THORLABS BBD301 User Manual Download Page 1

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Original Instructions

BBD301, BBD302, &
BBD303 Brushless
DC Motor Controllers

APT User Guide

Summary of Contents for BBD301

Page 1: ...Original Instructions BBD301 BBD302 BBD303 Brushless DC Motor Controllers APT User Guide ...

Page 2: ...allation 14 3 4 Connecting To The Supply 14 3 5 Fuses 14 3 5 1 Rear Panel Connections BBD301 15 3 5 2 Rear Panel Connections BBD302 and BBD303 16 3 6 Front Panel Controls and Indicators 17 3 7 Connecting The Hardware and Powering Up 18 3 8 Verifying Software Operation 19 3 8 1 Initial Setup 19 Chapter 4 Operation From the Front Panel 20 4 1 Introduction 20 4 2 Front Panel Menu Index 21 4 3 System ...

Page 3: ...eference 43 6 1 Introduction 43 6 2 GUI Panel 43 6 3 Settings Panel 45 6 3 1 Moves Jogs tab 45 6 3 2 Stage Axis tab 49 6 3 3 Advanced Control Loop SettingsTab 52 6 3 4 Advanced Misc Tab 56 6 4 Troubleshooting and Restoring Default Parameters 62 Appendices Appendix A Rear Panel Connector Pinout Details 64 A1 Rear Panel MOTOR DRIVE Connectors 64 A2 Rear Panel FEEDBACK Connector 64 A3 Rear Panel AUX ...

Page 4: ...iven when there is a risk of injury from electrical shock Shock Warning Given when there is a risk of injury to users Warning Given when there is a risk of damage to the product Caution Clarification of an instruction or additional information Note If this equipment is used in a manner not specified by the manufacturer the protection provided by the equipment may be impaired In particular excessiv...

Page 5: ... speeds of up to 300 mm sec can be achieved Designed using the latest digital and analog techniques and with high bandwidth high power servo controlcircuitry these new controllers are capable of driving a range of rotary and linear brushless 3 phase DC motors at 2 5 Amps continuous current 4 Amps peak and up to 5 2 Amps maximum in total It offers Thorlabs standard control and programming interface...

Page 6: ...f operation the APT software incorporates pre configured settings for each of the Thorlabs stages and actuators while still exposing all parameters individually for use with other DC motor driven systems The units are also fully supported by Thorlabs Kinesis software see separate manual For convenience and ease of use movement of stages and adjustment of many key parameters is possible either thro...

Page 7: ...ne 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 ...

Page 8: ...d and loaded to allow multiple operating configurations to be created and easily applied For many users the APTUser application provides all of the functionality necessary to operate the APT hardware without the need to develop any further custom software For those who do need to further customise and automate usage of the controller e g to implement a positioning algorithm this application illust...

Page 9: ...d adjustments for third party brushless DC motor driven stages An overview of APTConfig is provided in Section 2 2 3 Full details are contained in the online help supplied with the utility 2 2 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...

Page 10: ...te user graphical instrument panel to allow the motor 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 pane...

Page 11: ... functionality provided by the APT ActiveX Server as shown in Fig 2 2 Fig 2 2 System Architecture Diagram Refer to the main APT Software online help file APTServer hlp for a complete programmers guide and reference material on using the APT ActiveX Controls collection Additional software developer support is provided by the APT Support CD supplied with every APT controller This CD contains a compl...

Page 12: ...ng via a PC direct user interaction with the unit is accomplished through intuitive graphical user interface 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 ...

Page 13: ...ration 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 When siting the unit it should be positioned so as not to impede the operation of the rear panel power supply switch Ensure that proper airflow is ma...

Page 14: ...e cover 2 Always replace broken fuses with a fuse of the same rating and type It is good practice to replace both fuses when a fuse blows The safety of any system incorporating this equipment is the responsibility of the person performing the installation Warning The unit must be connected only to an earthed fused supply of 110 to 230 V Use only power supply cables supplied by Thorlabs other cable...

Page 15: ...ion 6 4 4 ETHERNET For use in Ethernet communications USB USB port for system communications HANDSET IN Provides connection via a female Mini DIN for the MJC001 2 Axis Joystick see Section A 4 AUX I O 37 pin female DIN Connector The AUX I O connector exposes a number of internal electrical signals For convenience a number of logic inputs and outputs are included thereby negating the need for extra...

Page 16: ...HA0409T Rev BAug2021 BBD30x Series Brushless DC Servo Controllers Page 16 3 5 2 Rear Panel Connections for BBD302 and BBD303 Fig 3 2a BBD302 Rear Panel Connections Fig 3 2b BBD303 Rear Panel Connections ...

Page 17: ...to parameter settings Main Display In normal operation the display shows channel information such as axis position and stage type connected In set up mode the display allows various parameter settings to be changed see Chapter 4 Buttons The buttons on the left are used to manually communicate with the BBD30x via information provided in the corresponding position on the screen see Chapter 4 Channel...

Page 18: ... complete 7 The stage can now be moved using the GUI panel or by sending commands to move each axis by relative and absolute amounts see the helpfile supplied with the APT server for more information 8 See Chapters 4 5 of this manual for a brief tutorial on the operation of the unit via the controller front panel and software respectively The USB cable length should be no more than 3 metres unless...

Page 19: ...showing jog and ident buttons 2 Click the Ident button The screen on the front panel of the controller flashes This is useful in multi channel systems for identifying which driver unit is associated with which GUI 3 Click the jog buttons on the GUI panel and check that the motor or axis connected to the controller moves The position display for the associated GUI should increment and decrement acc...

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Page 21: ... loss of encoder pulses If this fault occurs an error message willbe generated and the controller must be powered down and re started so that correct phasing and commutation can be re established Page 20 Chapter 4 Operation from the Front Panel 4 1 Introduction The BBD30x can be used to drive attached stages directly via the front panel controls and display screen without the specific need of a co...

Page 22: ...f sub pages that provide information on thesystem status and parameters the possibility to set and change parameters and the ability to control the attached stages Fig 4 1 below provides an index of these pages and where they can be accessed More details can be found in sections 4 3 to 4 8 Fig 4 1 Front Panel Display Pages Map ...

Page 23: ...button to select the motor required which brings up the control screen for that stage Fig 4 2c Where multiple channels are in use all of these can be initialized together by pressing the Ch All button at the bottom of the panel as shown in Fig 4 2b Fig 4 2 Startup Sequence for BBD301 under Front Panel Control To enable the motor s press the top left hand button this is a toggle switch so if needed...

Page 24: ...tion can all be changed Step Size relates to stage movement when the knob control is operating in jog mode see Section 4 5 for further details However in all cases the method of changing the parameters is the same select what needs to be altered e g Velocity in Fig 4 4b then use buttons to increment decrement the number indicated by the cursor The cursor position is changed by the Resolution butto...

Page 25: ...e will continuously move whilst the control knob is rotated in the or direction The further the knob is rotated the faster it moves up to the maximum velocity that has been set for the motor See Section 4 7 for how the control knob functionality can be changed 4 6 The Teach Facility Inputting Stage Set Points On the title page of any chosen motor channel the Teach facility is directly available 3r...

Page 26: ... this page times out after 20 second of inactivity Fig 4 6 Setting the Front Panel Knob Control Function 4 8 Miscellaneous Screen Brightness Knob Sensitivity Firmware Version IP Address Serial Number The final Miscellaneous screen Fig 4 6b allows setting of the knob sensitivity toggle between low medium and high as this is applied to all stages the page can only be accessed via the All Channels ro...

Page 27: ...of linear stages except º replaces mm º s replaces mm s º s2 replaces mm s2 The final difference is that if the knob control is used to move the stage there is no upper lower hardware limit to motion the stages can freely rotate continuously However the recorded angle reverts to 0º once 360º is passed i e 370º is read as 10º and any setting e g in Teach must be between 0º and 360º ...

Page 28: ... stage the incorrect encoder reading will cause incorrect operation often resulting in sudden uncontrolled moves It is therefore important not to move the stage excessively quickly when it is moved manually The BBD controller has fault monitoring to detect the loss of encoder pulses If this fault occurs an error message will be generated and the controller must be powered down and re started so th...

Page 29: ...This program allows multiple graphical instrument panels to be displayed so that multiple APT units can be controlled All basic operating parameters 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 to a file which simplifies system set up whenever APT User is run up Fig 5 1 Typical APT User Scr...

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Page 31: ...switches or can be provided by some other signal The MLS series stages use an electronic reference marker and therefore the limit switches are not used for reference Fig 5 2 Motor Controller Software GUI 1 Click the Home button Notice that the led in the button lights to indicate that homing is in progress 2 When homing is complete the Homed LED is lit as shown above If a move is demanded on a par...

Page 32: ...display counts up to 3 000 to indicate a move to the absolute position 3 00mm 5 5 Stopping the Stage The drive channel is enabled and disabled by clicking the Enable button on the GUI panel or the front panel of the unit The green indicator is lit when the drive channel is enabled Disabling the channel removes the drive power and allows the stage actuator to be positioned manually During operation...

Page 33: ...s as follows Max Vel 100 Accn Dec 200 4 Click OK to save the settings and close the window 5 Any further moves initiated on channel 1 will now be performed at a maximum velocity of 100 mm per second with an acceleration of 200 mm sec sec Moves are performed using a Trapezoidal or S Curve velocity profile see Section 6 3 4 The velocity settings relate to the maximum velocity at which a move is perf...

Page 34: ...ate 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 5 Settings Panel Move Jogs Tab 2 Select the Move Jogs tab as shown in Fig 5 5 3 In the Jogs field enter parameters as follows see Section 6 3 1 for details of these parameters Max Vel 50 Accn Dec 50 Operating Modes Jogging Single Step Stopping Profiled Ste...

Page 35: ...id division and cursor position All units are displayed in real world units either millimetres or degrees The left hand display shows a circle which represents the current position of the motor associated with the specified controller absolute position data is displayed in the Chan Pos field The vertical divisions relate to the travel of the stage actuator being driven by the controller For exampl...

Page 36: ...sition 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...

Page 37: ...d without user intervention For details on moving to absolute positions initiated by a mouse click see Section 5 12 1 From the Motor GUI Panel select Move Sequencer tab to display the Move Sequencer window Fig 5 7 Move Sequencer Window 2 Right click in the move data field to display the pop up menu Fig 5 8 Move Sequencer Pop Up Menu ...

Page 38: ...he sequence The Dwell time is the time to wait in milliseconds Return if checked the system will move to the position specified in the Dist Pos field wait for the specified Dwell time and then return to the original position Min Vel Acc and Max Vel the velocity profile parameters for the move velocity parameters are entered in mm sec acceleration in mm sec sec The motor accelerates at the rate set...

Page 39: ...ata line s and selecting the appropriate option in the pop up menu shown below Fig 5 11 Pop Up Options 6 To run a single line of data right click the appropriate data and select Run from the pop up menu shown above 7 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 12 Home and Run Buttons 8 To save data ...

Page 40: ...n homing is complete the green LED stops flashing In order to establish control over a particular axis the joystick axes must be associated with the corresponding channels of the related controller This is achieved by setting the joystick ID switch located on the underside of the joystick console and the channel ident switches on the rear panel of the BBD controller The joystick ID switch assigns ...

Page 41: ...e software updates 5 12 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 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 designed as an aid learnin...

Page 42: ...nfiguration tab Fig 5 13 APT Configuration Utility Simulator Configuration Tab 3 Enter a name e g LAB1 in the Configuration Names field 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 ...

Page 43: ...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 Although serial numbers are 8 digits as displayed in the Load Configuration Details window the first two digits are added automatically and id...

Page 44: ...DC Servo Controllers Page 42 clicking the Remove button or by right clicking it and selecting the Remove option from the pop up window 9 Enter a name into the Configuration Names field 10 Click Save 11 Click Set As Current to use the configuration ...

Page 45: ...ty Fig 6 1 Motor Controller Software GUI The serial number of the single channel driver cards is derived from the base unit serial number with the 73 prefix being replaced with 94 and the subsequent 6 digit number incremented by 1 for each card in the system e g a 2 channel unit with a base serial number 73123456 will have card serial numbers 94123457 and 94123458 The serial number of the driver c...

Page 46: ... setting see Section 6 3 3 Current Limit lit when an current foldback condition exists Section 6 3 4 Limit switches the LEDs are lit when the associated limit switch has been activated 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 Calib File the c...

Page 47: ... and stage axis information to be modified Note that all of these parameters have programmable equivalents accessible through the ActiveX methods and properties on this Control refer to the Programming Guide in the APTServer helpfile for further details and to Section 2 2 4 for an overview of the APT ActiveX controls The various parameters are described below 6 3 1 Moves Jogs tab Fig 6 2 Move Jog ...

Page 48: ...hen a jog command is received i e 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 each time the jog key is pressed see Fig 6 3 In Continuous mode the Under certain velocity parameter and move distance conditions the maximum velocity may never be reached i e the mo...

Page 49: ...jog step size Single Step mode button pressed button pressed button pressed distance velocity jog velocity Continuous mode jog acceleration button released distance Fig 6 3 Jog Modes Single Step the motor moves by the step size specified in the Step Distance parameter Continuous the motor continues to move until the jog signal is removed i e jog button is released ...

Page 50: ...n reverse This ensures that during absolute or relative moves the target position is always approached in a forward direction The Backlash Correction Distance is specified in real world units millimeters To remove backlash correction this value should be set to zero Note Setting a negative value for backlash correction also results in zero correction Persist Settings to Hardware Many of the parame...

Page 51: ...es the APT server will automatically apply suitable defaults for the parameters on this tab during boot up of the software Most of these parameters cannot subsequently be altered as it may adversely affect the performance of the stage and they are greyed out Description of these parameters is included for information only Note Extreme care must be taken when modifying the stage related settings th...

Page 52: ...to a particular area of interest Note For DDS220 and MLS203 users The Homing Limit Switch and Motor parameters described on the next two pages are not applicable for the DDS220 and MLS203 stages because the stage does not use a limit switch as a reference point for homing Instead it uses a special reference marker pulse from the encoder Homing on these stages involves a search for this reference m...

Page 53: ...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 For linear driven stages with no gearbox e g MLS203 this parameter is set to 1 and cannot be adjusted Persist Settings to Hardware Many of the parameters that can be set for the BBD30x series drivers can be stored persisted within the unit i...

Page 54: ...he amount of position error when an impulse event affects current target The PID and other closed loop parameters must be set according to the stage or actuator type associated with the driver the load being positioned and the speed duty cycle of operation Default values have already been optimized and stored within the stage and these are loaded into the controller on power up If problems are enc...

Page 55: ...ative is calculated Under normal circumstances the derivative term of the PID loop is recalculated at every servo cycle However it may be desirable to increase the sampling rate to a higher value in order to increase stability The Derivative Time parameter is used to set the sampling rate For example if set to 10 the derivative term is calculated every 10 servo cycles The value is set in cycles in...

Page 56: ...ntegral This term provides the restoring force that grows with time ensuring that the current error is zero under a constant torque loading It accepts values in the range 0 to 32767 Integral Limit This term is used to cap the value of the lntegrator to prevent an excessive build up over time of the restoring force thereby causing runaway of the integral sum at the output It accepts values in the r...

Page 57: ...nored Integral Dead Band This parameter allows an integral dead band to be set such that when the error is within this dead band the integral action stops and the move is completed using the proportional term only It accepts values in the range 0 to 32767 Feed Forward This parameter is a feed forward term that is added to the output of the PI filter It accepts values in the range 0 to 32767 Persis...

Page 58: ...er a current foldback condition is said to exist and the commanded current is limited to the value specified in the Current Limit parameter When this occurs the Current Foldback status bit bit 25 is set in the Status Register and the Current Limit LED on the GUI panel is lit When the accumulated energy above the Current Limit value falls to 0 the limit is removed and the status bit is cleared Moto...

Page 59: ...bove two conditions have been met for a specified number of cycles 1 cycle 102 4 µs set in the Settle Time field range 0 to 32767 The above settings are particularly important when performing a sequence of moves If the PID parameters see Section 6 3 3 are set such that the settle window cannot be reached the first move in the sequence will never complete and the sequence will stall The settle wind...

Page 60: ...ntly selected and other conditions such as whether a motion stop has been requested Profile Mode This field is used to set the profile mode to either Trapezoidal or S curve 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 w...

Page 61: ...eration 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 jerk value to reach the maximum deceleration D and then bring the axis to a stop at the destination Joystick If the optional Thorlabs joystick console is being used MJC001 the following parameters are us...

Page 62: ... Trigger Input is catered for via the BNCs see the AUX I O for further options Appendix A 3 It is possible to configure a particular controller to respond to trigger inputs generate trigger outputs or both simultaneously For those units configured for both input and output triggering a move can be initiated via a trigger input while at the same time a trigger output can be generated to initiate a ...

Page 63: ...received on the TRIG IN connector Home Move Trig Fall as above but the home move is initiated on receipt of a falling edge signal Trigger Out The Trigger Out output can be configured to be asserted to either logic HIGH or LOW as a function of certain motion related conditions such as when a move is in progress In Motion complete Move Complete or reaches the constant velocity phase on its trajector...

Page 64: ...ttain final position increase the integral and proportional terms Motion is unstable reduce the proportional and integral terms increase the derivative term Stage sounds noisy reduce the derivative term See Section 6 3 3 for further information The PID and other closed loop parameters must be set according to the stage or actuator type associated with the driver the load being positioned and the s...

Page 65: ... uncontrollable If these settings are persisted the unit may not be able to phase initialise the axis correctly the next time it powers up and as a result APT will not display some or any of the panels If this occurs the unit can be set to a special mode where the persisted settings are ignored and the default safe operating parameters are loaded after power up To enter this mode power down the un...

Page 66: ... Phase A 8 5 V The signal present on Pins 3 and 8 are not used by brushless controllers Fig A 1 MOTOR DRIVE connector pin identification A 2 Rear Panel FEEDBACK Connector The FEEDBACK connector is a female 15 pin D Type and supplies connection for the motor encoder feedback lines 8 7 6 5 4 3 2 1 15 14 13 12 11 10 9 Pin Description Pin Description 1 Not Connected 9 GND 2 GND 10 Limit Switch 3 Not C...

Page 67: ...h a relays light sources and other auxiliary equipment The easy access BNC terminals currently allow for motor trigger inputs one per motor for BBD301 the second BNC present is not currently used The pin functions are detailed in the table associated with Fig A 3 see next page Fig A 3 AUX I O Connector Pin Identification Do not under any circumstances attempt to connect the digital I O to any exte...

Page 68: ... communications protocol or other software environments such as micromanager Pins 22 29 are single ended inputs and outputs see Section A 3 3 and Section A 3 4 Pins 8 19 are differential outputs see Section A 3 2 Pin 20 21 is a 5 V supply see Section A 3 5 Pins 4 7 are currently not useable a firmware software update will allow for future use ...

Page 69: ...s when the outputs are logic HIGH and 330 Ω to ground when logic LOW The resistor limits the current to a 15 mA maximum for any load provided the output is not connected to voltages outside the 0 to 5 V range Fig A 5 Digital Output Schematic In some applications the digital outputs may be required to control external equipment that has optocoupler type inputs such as PLCs As the outputs are active...

Page 70: ...n circuit and HIGH if the switch is closed When connected to a logic output or any other voltage source the input is guaranteed to read LOW if the voltage is above 2 4 V and HIGH when the output is below 0 8 V Please see the APTServer helpfile for details on software calls used to control these logic IO A 3 5 5 Volt Supply A 5 V 250 mA supply is provided for interfacing to external circuits that r...

Page 71: ...e with the external remote control handset MJC001 The pin functions are detailed in in Fig A 7 Pin Description 1 RX controller input 2 Ground 3 Ground 4 Supply Voltage for Handset 5V 5 TX controller output 6 Ground Fig A 7 HANDSET Connector Pin Identification Pins 2 3 and 6 are common connected ground connections Pin 4 is for use only with Thorlabs joystick MJC001 It should not be used to power an...

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Page 73: ...outside of the APT software communication with the device is facilitated by using the RS232 comms pins on the rear panel AUX I O connector see Section A 3 Alternatively a virtual comms port can be configured as follows 1 Open the device manager by selecting Start Control Panel Device Manager 2 Click USB Serial Bus Controllers and select the APT USB Device to be configured then right click and sele...

Page 74: ...HA0409T Rev BAug2021 Appendix B Page 71 3 The USB Device Properties window is displayed 4 Select the Advanced tab and check the Load VCP box 5 Click OK then power cycle the device being configured ...

Page 75: ...DC Servo Controllers 6 In the device manager click Ports COM LPT and note the APT USB Device Serial Port COM port number e g COM3 This COM port can then be used by the client application to communicate with the device using the low level protocol messages ...

Page 76: ...h a soft cloth lightly dampened with water or a mild detergent The equipment contains no user serviceable parts There is a risk of severe electrical shock if the equipment is operated with the covers removed Only personnel authorized by Thorlabs Ltd and trained in the maintenance of this equipment should remove its covers or attempt any repairs or adjustments Maintenance is limited to safety testi...

Page 77: ...ty and Acceleration Feedforward Velocity Profile Trapezoidal S Curve Position Count 32 Bit Position Feedback Incremental Encoder Encoder Bandwidth 2 5 MHz 10 M Counts sec Encoder Supply 5 V Front Panel Display Full colour LCD display 4 3 480 x 272 pixels Input Power Requirements Voltage 100 to 240 V AC Power 250 VA Frequency 47 to 63 Hz General Housing Dimensions W x D x H BBD301 199 8 x 229 1 x 1...

Page 78: ...uent 6 digit number incremented by 1 for each card in the system e g a 2 channel unit with a base serial number 73123456 will have card serial numbers 94123457 and 94123458 The Methods and Properties of the Motor ActiveX Control can be used to perform activities such as homing stages absolute and relative moves and changing velocity profile settings A brief summary of each method and property is g...

Page 79: ... controller GetPosition Gets the current motor position GetPosition_Position Gets the current motor position returned 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 relati...

Page 80: ...jog move MoveRelative Initiates a relative move MoveRelativeEnc Initiates a relative move with specified distances for encoder equipped stages MoveRelativeEx Initiates a relative 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 ...

Page 81: ...meter settings applied when the unit is settled SetDCCurrentLoopParams Sets the Current servo loop PID parameter values applied when the unit is moving SetDCPositionLoopParams Sets the Position servo loop PID parameter values SetDCMotorOutputParams Sets the limits that are applied to the motor drive signal SetDCTrackSettleParams Sets the parameters for the Track and Settle windows SetDCProfileMode...

Page 82: ...Page 79 Appendix F Regulatory F 1 Declarations Of Conformity F 1 1 For Customers in Europe CE certificate ...

Page 83: ...ipment 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...

Page 84: ...d 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 litterbin or at a public waste disposal site USA Canada and South America Thorlabs In...

Page 85: ...HA0409T Rev BAug2021 www thorlabs com ...

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