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Page 55

ETN040053-D02

KIM101 K-Cube Piezo Motor Controller

Fig. D.3 Open loop and closed loop control

The result of using closed-loop control is a linear relationship between demand

(voltage) and measured position – see Fig. D.4, in contrast to open loop control – see

Fig. D.2.

Fig. D.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

Содержание KIM101

Страница 1: ...HA0385T KIM101 Piezo Inertia Motor Controller APT User Guide Original Instructions ...

Страница 2: ...rifying Software Operation 17 Chaper 4 Standalone Operation 18 4 1 Introduction 18 4 2 Control Panel Buttons and Indicators 19 4 3 Joystick Operation 19 4 4 Settings Menu 21 4 5 Using the External Inputs 32 Chaper 5 PC Operation Tutorial 34 5 1 Introduction 34 5 2 Using the APT User Utility 34 5 3 Moving to a Position 35 5 4 Zeroing 36 5 5 Changing Motor Parameters 36 5 6 Jogging 36 5 7 Dual Chann...

Страница 3: ...dices Appendix A Rear Panel Connector Pinout Details 49 Appendix B Preventive Maintenance 50 Appendix C Specifications 51 Appendix D Piezo Operation Background 53 Appendix E Regulatory 56 Appendix F Thorlabs Worldwide Contacts 58 ...

Страница 4: ...in footprint this unit offers a fully featured control capability including jog settings limit switch handling on the fly changes in move direction and for more advanced operation control over the number of steps performed For convenience the footprint of this unit has been kept to a minimum measuring only 121mm x 60mm x 47mm 4 8 x 2 4 x 1 8 and with the facility to directly mount to the optical t...

Страница 5: ...s 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 Caution Due to the nature of its design and its non linear high frequency switching the KIM001 unit is not compatible wit...

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: ...ty it must be allowed to reach ambient conditions before being powered up 3 2 2 Mounting Options The K Cube Piezo Motor Controller is shipped with a baseplate for use when fitting the unit to a breadboard optical table or similar surface Warning The safety of any system incorporating this equipment is the responsibility of the person performing the installation Warning Operation outside the follow...

Страница 14: ...o Motor Driver 3 2 3 Using the Baseplate The baseplate must be bolted to the worksurface before the K Cube is fitted as shown below The K cube is then located on two dowels in the baseplate and secured by four clips Fig 3 1 Using The Baseplate ...

Страница 15: ...n 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 Caution Ensure that all USB and electrical cables are positively connected and all joints tightened Lo...

Страница 16: ...the risk of PERMANENT damage to the unit Always ensure the power supply unit is isolated from the mains and the front panel switch turn OFF before connecting to the piezo unit Always power up the piezo unit by connecting its power supply to the mains then switch ON using the front panel switch Similarly to power down the unit turn the front panel switch OFF then disconnect the power supply from th...

Страница 17: ...dentified by an asterisk after the firmware revision number on start up see Fig 3 4 On later Rev 2 hardware units a 10V input gives max velocity in the reverse direction whereas 10V input gives max velocity forwards a 0V input results in no movement See Section 4 5 for information on how to enable control via these analog inputs The channels controlled by these inputs is dependent upon the Axis Mo...

Страница 18: ...Page 15 ETN040053 D02 K Cube Inertia Piezo Motor Driver 3 3 3 Powering Down The Unit Caution To avoid overheating the unit do not turn off the power until both fans have stopped ...

Страница 19: ...ld be no more than 3 metres in length Communication lengths in excess of 3 metres can be achieved by using a powered USB hub Caution During item 5 ensure the power supply unit is isolated from the mains before connecting to the K Cube unit Always power up the K Cube unit by connecting its power supply to the mains DO NOT connect the K Cube unit to a live external power supply Doing so i e hot plug...

Страница 20: ...s see Section 3 4 and the PC before verifying software operation 1 Run 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 2 Click the Ident button The display on the top panel of the associated controller flashes This is useful in multi channel systems for identifying which channel is associated with which...

Страница 21: ...rthermore 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...

Страница 22: ...licked the display text KIM101 at the top of the display will flash for a short period MENU used to access the settings menu see Section 4 4 CHANNEL SELECT Used to select the appropriate motor channel 4 3 Joystick Operation The joystick on top of the unit provides multi function operation In normal use the joystick is used to move the selected axis at a velocity that is proportional to its deflect...

Страница 23: ...see Section 6 3 2 This mode of operation is enabled in the Settings Menu by setting the Joystick Mode option to Jog to Count see Section 4 4 6 It can also be selected in the Joystick Mode parameter on the Device tab in the GUI Settings panel see Section 6 3 2 for further information 4 3 3 Jogging The top panel joystick can also be configured to jog the motor This mode of operation is enabled by se...

Страница 24: ...tion 4 4 4 Set the jog step size see Section 4 4 5 Set the joystick mode see Section 4 4 6 Teach the go to positions see Section 4 4 7 MENU K I M 1 0 1 K I M 1 0 1 E n a b l e d A x i s C H 1 C h 1 _ X 1 0 C h 2 _ Y 1 0 C h 3 _ X 2 0 C h 4 _ Y 2 0 M e n u o p t i o n s U s e j o y s t i c k K I M 1 0 1 M e n u o p t i o n s 1 G o t o P o s C o u n t K I M 1 0 1 M e n u o p t i o n s 2 Z e r o A x ...

Страница 25: ... display brightness see Section 4 4 9 Set the voltage see Section 4 4 10 Select the stage see Section 4 4 11 K I M 1 0 1 M e n u o p t i o n s 7 E n A x i s M o d e K I M 1 0 1 M e n u o p t i o n s 8 S e t B r i g h t n e s s K I M 1 0 1 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 1 0 1 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 26: ...option Use the joystick 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 for the channel selected which counts up or down until the target is reached MENU K I M 1 0 1 K I M 1 0 1 E n a b l e d A x i s C H 1 C h 1 _ X 1 0 C h 2 _ Y 1 0 C h 3 _ X 2 0 C h 4 _ Y 2 0 K I M 1 0 1...

Страница 27: ... button to enter the Zero Axis option Use the joystick to select the motor channel to be zeroed or select Zero All Chan to zero all motor channels at their present positions Press the MENU button to zero the channels and return to the main display The display shows the zeroed position count for the channel s selected MENU MENU K I M 1 0 1 K I M 1 0 1 E n a b l e d A x i s C H 1 C h 1 _ X 1 2 3 0 0...

Страница 28: ...en use the joystick to scroll through the menu options Press the MENU button to enter the Set Velocity option Use the joystick to select the appropriate channel then press the MENU button to select the channel Use the joystick 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 MENU K I M 1 0 1 K I M 1 0 ...

Страница 29: ...p Size option Use the joystick to select the appropriate channel then press the MENU button to select the channel Use the joystick to adjust the forward jog step size in the range 1 to 2 000 cycles Press the MENU button to save the setting Use the joystick to adjust the reverse jog step size in the range 1 to 2 000 cycles Press the MENU button to save the setting and return to the main operating d...

Страница 30: ...re set through the Teach Position option see Section 4 4 7 In Jogging in Steps mode the motor moves one jog step for each deflection of the joystick The jog step size is set in the Set Jog Step Size menu option see Section 4 4 5 or in the Move Jogs settings tab see Section 6 3 1 When Velocity Control mode is selected the speed of the motor increases as a function of deflection The maximum speed is...

Страница 31: ...ft CH1 and CH3 or Up CH2 and CH4 Use the Joystick 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 joystick is moved Right CH1 and CH3 or Down CH2 and CH4 Press MENU to save the settings and return to the operating screen Repeat the steps above as necessary to set positions associated with the remaining channels MENU MENU ...

Страница 32: ...s achieved via the top panel CHANNEL SELECT button Enable Single The motor axes can be selected individually CH1 through CH4 Enable Axis Pair The motor axes can be selected in pairs CH1 and CH2 or CH3 and CH4 Disable All The motor channels are disabled Press the MENU button to save the selection and return to the operating mode MENU MENU K I M 1 0 1 K I M 1 0 1 E n a b l e d A x i s C H 1 C h 1 _ ...

Страница 33: ...splay mode it will turn off again Press the MENU button then use the joystick to scroll through the menu options Press the MENU button to enter the Brightness option Use the joystick to adjust the brightness in the range 0 off to 99 brightest Then press the MENU button to store the selection and return to the main display MENU MENU K I M 1 0 1 K I M 1 0 1 E n a b l e d A x i s C H 1 C h 1 _ X 1 0 ...

Страница 34: ...to adjust the max drive voltage in the range 85 to 125 V This setting is applied across all channels Then press the MENU button to store the selection and return to the main display MENU MENU K I M 1 0 1 K I M 1 0 1 E n a b l e d A x i s C H 1 C h 1 _ X 1 0 C h 2 _ Y 1 0 C h 3 _ X 2 0 C h 4 _ Y 2 0 E n a b l e d A x i s C H 1 C h 1 _ X 1 0 C h 2 _ Y 1 0 C h 3 _ X 2 0 C h 4 _ Y 2 0 M e n u o p t i ...

Страница 35: ...tages The stage type selected is displayed on start up see Fig 3 4 Then press the MENU button to store the selection and return to the main display 4 5 Using the External Inputs The CH A and CH B connectors on the rear panel see Fig 3 3 can be used to control the velocity of the piezo actuator by using a voltage input from an external source The applied voltage is different for early Rev 1 and lat...

Страница 36: ...bled 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 joystick or GUI panels If the unit recognises a 5V signal on the CH A and CH B connectors for around 12 seconds it will accept this as the controlling input If subsequently a move is performed via...

Страница 37: ...e 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 be...

Страница 38: ...ezo Motor K CubeSoftware GUI The APT User utility will be used throughout the rest of this tutorial to interface with the piezo inertia motor controller 5 3 Moving to a Position Moves are measured in the number of steps relative to the zero position 1 Click the position display Fig 5 3 Position Popup Window ...

Страница 39: ...r 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 the motor actuator will accelerate and move at the jog velocity while t...

Страница 40: ...draw above 1 2 Amps from the power supply During this operation very large peak currents can flow in the ground return which are continually monitored During periods of intense operation an internal safety circuit may switch off a drive channel automatically to keep the current within safe levels In this case the drive channel can be restored by clicking the Stop button on the associated GUI panel...

Страница 41: ...unning on the unit are displayed in the top right hand corner This information should always be provided when requesting customer support Digital displays Shows the position drive pulses of the motor associated with the drive channel The motor must be zeroed before the display will show a meaningful value i e the displayed position is relative to a physical datum The Channel 1 to 4 buttons allow e...

Страница 42: ...ecified in drive pulses sec in the range 1 to 2 000 Ident when this button is pressed the text KIM101 on the top panel display of the associated hardware unit will flash for a short period Active lit when the unit is operating normally a channel 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 ...

Страница 43: ...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 The acceleration up to the step rate It is specified in steps sec sec in the range 1 to 100 000 Ca...

Страница 44: ...a jog step in the range 1 to 2 000 The 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 ...

Страница 45: ... the joystick is moved away from the center the motor begins to move the speed of this movement increases as the deflection 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 def...

Страница 46: ...osition Mode the following option is ignored Direction Sense Negative Upwards 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 ...

Страница 47: ...the application Electrically the ports output 5 Volt logic signals and are designed to be driven 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 recognised 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 w...

Страница 48: ...o 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 receipt of the trigger the motor will move by the number of posi...

Страница 49: ...wd Trigger output active pulsed at pre defined positions moving forward Only one Trigger port at a time can be set to this mode See Trigger Out Position Steps for further details Trig Out Pos Steps Rev Trigger output active pulsed at pre defined positions moving backwards Only one Trigger port at a time can be set to this mode See Trigger Out Position Steps for further details Trig Out Pos Steps B...

Страница 50: ...and back In forward direction The first trigger pulse occurs at 1000 steps StartPosFwd the next trigger pulse occurs after another 500 steps PosIntervalFwd the stage then moves to 2000 steps In reverse direction The next trigger occurs when the stage gets to 1200 steps Note that position triggering can only be used on one TRIG port at a time Note In the Trig Out Pos Steps Fwd mode the StartPos Fwd...

Страница 51: ...e 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 port is logic LOW 0V trigger input and output on a falling edge ...

Страница 52: ...Ch1 and or Ch2 selected then LS1A LS1B and LS2A LS2B are the active limit switch inputs If Ch3 and or Ch4 selected then LS3A LS3B and LS4 LS4B are the active limit switch inputs Fig A 1 USER I O Connector Pin Identification Pin Description Pin Description 1 0 V 9 0 V 2 OW Aa 10 5 V 3 OW Ba 11 Limit Switch 3A Encoder 3Ab 4 Limit Switch 1A Encoder 1Ab 12 Limit Switch 3B Encoder 3Bb 5 Limit Switch 1B...

Страница 53: ...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 54: ...2 Ch 3 and 4 Output Pulses Frequency 1 Hz to 2 kHz Voltage Peak 85 to 125 V Adjustable Operating Display 128 x 128 TFT LCD Color I O 1 and I O 2 Connectors TTL Input TTL Output 5V Level Joystick 2 axis Spring loaded Center return Velocity Control of Selected Axis Menu Control in Setup Mode User I O Connector 15 Pin DIN 5 V 150 mA User Supply with 0 V Return Qty 8 Limit Switch Inputs Multiplexed US...

Страница 55: ...ated Products Product Name Part Number Piezo Inertia 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 Single Way Power Supply KPS101 ...

Страница 56: ...anding 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 us...

Страница 57: ...the 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 wi...

Страница 58: ...closed loop control is a linear relationship between demand voltage and measured position see Fig D 4 in contrast to open loop control see Fig D 2 Fig D 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 59: ...t 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 be r...

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