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Chapter 1 Introduction

custom motion control applications and sequences are also possible using the

extensive ActiveX® programming environment also supplied. This programming

library is compatible with many development tools such as LabView, Visual Basic,

Visual C++, C++ Builder, LabWindows/CVI, Matlab and Delphi.
In the remainder of this handbook, operation of the unit is described for both front

panel and PC operation. Tutorial sections (Chapter 4 and Chapter 5) provide a good

initial understanding on using the unit and reference section (Chapter 6) covers all

operating modes and parameters in detail.

1.2 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 these controllers, Thorlabs also offers

the K-Cube Controller Hubs (KCH301 and KCH601). These products have been

designed specifically with multiple K-Cube operation in mind in order to simplify

issues such as cable management, power supply routing and different optical table

mounting scenarios. The KCH301 hub provides power distribution for up to three K-

Cubes, while the KCH601 hub provides power distribution for up to six K-Cubes.
The Controller Hub comprises a slim base-plate type carrier with electrical

connections located on the upper surface: the KCH301 measures 193.5 mm x 70.0

mm x 24.0 mm (7.62" x 2.76" x 0.94") and accepts up to three K-Cubes while the

KCH601 measures 376.5 mm x 70.0 mm x 24.0 mm (14.82" x 2.76" x 0.94") and

accepts up to six K-Cubes.
Internally the Controller Hub contains a fully compliant USB 2.0 hub circuit to provide

communications for all K-Cubes – a single USB connection to the Controller Hub is

all that is required for PC control. The Controller Hub also provides power distribution

for the K-Cubes, requiring only a single power connection.

Caution

Due to the nature of its design, and its non-linear high frequency switching, if

the KIM001 unit is fitted to the hub and it is driven at high output frequencies, it

may generate electrical noise which could affect the operation of other K-Cubes

also fitted to the hub. If problems are experienced in this way, remove the

KIM001 K-Cube from the hub and use a stand alone power supply.

Caution

Do not use a power supply with damaged, cracked or split wires. In such cases,

the supply could still power up the cube, but the integrity of the ground return

may be compromised. This could result in a hazardous live voltage being

generated.
Any obvious signs of damage to the power supply lead should result in

immediate replacement of the PSU.

Содержание KIM001

Страница 1: ...HA0400T KIM001 Piezo Inertia Motor Controller APT User Guide Original Instructions ...

Страница 2: ...trol During High Frequency Operation 16 Chapter 4 Standalone Operation 17 4 1 Introduction 17 4 2 Control Panel Buttons and Indicators 18 4 3 Zeroing 18 4 4 Wheel Operation 18 4 5 Settings Menu 20 4 6 Using the External Inputs 32 Chapter 5 PC Operation Tutorial 33 5 1 Introduction 33 5 2 Using the APT User Utility 33 5 3 Zeroing 34 5 4 Moving to a Position 34 5 5 Changing Motor Parameters 35 5 6 J...

Страница 3: ...0 Page 0 Appendices Appendix A Preventive Maintenance 54 Appendix B Specifications and Associated Parts 55 Appendix C Piezo Operation Background 57 Appendix D Regulatory 60 Appendix E Thorlabs Worldwide Contacts 62 ...

Страница 4: ...ber of steps performed 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 devices being driven convenient when manually adjusting positions using the top panel controls jog buttons and velocity control slider Table top operation also allows minimal drive cable length...

Страница 5: ...p to six K Cubes The Controller Hub comprises a slim base plate type carrier with electrical connections located on the upper surface the KCH301 measures 193 5 mm x 70 0 mm x 24 0 mm 7 62 x 2 76 x 0 94 and accepts up to three K Cubes while the KCH601 measures 376 5 mm x 70 0 mm x 24 0 mm 14 82 x 2 76 x 0 94 and accepts up to six K Cubes Internally the Controller Hub contains a fully compliant USB ...

Страница 6: ...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...

Страница 7: ...oaded 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 customize and automate usage of the K Cube Piezo Motor Driver e g to implement a positioning algorithm this applicatio...

Страница 8: ...ore running the APT software These settings have global effect such as 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 Config utility is ...

Страница 9: ... 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 APT Piezo Motor driver unit This Control provides a complete user graphical instrum...

Страница 10: ...e APT ActiveX Server as shown in Fig 1 2 Fig 1 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 running the APT server or via the Start menu Start Programs Thorlabs APT APT Help 1 3 5 Software Upgrades Thorlabs operat...

Страница 11: ...a risk of damage to the product Note Clarification of an instruction or additional information Warning 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 moisture may impair operation This product generates uses and outputs high voltages from the SMC connector HV Output that are hazardous and can ...

Страница 12: ...through intuitive graphical user interface panels GUIs which expose all key operating parameters and modes The user can select multiple panel views displaying different information about a particular hardware unit The multitasking architecture ensures that the graphical control panels always remain live showing all current hardware activity Caution Some PCs may have been configured to restrict the...

Страница 13: ...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 1 2 for further details Full instructions on the fitting and use of the controller hub are contained in the handbook available at www thorlabs com Warning The safety of any system incorporating this equ...

Страница 14: ... fitted as shown below The K cube is then located on two dowels in the baseplate and secured by two clips Fig 3 1 Using The Baseplate 3 3 Electrical Installation 3 3 1 Front Panel Connections Fig 3 2 Front Panel Caution Ensure that all USB and electrical cables are positively connected and all joints tightened Loose connections can cause noise and interference problems due to transients from the h...

Страница 15: ...UT via the GUI settings panel see Section 6 3 Warning Risk of Electrical Shock The unit must be connected only to a DC supply of 15V 1A regulated Connection to a supply of a different rating may cause damage to the unit and could result in injury to the operator Caution Do not use a power supply with damaged cracked or split wires In such cases the supply could still power up the cube but the inte...

Страница 16: ... The ENCODER connector is for future use in closed loop applications and provides a means of supplying feedback from an eternal source Functionality will be enabled in Firmware revisions when compatible hardware is available Caution To avoid overheating the unit do not turn off the power until the fan has stopped This can take several minutes if high frequency stage moves have been performed Cauti...

Страница 17: ...unit and could result in personal injury Caution Due to the nature of its design and its non linear high frequency switching if the KIM001 unit is fitted to the hub and it is driven at high output frequencies it may generate electrical noise which could affect the operation of other K Cubes also fitted to the hub If problems are experienced in this way remove the KIM001 K Cube from the hub and use...

Страница 18: ...ions leadscrew pitch homing direction etc To assist in setting these parameters correctly it is possible to associate a specific stage type with the motor controller Once this association has been made the server automatically applies suitable default parameter values on boot up of the software The stage type can only be selected from the top panel settings menu see Section 4 5 11 for more details...

Страница 19: ...the main display to enable the drive channel 4 Click the jog buttons on the GUI panel to move the actuator associated with the selected unit The step count display for the associated GUI should increment and decrement accordingly Follow the tutorial described in Chapter 5 for further guidance on basic operation 3 7 Automatic Temperature Control During High Frequency Operation Caution During high f...

Страница 20: ...ermore 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 It is assumed that the unit has already been installed and configured for the particular actuator or stage connected see Chapter 3 for more details Warning Ri...

Страница 21: ...d MENU used to access the settings menu see Section 4 5 4 3 Zeroing To establish a datum from which subsequent moves can be measured move the motor to the required zero position The position count can then be zeroed in the Zero Axis option in the Settings Menu see Section 4 5 3 The counter can also be zeroed by clicking the ZERO button on the GUI panel see Section 5 3 or by calling the appropriate...

Страница 22: ...ection 6 3 2 for further information 4 4 2 Jogging The top panel wheel can also be configured to jog the motor This mode of operation is enabled by setting the wheel Mode menu option to Jogging in Steps see Section 4 5 6 or by setting the wheel Mode parameter to Jog on the Panel settings tab see Section 6 3 2 Once set to this mode the jogging parameters step size step rate etc are taken from the J...

Страница 23: ...the jog step size see Section 4 5 5 Set the wheel mode see Section 4 5 6 Teach the go to positions see Section 4 5 7 Enable or disable the drive axis see Section 4 5 8 Set the display brightness see Section 4 5 9 MENU Wheel K I M 0 0 1 C h 1 0 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 C o u n t M e n u o p t i o n s 2 Z e r o A x i s M e n u o p t i o n s 3 S e t ...

Страница 24: ...river Overview Cont Set the voltage see Section 4 5 10 Select the stage see Section 4 5 11 Press MENU to return to the operating screen MENU K I M 0 0 1 C h 1 0 M e n u o p t i o n s 9 S e t V o l t a g e M e n u o p t i o n s 1 0 S e l e c t S t a g e ...

Страница 25: ... through the menu options Press the MENU button to enter the Go to Pos Count option Use the wheel to set the required position count in the range 100000 to 100000 Press the MENU button to save the setting and return to the operating screen The display shows position count which counts up or down until the target is reached C h 1 0 t o s e t c o u n t C h 1 2 3 0 0 0 t o s e t c o u n t MENU MENU W...

Страница 26: ... motor can be zeroed anywhere along its travel Press the MENU button and use the wheel to scroll through the menu options Press the MENU button to enter the Zero Axis option Press the MENU button to zero the channel and return to the main display The display shows the zeroed position count MENU Wheel MENU 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 2 Z e r o A x i s Z e r o C h 1 2...

Страница 27: ... is then repeated see Fig 6 3 The velocity is specified in cycles sec in the range 1 to 2 000 Press the MENU button then use the wheel to scroll through the menu options Press the MENU button to enter the Set Velocity option Use the wheel to adjust the velocity in the range 1 to 2 000 cycles sec Press the MENU button to save the setting and return to the main operating display MENU Wheel MENU MENU...

Страница 28: ...e direction of actuation and the condition of the actuator Press the MENU button then use the wheel to scroll through the menu options Press the MENU button to enter the Set Jog Step Size option Use the wheel to adjust the forward jog step size in the range 0 to 2 000 cycles Press the MENU button to save the setting Use the wheel to adjust the reverse jog step size in the range 0 to 2 000 cycles P...

Страница 29: ...2 These taught positions are set through the Teach Position option see Section 4 5 7 In Jog in Steps mode the motor moves one jog step for each deflection of the wheel The jog step size is set in the Set Jog Step Size menu option see Section 4 5 5 or in the Move Jogs settings tab see Section 6 3 1 When Velocity mode is selected the speed of the motor increases as a function of deflection The maxim...

Страница 30: ...option Use the wheel to set Pos1 in steps from the zero position then press the MENU button to save The motor will move to this position when the wheel is moved Up Use the wheel to set Pos2 in steps from the zero position then press the MENU button to save The motor will move to this position when the wheel is moved Down Press MENU to save the settings and return to the operating screen C h 1 1 0 ...

Страница 31: ... Press the MENU button to enter the Enable Output Mode option Use the wheel to select Enable Ch1 or Disable Ch1 as required Press the MENU button to save the selection and return to the operating mode E n a b l e C h 1 S e l e c t E n a b l e MENU MENU Wheel MENU 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 7 E n a b l e O u t p u t K I M 0 0 1 D i s a b l e C h 1 S e l e c t E n a ...

Страница 32: ...at its lowest brightness setting to allow adjustments When the display returns to its default position display mode it will turn off again Press the MENU button then use the wheel to scroll through the menu options Press the MENU button to enter the Brightness option Use the wheel to adjust the brightness in the range 0 off to 99 brightest Then press the MENU button to store the selection and retu...

Страница 33: ...he wheel to scroll through the menu options Press the MENU button to enter the Set Voltage option Use the wheel to adjust the max drive voltage in the range 85 to 125 V Then press the MENU button to store the selection and return to the main display MENU H T V o l t s 1 2 5 t o a d j u s t MENU MENU Wheel 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 S e t V o l t a g e K I M 0 0 1...

Страница 34: ... case could cause the stage to run into the end stops 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 select the stage being driven either PIA for our PIA series Inertial Piezo Actuators or PD R for one of our PD series Inertial Piezo Stages The stage type selected is displayed on start up see Fig 3...

Страница 35: ...ter this time the drive channel can be controlled by varying the voltage from 10V max velocity reverse to 10 V max velocity forwards A 0V input results in no movement Note The external inputs cannot be used in conjunction with the wheel or GUI panels If the unit recognizes a 0V signal on the EXT IN connector for around 12 seconds it will accept this as the controlling input If subsequently a move ...

Страница 36: ...he APT User 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 b...

Страница 37: ...with the piezo inertia motor controller 5 3 Zeroing To establish a datum from which subsequent position moves can be measured move the motor to the required zero position and then click the ZERO button on the GUI panel The motor can also be zeroed from the hardware unit by using the Zero Axis menu option see Section 4 5 3 5 4 Moving to a Position Moves are measured in the number of steps relative ...

Страница 38: ...ve Jogs tab see Section 6 3 1 5 6 Jogging During PC operation the motor actuators are jogged using the GUI panel arrow keys 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 Size 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 t...

Страница 39: ...ition 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 Ste...

Страница 40: ...eld 2 Click the left hand mouse button to initiate the move Jog Mode When Jogging mode is selected the motors are jogged each time the left mouse button is clicked The Jog direction corresponds to the position of the cursor relative to the circle current motor position e g if the cursor is to the left of the circle the motor will jog left The Jog Step size is that selected in the Settings panel se...

Страница 41: ... to set move sequences allowing several positions to be visited without user intervention 1 From the Motor GUI Panel select Move Sequencer tab to display the Move Sequencer window Fig 5 5 Move Sequencer Window 2 Right click in the move data field to display the pop up menu Fig 5 6 Move Sequencer Pop Up Menu ...

Страница 42: ...g the next move 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 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 fi...

Страница 43: ...ght clicking the data line s and selecting the appropriate option in the pop up menu shown below Fig 5 9 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 10 Home and Run Button...

Страница 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 Con...

Страница 45: ...n Tutorial 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 1Ch Inertial Motor Drive K Cube KIM ...

Страница 46: ...ch 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 Althou...

Страница 47: ...d software running on the unit are displayed in the top right hand corner This information should always be provided when requesting customer support Digital display Shows the position drive pulses of the motor associated with the unit The motor must be zeroed before the display will show a meaningful value i e the displayed position is relative to a physical datum Jog used to increment or decreme...

Страница 48: ...d in drive pulses sec in the range 1 to 2 000 Ident when this button is pressed the text KIM001 on the top panel display of the associated hardware unit will flash for a short period Active lit when the unit is operating normally and a motor is moving Error lit when a fault condition occurs Settings button Displays the Settings panel which allows the operating parameters to be entered for the moto...

Страница 49: ...k Voltage the maximum piezo drive voltage Set in the range 85V to 125V Step Rate The piezo motor moves by ramping up the drive voltage to the value set in the Peak Voltage parameter and then dropping quickly to zero then repeating see Fig 6 3 One cycle is termed a step The Step Rate is the velocity to move when a command is initiated It is specified in steps sec in the range 1 to 2 000 Step Accn T...

Страница 50: ... optimum step size depends on several parameters including the resistive torque against which the actuator tip is pushing the drive voltage the step rate active preload variance in the frictional behaviour of assembly components the direction of actuation and the condition of the actuator Step Rate The velocity to move when a jog command is initiated The step rate is specified in pulses per second...

Страница 51: ...eflection is increased Bidirectional control of motor moves is possible by moving the joystick in both directions Mode Velocity Control Deflecting the joystick 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 is set in the Max Step Rate parameter Jogging Deflecting the joystick initiates a jo...

Страница 52: ... CH2 and CH4 and left CH1 and CH3 movement of the joystick results in a negative motion i e decreased position count Maximum Step Rate This parameter specifies the maximum velocity step rate used when moves are instigated via the joystick in the range 1 to 1 000 steps per second Display Brightness In certain applications it may be necessary to adjust the brightness of the LCD display on the top of...

Страница 53: ...from a 5 Volt logic When the port is used in the input mode the logic levels are TTL compatible i e a voltage level less than 0 8 Volt will be recognized as a logic LOW and a level greater than 2 4 Volt as a logic HIGH The input contains a weak pull up so the state of the input with nothing connected will default to a logic HIGH The weak pull up feature allows a passive device such as a mechanical...

Страница 54: ...el will not trigger repeated moves The trigger input has to return to its inactive state first in order to start the next trigger The mode is set in the Trig 1 Mode and Trig 2 Mode parameters as follows Disabled The trigger IO is disabled Digital Input General purpose logic input read through status bits using the associated server message Trig In Rel Move Input trigger for relative move On receip...

Страница 55: ...ve 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 three Pos Steps 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 th...

Страница 56: ...olarity 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 port is logic LOW 0V trigger input and output on a falling edge Note In the Trig Out Pos Steps Fwd mode the StartPos Fwd value must be reached in the forward direction for the subsequent trigger sequence to be per...

Страница 57: ...equipment contains no user servicable parts There is a risk of electrical shock if the equipment is operated with the covers removed Only personnel authorized by Thorlabs Ltd and trained in the maintenance of this equipment should remove its covers or attempt any repairs or adjustments Maintenance is limited to safety testing and cleaning as described in the following sections Caution Disconnect t...

Страница 58: ...Frequency 1 Hz to 2 kHz Voltage Peak 85 to 125 V Adjustable Operating Display 128 x 32 LCD Mono I O 1 and I O 2 Connectors TTL Input TTL Output 5V Level Wheel Spring loaded Center return Velocity Control Menu Control in Setup Mode ENCODER Connector 6 Pin HiRose For Future Use USB Connector The USB 3 0 left hand side of the connector is compatible with a USB 2 0 Micro B Communication speed USB 1 1 ...

Страница 59: ...ia Motor Actuator 13 mm Travel PIA13 Piezo Inertia Motor Actuator 25 mm Travel PIA25 Piezo Inertia Motor Actuator 50 mm Travel PIA50 Piezo Inertia Motor Actuator 10 mm Travel Kinematic Mounting PIAK10 K Cube Controller USB Hub KCH301 and KCH601 Single Way Power Supply KPS101 20 mm Linear Stage with Piezoelectric Inertia Drive PD1 ...

Страница 60: ...ding piezo is very large typically hundreds of newtons Perhaps the most useful property of these actuators is their ability to produce oscillating motion at considerable frequencies usually limited by the mechanical system driven rather than by the piezo actuator itself This ability is used to advantage in the NanoTrak control system for example The electric field gradient needed to produce a usef...

Страница 61: ...sensor measures the position the circuit subtracts the measured position from the demand position to get the error and a proportional integral feedback loop adjusts the voltage to the actuator until the error is virtually zero Some Thorlabs nanopositioning actuators have position sensing others do not The Piezoelectric control module allows both types to be controlled To control an actuator with p...

Страница 62: ...losed loop control is a linear relationship between demand voltage and measured position see Fig C 4 in contrast to open loop control see Fig C 2 Fig C 4 Closed loop response amp actuator demand moving part open loop control amp actuator sensor a b s demand moving part closed loop control _ real position demand position ...

Страница 63: ...ainst 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 used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will ...

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