China Tel: +86 (0)21-32513486 Fax: +86 (0)21-32513480 www.thorlabs.com email: chinasales@thorlabs.com

Brazil

Thorlabs Vendas de Fotônicos Ltda. Rua Riachuelo, 171 São Carlos, SP 13560-110 Brazil Tel: +55-16-3413 7062 Fax: +55-16-3413 7064 www.thorlabs.com Email: brasil@thorlabs.com

Thorlabs Inc. 56 Sparta Ave Newton, NJ07860 USA Tel: +1 973 579 7227 Fax: +1 973 300 3600 www.thorlabs.com

Thorlabs Ltd. Saint Thomas Place, Ely Cambridgeshire CB7 4EX, UK Tel: +44 (0) 1353 654440 Fax: +44 (0) 1353 654444 www.thorlabs.com

THORLABS KST101 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual