Z8 Series Motorized DC
Servo Actuators
User Guide
Original Instructions
HA0199T
Z8 Series DC Motor Actuator
Contents
Chaper 1 Overview ......................... ............................ ............................ .....................1
1.1 Description ..........................................................................................1
Chaper 2 Safety ......................... ............................ ... ............................ .......................2
2.1 Safety Information ..............................................................................2
2.2 General Warnings ...............................................................................3
Chaper 3 Connection Details & Specifications ........................................................4
3.1 Pin Assignments .............................. .. ............................ .....................4
3.2 Description of connections ...............................................................5
Chaper 4 Operation and Maintenance .................................... ............................ .......6
4.1 Compatible Drivers and Software .....................................................6
4.2 Maintenance ........................................................................................6
Chaper 5 Specifications .............. .. ... ............................ ............................ ... ...............7
5.1 Specifications .....................................................................................7
5.2 How to Calculate the Linear Displaceme nt per Enco de r Count .....8
5.3 Notes on Max Velocity and Acceleration/Deceleration Profile .......8
Chaper 6 Regulatory ............................................................................ .......................9
6.1 Declarations Of Conformity ...............................................................9
6.1.1 For Customers in Europe ........................................................................ 9
6.1.2 For Customers In The USA .................................................................... 9
6.2 Waste Electrical and Electronic Equipment (WEEE) Directive .......9
6.2.1 Compliance ...... ....................................................................................... 9
6.2.2 Waste treatment on your own responsibility ......................................... 10
6.2.3 Ecological background .......................................................................... 10
6.3 CE Declaration ..................................................................................11
Chaper 7 Thorlabs Worldwide Contacts .................................................................15
Page 0
Chapter 1 Overview
Chapter 1 Overview
1.1 Description
Thorlabs has developed this series of high-resolution moto rized actuators for use in
high precision applications. From drop-in replacements to custom mounts, these
motorized actuators will satisfy even the most demanding requirements. Three
different travel lengths are offered; 6.0 mm, 12.0 mm and 25.0 mm.
The Z812B and Z825B actuators are shipped with a clamping bush fitted, ready for
use with a 3/8" barrel mount. The Z806 and Z812 actuators thread into a ¼" -80
mounting bush.
The Z800 series Motorized Actuators use a 6V DC servomotor that provides sufficient
torque for high load capabilities. Utilizing a 67:1 gear reduction head and a 512 counts
per rev precision encoder gives a minimum resolutio n of 29 nm . The actuators a llow
very small step sizes over the entire travel range, delivering greater flexibility with
negligible backlash and fine resolution. Th e DC servomotor allows for continuously
variable speeds while the optical encoder allows closed loop operation. The actuators
use integrated hard stops that automatically cut the power when they have reached
their mechanical limits.
The Z800 series Motorized Actuators are light, compact, and extremely durable. They
are ideal for use in mirror mounts, translation stages, microscopes, OEM applications,
and a wide variety of other components that require higher precision than most
standard drive mechanisms allow.
Rev 15 Aug 2018
Fig. 1.1 Z8 Series Actuators
Page 1
Z8 Series DC Motor Actuator
Chapter 2 Safety
2.1 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.
Warning: Risk of Electrical Shock
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.
Page 2 17630-D01
2.2 General Warnings
Warning
To avoid injury never put anything in the gap between the Actuator and any rigid
structure.
Caution
If the actuator encounters a hard stop while still in the middle of its range (i.e. a
translation stage at the end of its travel range), the motor should be stopped as
soon as possible to prevent damage to the gear head or motor and to keep the
unit from overheating.
When the Z8 motors are fitted to certain optomech products e.g. the GNL series
Goniometers, it is possible that the motor will reach the mechanical hardsto ps
of the stage before the motor limit switches are activated. In this case, DO NOT
continue to drive the motor into the hardstop as this will damag e the motor. As
a guide, the total current drawn should not exceed 80 mA.
Chapter 2 Safety
Caution
The control PC used to operate the driver for the Z8 series actuators must be
running APT Software version 2.8.0 or higher.
Earlier versions of software do not support this product.
Caution
When storing these units, be sure to fully retract the lead screw to protect the
threads from damage. Improper connection of the motor will result in permanent
damage. All power supplied to the motor should be turned off before altering
any connections to the motor. Check all connections before supplying power to
the motor.
Rev 15 Aug 2018
Page 3
Z8 Series DC Motor Actuator
5
10
11
15
6
1
Chapter 3 Connection Details & Specifications
3.1 Pin Assignments
Pin assignments for the D-Type connector on the motor flying lead are dscribed
below..
Fig. 3.1 Output Connector
Pin Description Pin Description
1 Ground (Limit and Vcc) 9 Ident Resistor
2 Forward Limit 10 Vcc (+5 V DC)
3 Reverse Limit 11 Encoder Ch A
4 Reserved for Future Use 12 Reserved for Future Use
5 Motor (-) 13 Encoder Ch B
6 Reserved for Future Use 14 Reserved for Future Use
7 Motor (+) 15 Reserved for Future Use
8 Reserved for Future Use
Caution
DO NOT connect a motor actuator while the K-Cube is powered up.
Page 4
Chapter 3 Connection Details & Specifications
Z8 Actuator
Pin 1
Pin 3
Pin 2 Fwd Limit Sw
Rev Limit Sw
0 Volt
10k
10k
+5V
Controller
TTL Buffers
3.2 Description of connections
Motor (+): supplies a + VDC supply to the motor of the actuator. The maximum
current is 240 mA.
Vcc: a connection should be made to a +5 VDC supply to power both channels A and
B on the encoder.
Encoder Channels A and B: The Z800 series actuators use a Hall Effect encoder.
Both channels A and B are supplied by the Vcc (5 V DC) connection.
GND: the ground connection for the enco der.
Motor (-): supplies a - VDC supply to the motor of the actuator. The maximum current
is 240 mA.
Limit Ground: a common ground for both the forward and reverse limit switches.
Reverse Limit: the reverse limit prevents over driving of the actuator at its minimum
extension.
Forward Limit: the forward limit prevents over driving of the actuator at its full
extension.
Note. When a limit switch is activated, the switch makes contact, and the associated
output line is connected to ground (pin 1).
When using a third party controller, the inputs must be connected via a 10 k pull up
resistor as shown below. When either switch operates, the associated input is pulled
to ground and the TTL buffers switch.
Rev 15 Aug 2018
Fig. 3.2 Z8 Limit Switch Circuit
Page 5
Z8 Series DC Motor Actuator
Chapter 4 Operation and Maintenance
4.1 Compatible Drivers and Software
The Thorlabs compatible controller for this product is the K-Cube Single Channel DC
Servo Controller KDC101. The use of these controllers ensures optimal performance.
All above performance specifications are guaranteed only with use of Thorlabs
controllers and drivers.
4.2 Maintenance
Periodic greasing of the lead screw is advised, particularly in applications with a high
duty cycle. Grease the lead screw thread as follows whenever the thread appears dry
or the motor is noisy:
1) Drive the motor to extend the leadsc rew to its full extent.
2) Apply a thin bead of high load, silicon free lubricant (e .g . Apiezon 1 00) as shown
below.
Fig. 4.1 Greasing the Leadscrew
3) Drive the motor to retract the lead screw and distribute the grease.
4) Remove access grease using a lint free cloth.
Page 6
Chapter 5 Specifications
Chapter 5 Specifications
5.1 Specifications
Specification Z806 Z812/Z812B Z825B
Travel Range 6 mm 12 mm 25 mm
Gear Reduction 67:1
Lead Screw Pitch 1.0 mm
Feedback Motor-mounted rotary encoder
512 counts/rev of the motor
34,304 counts/rev of leadscrew
Limit Switches Electromechanical
Motor Type† 6 V DC Servo
Backlash <8 µm
Axial Load Capacity 9.0 kg
Speed Range* 50 µm/sec to 2.6 mm/sec
Calculated Resolution‡ 29 nm
Phase to Phase Resistance 33.0 Ω
Phase to Phase Inductance 0.6 mH
Operating Temperature 41° to 104° F (5° to 40° C)
Cable Length 1.6 ft (0.5 m)
Connector HDDB15
Compatible Controller KDC101 K-Cube DC Servo Controller
† Although thye motor drive voltage is nominally 6V, voltages up to 12V can be used
with PWM controlled outputs.
* At 2.6 mm/sec, velocity ripple and distortion of the acceleration/de ce leration profile
may occur. For improved control, the max velocity should be limited to 2.3 mm/sec.
‡ Calculated Resolution. Actual resolution will depend on the app lied load.
Rev 15 Aug 2018
Page 7
Z8 Series DC Motor Actuator
2.3
P1
Velocity
(mm/sec)
2.6
P1
Velocity
(mm/sec)
velocity ripple due to PID loop
controlled profile
rapid deceleration to set point
Graph A - max velocity <2.3 mm/sec
Graph B - max velocity >2.3 mm/sec
5.2 How to Calculate the Linear Displacement per Encoder Count
For the Z806, there are 512 encoder counts per revolution of the motor. The output
shaft of the motor goes into a 67:1 planetary gear head. This requires the motor to
rotate 67 times to rotate the 1.0 mm pitch lead screw one revolution. The end result
is the lead screw advances by 1.0 mm.
To calculate the linear displacement of the actuator per encoder count:
512 x 67 = 34,304 encoder counts per revolution of the lead screw
Linear displacement of the lead screw per encoder count is:
1.0 mm / 34,304 counts = 2.9 x 10-5 mm (29 nm)
5.3 Notes on Max Velocity and Acceleration/Deceleration Profile
Although the max velocity is quoted at 2.6 mm/sec, it is possible to drive the Z8 motor
at speeds in excess of this figure. However, at higher velocities the controlled
acceleration and deceleration profiles may be affected. If these controlled profiles
are required, then the speed should be reduced to aro und 2.3 mm/s maximum.
Furthermore, the velocity ripple due to the PID loop in the KDC101 driver is greater
when the unit is running at the higher velocities.
Fig. 5.1 Effects of Higher Velocity on Acceleration/Deceleration Profile
Page 8
Chapter 6 Regulatory
Chapter 6 Regulatory
6.1 Declarations Of Conformity
6.1.1 For Customers in Europe
See Section 6.3.
6.1.2 For Customers In The USA
This equipment has been tested and found to comply with th e limits 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.
6.2
Waste Electrical and Electronic Equipment
6.2.1 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
Rev 15 Aug 2018
Page 9
Z8 Series DC Motor Actuator
Fig. 6.1 Crossed out "wheelie bin" symbol
As the WEEE directive applies to self contained operational electrical 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 units 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.
6.2.2 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 unit i n a litter bin or at a public
waste disposal site.
6.2.3 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
Page 10
6.3 CE Declaration
Chapter 6 Regulatory
Rev 15 Aug 2018
Page 11
Z8 Series DC Motor Actuator
USA, Canada, and South America
Thorlabs, Inc.
56 Sparta Avenue
Newton, NJ 07860
USA
Tel: 973-300-3000
Fax: 973-300-3600
www.thorlabs.com
www.thorlabs.us (West Coast)
Email: sales@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
France
Thorlabs SAS
109, rue des Côtes
78600 Maisons-Laffitte
France
Tel: +33 (0) 970 444 844
Fax: +33 (0) 825 744 800
www.thorlabs.com
Email: sales.fr@thorlabs.com
Japan
Thorlabs Japan, Inc.
3-6-3 Kitamachi,
Nerima-ku, Tokyo 179-0081
Japan
Tel: +81-3-6915-7701
Fax: +81-3-6915-7716
www.thorlabs.co.jp
Email: sales@thorlabs.jp
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
Scandinavia
Thorlabs Sweden AB
Bergfotsgatan 7
431 35 Mölndal
Sweden
Tel: +46-31-733-30-00
Fax: +46-31-703-40-45
www.thorlabs.com
Email: scandinavia@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
China
Thorlabs China
Room A101, No. 100
Lane 2891, South Qilianshan Road
Putuo District
Shanghai
China
Tel: +86 (0) 21-60561122
Fax: +86 (0)21-32513480
www.thorlabschina.cn
Email: chinasales@thorlabs.com
Chapter 7 Thorlabs Worldwide Contacts
Thorlabs verifies ou r compliance with the WEEE (Waste E lectrical and El ectronic
Equipment) directive of th e European Community and th e corresponding na tional
laws. Accordingly, all end users in the E C ma y return "end of life" A nnex I category
electrical and electron ic eq uipment sold after August 13, 2005 to Th orlabs, without
incurring disposal charges. Eligible units are marked wit h the crossed out "wheelie
bin" logo (see right), were sold to and are currently owned by a company or institute
within the EC, and are not dissembled or contaminated. Contact Thorlabs for more
information. Waste treatment is your own responsibility. "End of life" units must be
returned to Thorlabs or handed to a company specializing in waste recovery. Do not
dispose of the unit in a litter bin or at a public waste disposal site.
Page 12
www.thorlabs.com
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