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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. This serial number is key to the operation of the
APT Server software and is used by the Server to enumerate and communicate
independently with multiple hardware units connected 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 (graphical
user interface) will change to the required format when the serial number has been
entered.

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 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).

GetButtonParams

Gets the front panel button settings.

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).

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Summary of Contents for KDC101

Page 1: ...KDC101 DC Servo Motor Driver APT User Guide Original Instructions ...

Page 2: ...e 14 3 3 Electrical Installation 14 3 3 1 Rear Panel 14 3 3 2 Front Panel 15 3 4 Connect The Hardware 16 Chapter 4 Standalone Operation 19 4 1 Introduction 19 4 2 Control Panel 20 4 2 1 Overview 20 4 2 2 Digital Display Operating Mode 20 4 3 Velocity Wheel Operation 21 4 3 1 Homing 21 4 3 2 Go to Position 21 4 3 3 Jogging 21 4 3 4 Velocity Moves 22 4 4 Settings Menu 22 4 4 1 Overview 22 4 4 2 Menu...

Page 3: ...iguration 42 5 11 Stage Axis Tab 45 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 51 6 3 3 Servo Loop Tab 54 6 3 4 Panel Triggering Tab 56 6 3 5 Defaults Tab 61 6 3 6 Rotation StagesTab 62 Appendices Appendix A Rear Panel Connector Pinout Detail 63 Appendix B Preventive Maintenance 64 Appendix C Specification...

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 avoided If spillage does occur clean up immediately using absorbant tissue Do not allow spilled fluid to enter the internal mechanism Caution If your PC becomes unresponsive e g due to an operating sys...

Page 5: ... control capability including velocity profile settings limit switch handling on the fly changes in motor speed and direction control over the closed loop PID parameters and for more advanced operation adjustment of settings such as lead screw pitch and gearbox ratio allowing support for many different actuator configurations For convenience the footprint of this unit has been kept to a minimum me...

Page 6: ...ng on using the unit and reference section Chapter 6 covers all operating modes and parameters in detail 2 2 Power Options 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...

Page 7: ...T 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 Sectio...

Page 8: ... 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 customize and automate usage of the K Cube DC Driver e g to implement a positioning algorithm this application illustrates how the rich functionality provided by the APT Ac...

Page 9: ... 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 using APTConfig are provided in the online help supplied with the utility Use of the APT ...

Page 10: ...to a wide range of software development environments for use by client application developers Development environments supported include Visual Basic Labview Visual C C Builder HPVEE Matlab VB NET C NET and via VBA Microsoft Office applications such as Excel and Word Consider the ActiveX Control supplied for the KDC101 DC servo driver unit This Control provides a complete user graphical instrument...

Page 11: ...that 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 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 wh...

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 before the APT software is run Please consult your system administrator or contact Thorlabs technical support for more details Caution Some PCs may have been configured to restrict the users ability to loa...

Page 13: ... conditions before being powered up 3 2 2 Mounting Options The K Cube 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 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...

Page 14: ... Using The Baseplate 3 3 Electrical Installation 3 3 1 Rear Panel 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 Thorlabs DC servo motor actuators refer to Appendix A for details of pin outs Caution DO NOT connect a motor actuator while the K Cube is powered up Only use motor drive cables supplied by Thorla...

Page 15: ...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 small quiescent current The switch should always be used to power down the unit TRIG 1 and TRIG 2 SMA con...

Page 16: ...s finished during which time the following screens are displayed Fig 3 4 Start up display Caution During items 3 to 6 the instructions should be followed strictly in the order stated Problems may occur if the process is not performed in the correct sequence DO NOT connect a motor actuator while the K Cube is powered up Caution During item 5 ensure the power switch on the front panel of the unit is...

Page 17: ...wever the stage is not fitted with an ID e g Z825V CR1 Z7 the user can manually select the correct stage and persist the setting To facilitate this the OLED display menu contains a menu option called Select stage For stages that are not fitted with an ID resistor the user needs to use the Select stage menu option and manually identify the stage connected to the controller see Section 4 4 11 for fu...

Page 18: ... position display for the associated GUI should increment and decrement accordingly 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 orde...

Page 19: ...overview explains how the front panel controls can be used to perform a typical series of motor moves It is assumed that the unit has already been installed and configured for the particular actuator or stage to which it is associated see Chapter 3 for more details 4 2 Control Panel 4 2 1 Overview Fig 4 1 Panel Controls and Indicators MOVE Controls These controls allow all motor moves to be initia...

Page 20: ...at 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 can be set either via the GUI Settings panel see Section 6 3 4 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 Ho...

Page 21: ... 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 4 or via the display menu see Section 4 4 4 The move stops when the wheel is returned to its centre posi...

Page 22: ...rightness see Section 4 4 8 Set the display timeout see Section 4 4 9 Disable the wheel see Section 4 4 10 Select the stage type connected see Section 4 4 11 A t 0 0 0 0 0 m m S t o p p e d V M e n u o p t i o n s U s e w h e e l M e n u o p t i o n s 1 G o t o p o s i t i o n M e n u o p t i o n s 2 S t a r t h o m i n g M e n u o p t i o n s 3 V e l o c i t y M e n u o p t i o n s 4 J o y s t i ...

Page 23: ...osition 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 the stage is at 350 degrees and you enter a go to position of 10 degrees the stage will rotate anticlockwise 340 degrees and not ...

Page 24: ...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 M e n u o p t i o n s 2 S t a r t h o m i n g A t 2 0 0 0 0 m m S t o p p e d V M e n u o p t i o n s...

Page 25: ... teach 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 step size options Keeping the wheel deflected repeats the move automatically after the current move has completed Use the wheel to display the required option then press MENU to store the selection an...

Page 26: ...he 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 A t 0 0 0 0 0 m m H o m e d S t o p p e d V M e n u o p t i o n s U s e w h e e l M e n u o p t i o n s 5 J o g s t e p s i z e S 0 1 0 m m a d j u s t J o g S t e ...

Page 27: ...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 position 2 and 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 upward...

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 The time out interval is specified in minutes in the range 1 to 480 The adjustment is done in steps of 1 minute if the timeout is between 1 to 10 minutes 10 minute steps between 10 minutes and 1 hour ...

Page 29: ...ociated with the stage However some legacy stages are not fitted with an identification device For correct operation these must be selected manually after power up 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 to the required option CR1 Z7 Z806 Z812 Z825 MTS50 Z8 MTS25 Z8 PRM1 Z8 CR1 Z6 Z62...

Page 30: ...s 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 which simplifies system set up whenever APT User is run up Fig 5 1 Typical APT User Screen 1 Wait until the KDC101 has started then run the APT User program Start Programs Thorlabs APT APT User C...

Page 31: ...in the Settings window See Section 5 11 and Section 6 3 for further details on the parameter values shown in the Settings display Fig 5 2 DC Driver K CubeSoftware GUI The APT User utility will be used throughout the rest of this tutorial to interface with the DC servo motor controller ...

Page 32: ...lick 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 000 000 i e the home position 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 Note After homing shaft relaxation may cause a small position offset to be displayed Thi...

Page 33: ...e 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 8 0 into the pop up window 3 Click OK Notice that the position display counts up to 8 000 to indicate a move to the absolute position 8 00mm ...

Page 34: ...ck 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 parameter values as follows Max Vel 0 25 Accn Dec 0 1 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 0 25mm per seco...

Page 35: ...ve at the jog velocity while the wheel is turned 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 0 25 Accn Dec 0 1 Operating Modes Jogging Single Step Stopping Profiled Step Distance 0 1 4 Click OK to save the ...

Page 36: ... 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 any time by clicking the Stop button on the GUI panel Using this button does not remove power to the drive channel Fig 5 7 APTUser GUI screen ...

Page 37: ...tion 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 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 associated with the DC D...

Page 38: ...k 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 ...

Page 39: ...o 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 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 ...

Page 40: ...in the 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 4 Min Vel Acc and Max Vel the velocity profile parameters for the move The motor accelerates at the rate set in the Acc field up to the speed set in the Max Vel field As t...

Page 41: ...cking 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 appropriate 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...

Page 42: ... 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 program 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 ut...

Page 43: ...Driver 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 DC Driver K Cube KDC101 ...

Page 44: ...ach 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...

Page 45: ... These parameters were set automatically when the actuator was connected The APT server automatically applied suitable defaults for the parameters on this tab during boot up of APTUser These parameters should not be altered for pre defined 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 ...

Page 46: ...User utility Fig 6 1 DC Driver K Cube Software 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 velocity parameters are set in the Settings panel see Section 6 3 Note The serial number of the DC Driver K Cube associated with the GUI panel the APT server ver...

Page 47: ...h 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 ...

Page 48: ...river 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 MaxVel the maximum velocity at which to p...

Page 49: ...vailable 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 Fig 6 3 Jog Modes Single Step the motor moves by the ste...

Page 50: ...s 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 Velocity Profile and Jogging parameters described previously are good examples of settings that can be altered and t...

Page 51: ...ese 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 third party stage types not available using the APT Config utility the stage details must be entered manually Individual parameters are described in the following paragraphs Caution Extreme care must be taken when modifying the stage related set...

Page 52: ... 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 For further information on the home position see Section E 2 2 Hardware Limit Switches The operation of the limit switches is inherent in the design of ...

Page 53: ...n the Gearbox Ratio value is set to X minimum 1 maximum 1000 Note The Gearbox Ratio parameter is applicable only to motors fitted with a gearbox 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 encoder counts The Z800 series of DC servo motors have an encoder wit...

Page 54: ...ameters described previously 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 6 3 3 Servo Loop Tab Fig 6 5 DC Driver K Cube Advanced Settings Caution The Persist Settings functionality is provided to simplify use of the unit in ...

Page 55: ...t the demand value Under a constant torque loading the static position error is zero It accepts values in the range 0 to 32767 Derivative This term provides the damping force proportional to the rate of change of the position error thereby decreasing the overshoot which may be caused by the integral term However the differential term also slows down system response It accepts values in the range 0...

Page 56: ...y 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 are 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 re...

Page 57: ...ll 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 al...

Page 58: ...r 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 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 trig...

Page 59: ...ode 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 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 Position Interval Start P...

Page 60: ...s 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 e...

Page 61: ... resulted in unstable or unsatisfactory system response this tab can be used to reset all parameter values to the factory default settings To restore the default values 1 Click the Reset Parameter Defaults in the Controller check box 2 Click OK The driver must then be power cycled before the default values can take effect ...

Page 62: ...0 again Total Angle 360 x Num Revs Angular Offset The total angular rotation 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 Ro...

Page 63: ...ector Pin Identification Please contact tech support for details on use with Thorlabs legacy Z6 series DC Servo Motors Pin Description Pin Description 1 Ground 9 Ident In 2 Forward Limit Switch 10 5V Encoder Supply 3 Reverse Limit Switch 11 Encoder Channel A 4 Not Connected 12 Not Connected 5 Motor 13 Encoder Channel B 6 Not Connected 14 Not Connected 7 Motor 15 Not Connected 8 Not Connected Cauti...

Page 64: ...rts 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 its covers or attempt any repairs or adjustments Maintenance is limited to safety testing and cleaning as described in the following sections Warning Disconnect the power supply before cleaning the unit...

Page 65: ... Position Counter 32 bit Operating Modes Position Velocity Velocity Profile Trapezoidal Motor Drive Connector 15 Way D Type Motor Drive Outputs ve ve Quadrature Encoder QEP Input Single Ended Limit Switch Inputs Forward Reverse Common Return Encoder Supply 5V Front Panel Controls Sprung Potentiometer Wheel Bidirectional Velocity Control Forward Reverse Jogging or Position Presets Input Power Requi...

Page 66: ... 4 80 Vaccuum Rated Z806V 12mm DC Servo Motor Actuator 1 4 80 Z812 12mm DC Servo Motor Actuator 3 8 Barrel Attachment Z812B 12mm DC Servo Motor Actuator 1 4 80 Vaccuum Rated Z812V 12mm DC Servo Motor Actuator Vaccuum Rated 3 8 Barrel Attachment Z812BV 25mm DC Servo Motor Actuator 3 8 Barrel Attachment Z825B 25mm DC Servo Motor Actuator Vaccuum Rated 3 8 Barrel Attachment Z825BV 3 Channel K Cube Co...

Page 67: ...ntrol 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 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 DisableHWCh...

Page 68: ...ts 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 GetPIDParams_Deriv Gets the servo control loop derivative parameter DC servo controllers returned by value GetPIDParams_Int Gets the servo control l...

Page 69: ...t integer LLSetGetPIDParams Sets or Gets the servo control loop PID parameters DC servo controllers 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...

Page 70: ...arams Sets the motor gearing parameters SetPositionOffset Sets the motor position offset SetPotParams Sets the velocity control potentiometer parameters 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 communicati...

Page 71: ... that are connected to the voltage source The brushes are located on the end of the coil wires and make a temporary electrical connection with the DC supply When current is flowing a magnetic field is set up as shown At 0 rotation the brushes are in contact with the voltage source and current is flowing The current that flows through the wire from A to B interacts with the magnetic field and produ...

Page 72: ...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 it 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 inerti...

Page 73: ...nters 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 angle of a platform within a certain range although the ...

Page 74: ...ero The Home and Minimum positions then coincide with movement always occurring 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 posit...

Page 75: ...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 Fig E 5 Backlash correction 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...

Page 76: ...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 WEEE Directive F 2 1 Compliance As required by the Waste Electrical and Electronic Equipment WEEE Directive of the Europ...

Page 77: ...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 unit 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 pr...

Page 78: ...Appendix F 78 HA0363T Rev D Jan 2017 F 3 Certificate of Conformity ...

Page 79: ...AS 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 ...

Page 80: ...Ltd 1 Saint Thomas Place Ely Cambridgeshire CB7 4EX UK Tel 44 0 1353 654440 Fax 44 0 1353 654444 www thorlabs com Thorlabs Inc 56 Sparta Ave Newton NJ07860 USA Tel 1 973 579 7227 Fax 1 973 300 3600 www thorlabs com ...

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