THORLABS KST101 User Manual Download Page 67

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K-Cube Stepper Motor Controller

Recommended Motor Requirements

Peak Powers

15 W

Step Angle Range

20° to 1.8°

Rated Phase Current

up to 1 A Peak

Motor Mode

Current

Coil Resistance (nominal)

5 to 20

Coil Inductance (nominal)

2 to 5.5 mH

Phases

Position Control

Open Loop

Summary of Contents for KST101

Page 1: ...KST101 K Cube Stepper Motor Controller APT User Guide Original Instructions ...

Page 2: ...6 3 5 Use with Legacy Actuators and Stages 17 3 6 Verifying Software Operation 18 Chapter 4 Standalone Operation 20 4 1 Introduction 20 4 2 Control Panel 21 4 2 1 Digital Display Operating Mode 21 4 3 Velocity Wheel Operation 22 4 3 1 Homing 22 4 3 2 Go to Position 22 4 3 3 Jogging 22 4 3 4 Velocity Moves 23 4 4 Settings Menu 23 4 4 1 Overview 23 4 4 2 Menu Option Go to position 24 4 4 3 Menu Opti...

Page 3: ...ting a Simulated Configuration Using APT Config 44 5 11 Stage Axis Tab 47 Chapter 6 Software Reference 48 6 1 Introduction 48 6 2 GUI Panel 48 6 3 Settings Panel 50 6 3 1 Moves Jogs Tab 50 6 3 2 Stage Axis Tab 55 6 3 3 Panel Triggering Tab 58 6 3 4 Rotation StagesTab 63 Appendices Appendix A Rear Panel Connector Pinout Details 64 Appendix B Preventive Maintenance 65 Appendix C Specifications 66 Ap...

Page 4: ...n 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 Warnings If this equipment is used in a manner not specified by the manufacturer the protection provided by the equipment may be impaired In particular excessive moistu...

Page 5: ...ly flexible parameter set also supports operation a wide range of stepper motors and associated stages actuators For convenience the footprint of this unit has been kept to a minimum measuring only 60 mm x 60 mm x 47 mm 2 36 x 2 36 x 1 85 and with the facility to directly mount to the optical table close to the motorised device convenient when manually adjusting motor positions using the top panel...

Page 6: ...in detail 2 2 K Cube Controller Hub For power a single way wall plug supply KPS101 is available for powering a single K Cube Driver As a further level of convenience when using the new K Cube Controllers Thorlabs also offers the 3 channel and 6 channel K Cube Controller Hubs KCH301 and KCH601 These products have been designed specifically with multiple K Cube operation in mind in order to simplify...

Page 7: ...ed the APT server which provides all of the necessary APT system software services such as generation of GUI panels communications handling for multiple USB units and logging of all system activity to assist in hardware trouble shooting It is this APT server engine that is used by software developers to allow the creation of advanced automated positioning applications very rapidly and with great e...

Page 8: ...ed 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 Stepper Driver K Cube e g to implement a positioning algorithm this application illus...

Page 9: ...ttings 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 Con...

Page 10: ... into 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 KST101 stepper driver unit This Control provides a complete user graphical instrume...

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 Refer to the main APT Software online help file for a complete programmers guide and reference material on using the APT ActiveX Controls collection This is available either by pressing the F1 key when ...

Page 12: ...ng parameters and modes The user can select multiple panel views displaying different information about a particular hardware unit The multitasking architecture ensures that the graphical control panels always remain live showing all current hardware activity Caution Some PCs may have been configured to restrict the users ability to load software and on these systems the software may not install r...

Page 13: ...he K Cube Stepper Driver is shipped with a baseplate for use when fitting the unit to a breadboard optical table or similar surface see Section 3 2 3 For multiple cube systems a 3 channel and 6 channel K Cube Controller Hub KCH301 and KCH601 are also available see Section 2 2 for further details Full instructions on the fitting and use of the controller hub are contained in the handbook available ...

Page 14: ...ng 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 all new 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 Th...

Page 15: ...ile 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...

Page 16: ... screens 8 WindowsTM should detect the new hardware Wait while WindowsTM installs the drivers for the new hardware Caution During items 3 to 6 the instructions should be followed in the order stated Problems may occur if the process is not performed in the correct sequence Caution During item 5 ensure the power switch on the front panel of the unit is switched off before connecting power to the K ...

Page 17: ...om fitted such that the system will recognise the actuator type and install suitable defaults Older version devices must be associated manually using the top panel menu see Section 4 4 11 Once this association has been made the APT server applies automatically suitable default parameter values on boot up of the software Note If the actuator stage has been recognised automatically via the eprom the...

Page 18: ...un the APTUser utility and check that the Graphical User Interface GUI panel appears and is active Fig 3 5 Gui panel showing jog and ident buttons 4 Check that the actuator type associated is displayed in the GUI panel 5 Click the Ident button The top panel display of the Stepper Driver K Cube flashes This is useful in multi channel systems for identifying which driver unit is associated with whic...

Page 19: ...l hardware units in order to emulate a set of real hardware This is a particularly useful feature designed as an aid to application program development and testing Any number of virtual control units are combined to build a model of the real system which can then be used to test the application software offline If using real hardware ensure that Simulator Mode is disabled If using a simulated setu...

Page 20: ...e set via the APT Server software see Chapter 5 Furthermore when used with the extensive range of Thorlabs ZST motorised opto mechanical products many of these parameters are automatically set to allow out of the box operation with no further tuning required The following brief overview explains how the front panel controls can be used to perform a typical series of motor moves In conjunction with...

Page 21: ...otal Angle in the settings panel the LED display will still show the equivalent 0 to 360 value but the GUI screen will show the total rotation 4 3 Velocity Wheel Operation The velocity wheel is a sprung potentiometer such that when released it returns to it s central position In this central position the motor is stationary Different types of move can be initiated by the wheel depending on its mod...

Page 22: ... be used to initiate a move at a specified velocity As the wheel is moved away from the centre the motor begins to move Bidirectional control of the motor is possible by moving the wheel in both directions The speed of the motor increases by discrete amounts as a function of wheel deflection up to a maximum as set in through the software GUI see Section 6 3 3 or via the display menu see Section 4 ...

Page 23: ...ghtness see Section 4 4 8 Set the display time out period see Section 4 4 9 Disable the wheel see Section 4 4 10 Set the stage being driven see Section 4 4 11 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 24: ...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 you are at 350 degrees and you enter a go to position of 10 degrees the stage will rotate anticlockwise 340 degrees and not clock...

Page 25: ...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 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 26: ...each 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 and ...

Page 27: ...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 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 p...

Page 28: ...e 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 upwards ...

Page 29: ...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 a...

Page 30: ...l movement of the wheel Press the MENU button then use the wheel to scroll through the menu options Press the MENU button to enter the Disable option Press the MENU button to store the selection and return to the main display 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 9 D i s a b l e MENU A t 0 0 0 0 0 m m H o m e d S t o p p e d V ...

Page 31: ...ons to the required stage type The stage types supported are NR360S FW103 DRV013 DRV014 PLS2 PLS3 ZFS25 ZFS13 ZFS06 ZST225 ZST213 ZST206 ZST25 ZST13 ZST6 Press the MENU button to store the selection and return to the main display Note Later version actuators and stages have an identification eprom fitted such that the system will recognise automatically the actuator type and install suitable defau...

Page 32: ...ser exe application allows the user to interact with any number of APT hardware control units connected to the PC USB Bus or simulated via the APTConfig utility This program allows multiple graphical 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 initia...

Page 33: ...d 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 Stepper Driver K Cube Software GUI The APT User utility will be used throughout the rest of this tutorial to interface with the Stepper Driver K Cube ...

Page 34: ...ered up Fig 5 3 Stepper Driver K Cube GUI 1 Click the Home button Notice that the led in the button lights to indicate that homing is in progress and the displayed position counts down to 000 000 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 Homing can also be performed by holdin...

Page 35: ...sured in real world units e g millimetres relative to the Home position 1 Click the position display Fig 5 4 Absolute Position Popup Window 2 Enter 0 3589 into the pop up window 3 Click OK Notice that the position display counts up to 0 35900 to indicate a move to the absolute position entered ...

Page 36: ...ick 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 4 Accn Dec 1 5 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 4 0 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 6 3 In the Jogs field enter parameter values as follows Velocity Profile Max Vel 1 Accn Dec 0 5 Operating Modes Jogging Single Step Stopping Profiled Step Distance 0 5 4 Click OK to save the settings...

Page 38: ...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 APT GUI User Screen ...

Page 39: ...nits 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 Stepper Dr...

Page 40: ...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 41: ...e 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 42: ...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 43: ...ng 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 sa...

Page 44: ... an aid learning how to use the APT software and as an aid to developing custom software applications offline Any number of virtual control units can be combined to emulate a colection of physical hardware units For example an application 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 Co...

Page 45: ...r 4 In the Simulator field check the Enable Simulator Mode box The name of the most recently used configuration file is displayed in the Current Configuration window 5 In the Control Unit field select 1 Ch Stepper Driver K Cube KST101 ...

Page 46: ...e Each physical APT hardware unit is factory programmed with a unique 8 digit serial number In order to simulate a set of real hardware the Config utility allows an 8 digit serial number to be associated with each simulated unit It is good practice when creating simulated configurations for software development purposes to use the same serial numbers as any real hardware units that will be used Al...

Page 47: ... when the ZST6 actuator was selected using the APTConfig utility in Section 3 5 The APT server automatically applied suitable defaults for the parameters on this tab during boot up of any client software such as APTUser These parameters should not be altered for pre defined Thorlabs stages and actuators selected using APT Config as it may adversely affect the performance of the stage For third par...

Page 48: ...r utility Fig 6 1 Stepper 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 Stepper Driver K Cube associated with the GUI panel the APT ser...

Page 49: ...te a particular stage Calib File the calibration file associated with the specified channel See the APTConfig utility helpfile for more details on assigning and using calibration files 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 mm s or degrees s and can be set via the Settings panel se...

Page 50: ...the APTServer helpfile for further details and to Section 2 3 4 for an overview of the APT ActiveX controls 6 3 1 Moves Jogs Tab Fig 6 2 Stepper Driver K Cube Move Jog Settings Moves Velocity Profile Moves can be initiated via the GUI panel by using the velocity wheel see Section 4 3 or by entering a position value after clicking on the position display box see Section 5 4 The following settings d...

Page 51: ...ves when a jog command is received i e front panel button pressed or GUI panel button clicked There are two jogging modes available Single Step and Continuous In Single Step mode the motor moves by the step size specified in the Step Distance parameter If the jog key is held down single step jogging is repeated until the button is released see Fig 6 3 In Continuous mode the motor actuator will acc...

Page 52: ...and speed limits of the motor and the inertia and friction of the parts it drives The system incorporates a trajectory generator which performs calculations to determine the instantaneous position velocity and acceleration of each axis at any given moment During a motion profile these values will change continuously Once the move is complete these parameters will then remain unchanged until the ne...

Page 53: ...s at the same rate until it reaches 0 again at the specified velocity The same sequence in reverse brings the axis to a stop at the programmed destination position Example Fig 6 5 Typical S Curve Profile The figure above shows a typical S curve profile In segment 1 the S curve profile drives the axis at the specified Bow Index BI until the maximum acceleration A is reached The axis continues to ac...

Page 54: ... parameters 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 Note The higher the Bow Index then the shorter the BI phases of the curve and the steeper the acceleration and deceleration phases High values of ...

Page 55: ... how to associate a stage and axis Once this association has been made the APT server will automatically apply suitable defaults for the parameters on this tab during boot up of the software These parameters should not be altered for pre defined Thorlabs stages selected using APT Config as it may adversely affect the performance of the stage For custom stage types not available using the APT Confi...

Page 56: ... 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 the associated stage or actuator The following parameters notify the system to the action of the switches when contact is made Select Rev Switch or Fwd Switch ...

Page 57: ...link The homing parameters and limit switch settings described previously are good examples of settings that can be altered and then persisted in the driver for 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 ...

Page 58: ...he 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 repeats the move automat...

Page 59: ...returns to its default position display mode it will turn off again Furthermore Burn In of the display can occur if it remains static for a long time To prevent this the display is automatically dimmed after the time interval specified in the Timeout min parameter has elapsed The time interval is specified in minutes in the range 0 never dimmed to 480 The dim level is set in the Idle Level paramet...

Page 60: ...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 61: ...etails Trig Out Pos Steps Both Trigger output active pulsed at pre defined positions moving forwards and backward Only one Trigger port at a time can be set to this mode See Trigger Out Position Steps for further details Trigger Out Position Steps 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 o...

Page 62: ...triggering can only be used on one TRIG port at a time as there is only one set of position trigger parameters Triggering Polarity The polarity of the trigger pulse is specified in the Trig 1 Polarity and Trig 2 Polarity parameters as follows Active is High The active state of the trigger port is logic HIGH 5V trigger input and output on a rising edge Active is Low The active state of the trigger ...

Page 63: ...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 64: ... Identification Pin Description Pin Description 1 Ground 9 Stage Identification 2 CCW Limit Switch 10 5V 3 CW Limit Switch 11 Enc A ve 4 Phase B ve 12 Enc A ve 5 Phase B ve 13 Enc B ve 6 Phase A ve 14 Enc B ve 7 Phase A ve 15 For Future Use 8 For Future Use Caution DO NOT connect a motor actuator while the K Cube is powered up Only use motor drive cables supplied by Thorlabs other cables may have ...

Page 65: ... 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 Never allow water to get inside the case Do not saturate the unit Do not use any type of ab...

Page 66: ...coder Feedback Bandwidth 500 kHz Position Counter 32 bit Operating Modes Position Velocity Velocity Profile Trapezoidal or S Profile Motor Drive Connector 15 Way D Type Motor Drive Outputs Phase A B Quadrature Encoder QEP Input Differential Limit Switch Inputs Forward Reverse Common Return Encoder Supply 5 V Front Panel Controls Sprung Potentiometer Wheel Bidirectional Velocity Control Forward Rev...

Page 67: ... Recommended Motor Requirements Peak Powers 15 W Step Angle Range 20 to 1 8 Rated Phase Current up to 1 A Peak Motor Mode Current Coil Resistance nominal 5 to 20 Ω Coil Inductance nominal 2 to 5 5 mH Phases 2 Position Control Open Loop ...

Page 68: ...ntrol can be used to perform activities such as homing stages absolute and relative moves and changing velocity profile settings A brief summary of ech method and property is given below for more detailed information and individual parameter descriptiond please see the on line help file supplied with the APT server Methods DeleteParamSet Deletes stored settings for specific controller DisableHWCha...

Page 69: ...ut position steps mode GetKCubeTriggerParams Gets the operating parameters of the TRIG1 and TRIG2 connectors on the front panel GetMotorParams Gets the motor gearing parameters GetPhaseCurrents Gets the coil phase currents GetPosition Gets the current motor position GetPosition_Position Gets the current motor position returned by value GetPositionEx Gets the current motor position GetPositionEx_Un...

Page 70: ...Relative 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 backlash dist...

Page 71: ...ettings panel StartCtrl Starts the ActiveX Control starts communication with controller StopCtrl Stops the ActiveX Control stops communication with controller StopImmediate Stops a motor move immediately StopProfiled Stops a motor move in a profiled decelleration manner Properties APTHelp Specifies the help file that will be accessed when the user presses the F1 key If APTHelp is set to True the m...

Page 72: ...les on both the rotor and stator For example with a 24 step motor such as that used in the ZST actuators positional increments steps of 15 degrees can be achieved by switching the coils If the current through one coil is increased as it is decreased in another the new rotor position is somewhere between the two coils and the step size is a defined fraction of a full step microstep The size of the ...

Page 73: ...leration of each axis at any given moment During a motion profile these values will change continuously Once the move is complete these parameters will then remain unchanged until the next move begins The specific move profile created by the system depends on several factors such as the profile mode and profile parameters presently selected and other conditions such as whether a motion stop has be...

Page 74: ...Example Fig E 3 Typical S Curve Profile The figure above shows a typical S curve profile In segment 1 the S curve profile drives the axis at the specified Bow Index BI until the maximum acceleration A is reached The axis continues to accelerate linearly Bow Index 0 through segment 2 The profile then applies the negative value of Bow Index to reduce the acceleration to 0 during segment 3 The axis i...

Page 75: ...ance zero offset When at the Home position the counters are reset to zero thereby establishing a fixed datum that can be found even after the system has been switched off See Section 5 3 for details on performing a Home move E 2 3 Limit Switches A linear stage moves between two stops and movement outside these limits is physically impossible Linear stages can include stages that control the angle ...

Page 76: ...t is often the case that the Minimum position is zero 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 numb...

Page 77: ...on The term backlash refers to the tendency of the stage to reach a different position depending on the direction of approach Backlash can be overcome by always making the last portion of a move in the same direction conventionally the positive direction Consider the situation in Fig E 6 a positive move from 10 to 20 mm is carried out as one simple move whereas a negative move from 20 to 10 mm fir...

Page 78: ...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 79: ...rlabs 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 produ...

Page 80: ...Appendix F 80 HA0362T Rev C Jan 2017 F 3 CE Certificate ...

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