THORLABS KBD101 User Manual Download

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Appendix C Specifications

C.1 Specifications

Parameter

Value

Drive Connector

15-Pin D-Type, Female

(Motor Phase Outputs, Stage ID Input)

Peak Current Output

PWM Frequency

40 kHz

Operating Modes

Position, Velocity

Control Algorithm

16-bit Digital PID Servo Loop with Velocity 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

Input Power Requirements

Voltage

14.5 - 15.5 V Regulated DC

Current

2A Peak

General

Housing Dimensions (W x D x H)

(excluding buttons and baseplate)

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

USB Connector Type

USB 3.0

USB Connection Speed

USB 1.1 Full Speed (12 Mbps)

Instrument Weight

160 g (5.5 oz)

Compatible Motors

Type

• 3-Phase DC Brushless Motors

Rated Phase Currents (Nominal)

100mA to 2A

Summary of Contents for KBD101

Page 1: ...KBD101 K Cube Brushless DC Servo Driver User Guide Original Instructions...

Page 2: ...on 13 3 2 1 Environmental Conditions 13 3 2 2 Mounting Options 13 3 2 3 Using the Baseplate 14 3 3 Electrical Installation 14 3 3 1 Rear Panel 14 3 3 2 Front Panel 15 3 4 Connect The Hardware 16 Chapt...

Page 3: ...nfiguration Using APT Config 43 Chapter 6 Software Reference 46 6 1 Introduction 46 6 2 GUI Panel 46 6 3 Settings Panel 48 6 3 1 Moves Jogs tab 48 6 3 2 Stage Axis tab 52 6 3 3 Advanced Control Loop S...

Page 4: ...not specified by the manufacturer 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 av...

Page 5: ...og techniques and with high bandwidth high power servo control circuitry these new drivers are capable of driving a range of rotary and linear brushless 3 phase DC motors of up to 2 Amp peak coil curr...

Page 6: ...a new value see the tutorial in Chapter 5 for further details Furthermore all such settings and parameters are also accessible through the ActiveX programmable interfaces for automated alignment seque...

Page 7: ...ystem 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...

Page 8: ...reated 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 tho...

Page 9: ...nts for third party brushless DC motor driven stages An overview of APTConfig is provided in Section 2 3 3 Full details are contained in the online help supplied with the utility 2 3 4 APT Server Acti...

Page 10: ...l 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 aut...

Page 11: ...t the APTUser and APTConfig 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 Fig 2 2 System Architecture Diagram Re...

Page 12: ...are and a communications error may be generated To minimize the possibility of this happening it is strongly recommended that any such modes that result in prolonged unresponsiveness be disabled befor...

Page 13: ...2 Mounting Options The K Cube Brushless DC Driver is shipped with a baseplate for use when fitting the unit to a breadboard optical table or similar surface For multiple cube systems a 3 channel and...

Page 14: ...then located on two dowels in the baseplate and secured by two clips Fig 3 1 Using The Baseplate 3 3 Electrical Installation 3 3 1 Rear Panel Fig 3 2 Rear Panel Connections The unit is supplied with...

Page 15: ...e 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 d...

Page 16: ...2 6 Connect the PSU to the main supply 7 Switch ON the unit using the switch on the front panel Caution During items 3 to 6 the instructions should be followed strictly in the order stated Problems ma...

Page 17: ...d waveform that depends on the position of the rotor or with linear motors the position of the coil housing On power up the position of the rotor is not known The controller establishes this by energi...

Page 18: ...peration 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 4 2 Control Panel Buttons and Indicat...

Page 19: ...such that when released it returns to its 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 mode...

Page 20: ...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 fun...

Page 21: ...ize see Section 4 4 7 Set the teach positions see Section 4 4 8 Set the display brightness see Section 4 4 9 Set the display timeout period see Section 4 4 10 A t 0 0 0 0 0 m m S t o p p e d V M e n u...

Page 22: ...n be driven Press the MENU button then use the wheel to scroll through the menu options Press the MENU button to enter the Enable option Press the MENU button to store the selection and return to the...

Page 23: ...ion 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...

Page 24: ...elocity 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 1 68 mm s then press...

Page 25: ...ach positions The teach positions are specified in option 6 Teach Position In Jog in steps mode deflecting the wheel initiates a jog move using the parameters specified by the 3 Velocity and 5 Jog ste...

Page 26: ...e 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 6 subsequent moves will be...

Page 27: ...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 position...

Page 28: ...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 T...

Page 29: ...d logic outputs The protection circuit also allows the external signal to be in the 10 V voltage range The input logic threshold levels are compatible with most TTL and CMOS logic circuits input 0 8V...

Page 30: ...mmended that the output is only used to drive external devices or equipment that has a high input resistance 10 k 4 5 4 Trigger Out Latency The detection of whether a trigger condition has occurred is...

Page 31: ...the unit and possible injury to personnel operating the equipment Caution The maximum velocity at which the encoder can operate is approximately 600 mm sec Above this speed encoder pulses may be lost...

Page 32: ...r moves See Section 5 4 for further details on homing Follow the tutorial steps described in Chapter 5 for further verification of operation Note The APT Config utility can be used to set up simulated...

Page 33: ...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...

Page 34: ...limit switches or can be provided by some other signal The DDSM series stages use an electronic reference marker and therefore the limit switches are not used for reference Fig 5 3 Motor Controller S...

Page 35: ...easured 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 3 0 into the pop up window 3 Click OK Notice that...

Page 36: ...the parameters as follows Max Vel 100 Accn Dec 500 4 Click OK to save the settings and close the window 5 Any further moves initiated will now be performed at a maximum velocity of 100 mm per second...

Page 37: ...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...

Page 38: ...ns current position units per grid 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 curr...

Page 39: ...le 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 t...

Page 40: ...be visited without user intervention For details on moving to absolute positions initiated by a mouse click see Section 5 8 1 From the Motor GUI Panel select Move Sequencer tab to display the Move Seq...

Page 41: ...l 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 posi...

Page 42: ...ng the data line s and selecting the appropriate option in the pop up menu shown below Fig 5 12 Pop Up Options 6 To run a single line of data right click the appropriate data and select Run from the p...

Page 43: ...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 collection of physical hardware...

Page 44: ...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 purpos...

Page 45: ...items 1 to 7 to build the required system 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 i...

Page 46: ...are GUI 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 velo...

Page 47: ...file associated with the specified channel Min Max V the minimum velocity at which a move is initiated and the maximum velocity at which the move is performed Values are displayed in real world units...

Page 48: ...d to Section 2 3 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 Settings Moves Velocity Profile Moves can be initiated v...

Page 49: ...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 Note Under certain velocity parameter and move distan...

Page 50: ...pping 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 P...

Page 51: ...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...

Page 52: ...by the system For Thorlabs stages 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 b...

Page 53: ...stage to a particular area of interest Note For DDSM100 users The Homing Limit Switch and Motor parameters described on the next two pages are not applicable for the DDSM100 stages because the stage...

Page 54: ...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 DDSM100 this...

Page 55: ...affects current target position during motion i e sticksion vibration etc If the proportional term is too high Caution The PID and other closed loop parameters must be set according to the stage or ac...

Page 56: ...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...

Page 57: ...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 i...

Page 58: ...ent Limit The system incorporates a current foldback facility whereby the continuous current level can be capped The Current Limit parameter accepts values as a percentage of maximum peak current in t...

Page 59: ...r has completed the calculated move and the axis has settled at the demanded position The system incorporates a monitoring function which continuously indicates whether or not the axis has settled The...

Page 60: ...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 in...

Page 61: ...uence in reverse brings the axis to a stop at the programmed destination position Example Fig 6 8 Typical S Curve Profile The figure above shows a typical S curve profile In segment 1 the S curve prof...

Page 62: ...heel 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 are set in the Max Whe...

Page 63: ...urn 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...

Page 64: ...driven to the opposite logic state by external circuity Warning do not drive the TRIG ports from any voltage source that can produce an output in excess of the normal 0 to 5 Volt logic level range In...

Page 65: ...set to this mode See Trigger Out Position Steps for further details Trigger Out Position Steps In the last three modes described above the controller outputs a configurable number of pulses set in th...

Page 66: ...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...

Page 67: ...at 102 s intervals As a result there is a maximum 102 s delay between the condition occurring and the trigger output being updated The following timing diagram illustrates this latency Fig 6 10 Trigge...

Page 68: ...rshoots the intended position reduce the integral term and increase the derivative and proportional terms Stage fails to attain final position increase the integral and proportional terms Motion is un...

Page 69: ...y system response this tab can be used to reset all parameter values to the factory default settings To restore the default values 1 Select the Defaults tab 2 Click the Reset Parameter Defaults in the...

Page 70: ...erential Index pulse used for homing Limit Positive and negative limit switch signals Stage ID Unique Thorlabs communication interface signal used to identify the stage connected Fig A 1 MOTOR DRIVE c...

Page 71: ...parts There is a risk of 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...

Page 72: ...le Trapezoidal S Curve Position Count 32 Bit Position Feedback Incremental Encoder Encoder Bandwidth 2 5 MHz 10 M Counts sec Encoder Supply 5V Input Power Requirements Voltage 14 5 15 5 V Regulated DC...

Page 73: ...solute and relative moves and changing velocity profile settings A brief summary of each method and property is given below for more detailed information and individual parameter descriptiond please s...

Page 74: ...StepSize Gets the jogging step size returned by value GetJogVelParams Gets the jogging velocity profile parameters GetJogVelParams_Accn Gets the jogging acceleration parameter returned by value GetJog...

Page 75: ...er LoadParamSet Loads stored settings for specific controller MoveAbsolute Initiates an absolute move MoveAbsoluteEnc Initiates an absolute move with specified positions for encoder equipped stages Mo...

Page 76: ...ts the jogging velocity profile parameters SetPositionOffset Sets the motor position offset SetRelMoveDist Sets the relative move distance SetStageAxisInfo Sets the stage axis parameters SetVelParams...

Page 77: ...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...

Page 78: ...Appendix E 78 HA0364T Rev C Aug 2022 E 2 CE Certificate...

Page 79: ...re 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 o...

Page 80: ...80 www thorlabs com...

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