THORLABS RBD201 User Manual Download Page 69

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Appendix D Specifications and Associated Parts

D.1 Specifications

Drive Connector:

8-Pin DIN, Round, Female

(Motor Phase Outputs, Stage ID Input)

FEEDBACK Connector:

15-Pin D-Type

Brushless Continuous Output

: 2.5A

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

: 5V

AUX Control Connector

: 15-Pin D-Type Female

(User Digital IO, 5 V O/P)

Input Power Requirements:

• Volts: 100 to 240V AC
• Power: 150 VA
• Frequency: 50/60 Hz
• Fuse: 2A

General

• Dimensions: 482.6 x 264.8 x 43.7 mm (19" x 10.43" x 1.72")
• Weight: 3.4 kg (7.5 lbs)

Compatible Motors

• 3-Phase DC Brushless Motors
• Peak Powers: 100W
• Coil Resistance: 0.1 to 100

• Coil Inductance (Nominal): 1 to 100mH
• Rated Phase Currents (Nominal): 100mA to 5A

Summary of Contents for RBD201

Page 1: ...RBD201 Rack Mounted Brushless DC Servo Controller User Guide Original Instructions ...

Page 2: ...ectrical Installation 14 3 3 1 Connecting To The Supply 14 3 3 2 Fuses 14 3 3 3 Rear Panel Connections 15 3 4 Front Panel Controls and Indicators 16 3 5 Connecting The Hardware and Powering Up 17 3 6 Verifying Software Operation 18 3 6 1 Initial Setup 18 Chapter 4 Operation Tutorial 19 4 1 Introduction 19 4 2 Using the APT User Utility 20 4 3 Homing Motors 21 4 4 Moving to an Absolute Position 22 ...

Page 3: ...OR DRIVE Connectors 56 Rear Panel FEEDBACK Connector 56 Rear Panel USER IO Connector 57 Rear Panel AUX I O Connector 60 Rear Panel HANDSET Connector 63 Rear Panel INTERCONNECT RS232 Connector 64 Appendix B Using the RS232 or Virtual COMM Port 65 Appendix C Preventive Maintenance 68 Safety Testing 68 Fuses 68 Cleaning 68 Appendix D Specifications and Associated Parts 69 Specifications 69 Appendix E...

Page 4: ...d throughout the ha ndbook and on the equipment itself 1 2 General Warnings Shock Warning Given when there is a risk of injury from electrical shock Warning Given when there is a risk of injury to users Caution Given when there is a risk of damage to the product Note Clarification of an instruction or additional information Warnings If this equipment is used in a manner not specified by the manufa...

Page 5: ... digital and analog techniques and with high bandwidth high power servo control circuitry these new controllers are capable of driving a range of rotary and linear brushless 3 phase DC motors of up to 2 5 Amp peak coil current Integrated into the apt famil y of pro ducts it offe rs Thorlabs standard control and programming interface allowing easy integration into the customer s own automated motio...

Page 6: ...djusted for a particular stage or actuator Fo r simplicity of operation the apt software incorporates pre configured settings for each of th e Thorlabs stages an d actuators while still exp osing all parameters individually for use with other DC motor driven systems For convenience and ease of use adjustment of many key parameters is possible through direct interaction with the graphical panel For...

Page 7: ...eX engine called the APT server which provides all of the necessary APT system software services such as generation of GUI pan els 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 a...

Page 8: ...nd 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 deve lop 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 illustra...

Page 9: ...gs and 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 an d a p rogrammable interface Many such Controls a re available for...

Page 10: ...phical 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 a nd 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 p anel take pl...

Page 11: ...ctionality provided by the APT ActiveX Server as shown in Fig 2 2 Fig 2 2 System Architecture Diagram Refer to the main APT Software onl ine help file APTServer hlp for a comple te 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 complet...

Page 12: ...tion Note When operating 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...

Page 13: ...it is not designed to be used free standing When the RBD201 is installed in a 19 rack cabinet it should be supported on a tray or shelf inside the rack Do not mount the module using the front panel only as this will cause excessive shear stress Due to the weight of the module and the additional pulling force of its cabling the RBD201 must be supported from underneath and or along its side walls Wh...

Page 14: ...blows Warning The safety of any system incorporating this equipment is the responsibility of the person performing the installation Shock Warning The unit must be connected only to an earthed fused supply of 100 to 240V Use only power supply cables supplied by Thorlabs other cables may not be rated to the same current The unit is shipped with appropriate power cables for use in the UK Europe and t...

Page 15: ...airy equipment see Section A 4 for further details TRIG IN For Future Use TRIG OUT For Future Use ID For channel selection when using the MJC001 joystick see Section 4 10 MOTOR Provides all phase current drive connections to the DC motor actuators see Section A 1 FEEDBACK Provides connection for the position encoder feedback signals see Section A 2 USER I O The USER I O connector exposes a number ...

Page 16: ...and indicators Power LED Indicates that power is applied to the unit Enable Button Used to enable disable channel functionality The associated LED is lit when the channel is enabled Disabling the channel removes the drive power and allows the motor actuator to be operated manually POWER ENABLE RBD201 POWER ...

Page 17: ...y sending commands to move each axis by relative and absolute amounts see the helpfile supplied with the APT server for more information 8 See the Getting Started Guide supplied with the controller or Chapter 4 of th is manual for a brief tutorial on operation of the unit Note The USB cable length should be no more than 3 metres unless a powered USB hub is being used Note 3 phase brushless DC moto...

Page 18: ...play for the a ssociated GUI sho uld 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 order to emulat...

Page 19: ...perate is approximately 400 mm sec Above this speed encoder pulses may be lost and as a result the position readout becomes incorrect This renders normal operation impossible because phase commutation of the motor is also based on the encoder reading When the stage is controlled by the RBD201 controller the maximum velocity is limited to safe values However if the output is disabled with the contr...

Page 20: ... 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 4 1 Typical APT User Screen 1 Run the APT U...

Page 21: ...e of the limit 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 4 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 Note If a move ...

Page 22: ...to 3 000 to indicate a move to the absolute position 3 00mm 4 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 the stage can be ...

Page 23: ...ge the parameters 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 Note Moves are performed using a Trapezoidal or S Curve velocity profile see Section 5 3 4 The velocity settings relate to the maximum velocity at...

Page 24: ...e jog velocity while the button is held down 1 On the GUI panel click the Settings button to display the Settings panel Fig 4 5 Settings Panel Move Jogs Tab 2 Select the Move Jogs tab as shown in Fig 4 5 3 In the Jogs field enter parameters as follows see Section 5 3 1 for details of these parameters Max Vel 50 Accn Dec 50 Operating Modes Jogging Single Step Stopping Profiled Step Distance 0 5 4 C...

Page 25: ...e min imum and maximum positions 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 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 o...

Page 26: ...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 27: ...s to be visited without user intervention For details on moving to absolute positions initiated by a mouse click see Section 4 12 1 From the Motor GUI Panel select Move Sequencer tab to display the Mo ve Sequencer window Fig 4 7 Move Sequencer Window 2 Right click in the move data field to display the pop up menu Fig 4 8 Move Sequencer Pop Up Menu ...

Page 28: ...ell time is the time to wait in milliseconds Return if checked the system will move to the position specified in theDist 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 in the Acc field u...

Page 29: ... clicking the data line s and selecting the appropriate option in the pop up menu shown below Fig 4 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 4 12 Home and Run Buttons ...

Page 30: ...xis the jo ystick 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 RBD controller The joystick ID switch assigns the selected number to the X axis of the joystick and the next sequential number to the Y axis The...

Page 31: ...g 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 learning how to use the APT software and as an aid to developing custom software applications of...

Page 32: ... 4 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 33: ...tware 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 identify the type of control unit The RBD201 unit is ostensibly a BBD benchtop unit in a 19 rack enclosure During sub item 5 the system recognises the contro...

Page 34: ...ed from the configuration by selecting it in the Loaded Configuration Details window and clicking the Remove button or by rig ht 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 35: ...oller Software GUI Note 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 1 channel RBD201 unit with a base serial number 73123456 will have card serial numbers 94123457 The serial number of the driver card associated with the...

Page 36: ...ee Section 5 3 3 Current Limit lit when an current foldback condition exists Section 5 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 calibration...

Page 37: ...xis information to be modified Note that all of these parameters have programmable equivalents accessible through the ActiveX methods an d 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 5 3 1 Moves Jogs tab Fig 5 2 Move Jog Settings Mo...

Page 38: ...s available Single Step and Continuous In Single Step mode the motor moves by the ste p size specifie d in the Ste p Distance parameter each time the jog key is pressed see Fig 5 3 In Continuous mode the Note Under certain velocity parameter and move distance conditions the maximum velocity may never be reached i e the move comprises an acceleration and deceleration phase only The limits for the m...

Page 39: ...Step the motor moves by the step size specified in the Step Distan ce parameter Continuous the motor continues to move until the jog signal is removed i e jog button is released distance velocity distance velocity button pressed button pressed button pressed button released jog step size jog velocity jog velocity Single Step mode Continuous mode jog acceleration ...

Page 40: ...verse 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 parameters...

Page 41: ... properly 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 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 Caution Extreme care must be taken ...

Page 42: ...ge to a particular area of interest Note For DDS and MLS stage users The Homing Limit Switch and Motor parameters described on the next two pages are not applicable for the DDS and MLS series 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 referen...

Page 43: ...atio of X 1 i e every 1 turn at theoutput 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 DDS series this parameter is set to 1 and cannot be adjusted Persist Settings to Hardware Many of the parameters that can be set for the RBD201 series drivers can be stored persisted within the unit...

Page 44: ...e amount of position error when an impulse event affects current target Caution 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 ...

Page 45: ... is calculated Under normal circumstances the derivative term of th e PID lo op 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 ca lculated every 10 servo cycles The value is set in cycles in t...

Page 46: ...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 47: ...red 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 accept values in therange 0 to 32767 Feed Forward This parameter is a feed forward term that is added to the output of the PI filter It accept values in the range 0 to 32767 Persist Set...

Page 48: ...mmanded 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 acc umulated energy above the Current Limit value falls to 0 the limit is removed and the status bit is cleared Motor Limit This parameter sets a limit for the motor drive si...

Page 49: ...e settings are particularly important when performing a sequence of moves If the PID parameters see Section 5 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 window and settle time values should be specified carefully based on the required positional accuracy o f the a pplication If po sitional accu...

Page 50: ... 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 which the start velocity is always zero In a typical trapezoidal velocity profile see Fig 5 7 the sta ge is ram...

Page 51: ... maximum deceleration D and then bring the axis to a stop at the destination Joystick If the optional Thorlabs joystick console is be ing used MJC001 the follo wing parameters are used toset the velocity and acceleration limits and the directionsense of any moves initiated from the joystick see Section 4 10 for more details on joystick use Low Gear Max Vel The max velocity of a move when low gear ...

Page 52: ...iggering a move can be initiated via a trigger input while at the same time a trigger output can be generated to initiate a move on another unit The trigger settings can be used to configure multiple units in a master slave set up thereby allowing multiple channels of motion to be synchronized Multiple moves can then be initiated via a single software or hardware trigger command Trigger In The Tri...

Page 53: ...e 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 trajectory Max Vel The logic state of the output will remain the same for as long as the chosen condition is true The logic state associated with the condition can be selected to be either LOW or ...

Page 54: ...ain final position increase the integral and proportional terms Motion is unstable reduce the proportional and integral terms in crease the derivative term Stage sounds noisy reduce the derivative term See Section 5 3 3 for further information Caution 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 an...

Page 55: ...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 settin gs are ignored and the default safe operating parameters are loaded after power up To enter this mode power down the un...

Page 56: ...r is a female 15 pin D Type and supplies connection for the motor encoder feedback lines Pins 7 and 8 are short circuit internally Fig A 2 FEEDBACK connector pin identification Pin Description Pin Description 1 Motor Phase V 5 Stage ID 2 GND 6 GND 3 Temp Sensor Not Used 7 Motor Phase W 4 Motor Phase U 8 Enable Pin Description Pin Description 1 Not Connected 9 GND 2 GND 10 Limit Switch 3 Not Connec...

Page 57: ...tal output see Section A 3 1 iii Buffered versions of Encoder Quadrature signal for monitoring purposes iv Encoder index or reference signal for monitoring purposes Fig A 3 USER I O connector pin identification Pin Description Pin Description 1 5V 9 iii QA 2 i Trigger In 10 iii QA 3 ii Trigger Out 11 iii QB 4 Ground 12 iii QB 5 Ground 13 iv Index Ref 6 For Future Use 14 iv Index Ref 7 For Future U...

Page 58: ...logic Low unloaded Fig A 4 Digital Output Schematic Please see the APTServer helpfile for details on software calls used to control these logic IO A 3 2 Trigger In Digital Input The digital input AxisIn circuit accepts signals in the range 0 to 10 V and has TTL compatible Schmidt trigger thresholds It has a pull up to 5V to allow direct interfacing without the need for an external pull up resistor...

Page 59: ...joystick in the absence of a PC these outputs could be connected to an oscill oscope or custome circuit to fa cilitate monitoring of the position output Fig A 6 Differential Output Schematic A 3 4 5 Volt Supply A 5 V 250 mA supply is provided for interfacing to external circuits that require a power source Caution Do not exceed the 250 mA maximum output current For applications requiring higher cu...

Page 60: ...ntification Pin Description Return Pin Description Return 1 Digital O P 1 5 9 10 9 Digital Ground 2 Digital O P 2 5 9 10 10 Digital Ground 3 Digital O P 3 5 9 10 11 For Future Use 5 9 10 4 Digital O P 4 5 9 10 12 For Future Use 5 9 10 5 Digital Ground 13 Digital I P 4 5 9 10 6 Digital I P 1 5 9 10 14 5V Supply Output 5 9 10 7 Digital I P 2 5 9 10 15 5V Supply Output 5 9 10 8 Digital I P 3 5 9 10 W...

Page 61: ...igital outputs used here can be used to directly drive most optocouplers and the 5V supply available on pins 14 and 15 can be used to provide power for the optocouplers Fig A 9 Application Example Connection to Optocoupler Inputs The digital outputs can also be used to interface to external logic circuitry a pull up resistor may be needed if the external logic does not contain it or control other ...

Page 62: ...it and HIGH if the switchis 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 4V 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 4 4 5 Volt Supply A 5 V 250 mA supply is provided for interfacing to external circuits that require a ...

Page 63: ... external remote control handset MJC001 The pin functions are detailed in in Fig A 11 Fig A 11 HANDSET Connector Pin Identification Pin Description 1 RX controller input 2 Ground 3 Ground 4 Supply Voltage for Handset 5V 5 TX controller output 6 Ground Note 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 any o...

Page 64: ...low level communications protocol or other software environments such as Micromanager A 9 way D type female to female crossover null modem cable is required for connecting to the host PC The pin functions are detailed in Fig A 11 Fig A 12 INTERCONNECT Connector Pin Identification Pin Description 1 Not Connected 2 RX controller input 3 TX controller output 4 Not Connected 5 Ground 6 Not Connected 7...

Page 65: ...n with the device is facilitated by using the RS232 comms pins on the rear panel INTERCONNECT connector see Section A 6 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 Seria l Bus Controll ers and sel ect the APT USB Device to be configured then right click and select Properties ...

Page 66: ...Appendix B 66 HA0302T Rev A Feb 2016 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 67: ...troller 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 68: ...user servicable 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 testing and cleaning as described in the following sections Caution The instrument contains a p...

Page 69: ...elocity Profile Trapezoidal S Curve Position Count 32 Bit Position Feedback Incremental Encoder Encoder Bandwidth 2 5 MHz 10 M Counts sec Encoder Supply 5V AUX Control Connector 15 Pin D Type Female User Digital IO 5 V O P Input Power Requirements Volts 100 to 240V AC Power 150 VA Frequency 50 60 Hz Fuse 2A General Dimensions 482 6 x 264 8 x 43 7 mm 19 x 10 43 x 1 72 Weight 3 4 kg 7 5 lbs Compatib...

Page 70: ...nt 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 seria l 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 gi...

Page 71: ... 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 relative move distance return...

Page 72: ...itiates a 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...

Page 73: ... 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 ap plied to the motor dri ve signal SetDCTrackSettleParams Sets the pa rameters for the Tra ck and Settle windows SetDCProfileModeParams Set...

Page 74: ... Customers In The USA This equipment has been tested and found to comply with the li mits for a Class A digital device persuant to part 15 of the FCC rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and use...

Page 75: ...eelie bin logo see Fig 1 sold to a company or institute within the EC currently owned by a company or institute within the EC still complete not disassembled and not contaminated Fig 6 1 Crossed out wheelie bin symbol As the WEEE directive applies to self contained operational electrical and electronic products this end of life take back service does not refer to other products such as pure OEM pr...

Page 76: ... public waste disposal site F 2 3 Ecological background It is well known that WEEE pollutes the environment by rel easing toxic products during decomposition The aim of the Europ ean RoHS directive is to re duce the content of toxic substances in electronic products in the future The intent of the WEEE directive is to enforce the recycling of WE EE A controlled recycling of end of life prod ucts w...

Page 77: ...77 Single Channel Brushless DC Servo Controller 6 3 CE Certificate ...

Page 78: ...Appendix F 78 HA0302T Rev A Feb 2016 ...

Page 79: ...uth America Thorlabs Inc sales thorlabs com techsupport thorlabs com Europe Thorlabs GmbH europe thorlabs com France Thorlabs SAS sales fr thorlabs com Japan Thorlabs Japan Inc sales thorlabs jp UK and Ireland Thorlabs Ltd sales uk thorlabs com techsupport uk thorlabs com Scandinavia Thorlabs Sweden AB scandinavia thorlabs com Brazil Thorlabs Vendas de Fotônicos Ltda brasil thorlabs com China Thor...

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

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