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Products Home / Motorized Stages / Motorized Rotation Stages and Mounts / Rotation Stage with Piezoelectric Inertia DriveRotation Stage with Piezoelectric Inertia Drive
- 360° Continuous Motorized Rotation
- Piezo Inertia Drive Ideal for Set-and-Hold Applications
- 20°/s Maximum Speed with 250 µrad Typical Step Size
- Backlash-Free Operation
Mounting Ideas
Two options for mounting the rotation stage are shown here: horizontal mounting using ER cage rods and a UBP2 base plate (left) and vertical mounting on a Ø1/2ʺ post (right).
PDR1
Piezo Inertia Rotation Stage
Please Wait
| Key Specificationsa | |
|---|---|
| Rotation Range | 360° Continuous |
| Step Sizeb | 250 µrad (Typical) |
| Step Size Adjustabilityc | Up to 30% |
| Maximum Step Frequency | 2 kHz |
| Maximum Speed (Continuous Stepping)d |
20°/s (Typical) |
| Speed Variation Over Travel Range (Average)d |
±10% (Typical) |
| Horizontal Load Capacity | 1 kg (2.2 lbs) |
| Vertical Load Torque Capacitye | 15 mN•m |
| Holding Torque | 25 mN•m |
| Wobble | <200 µrad |
| Lifetimef | >10 Billion Steps |
| Cable Lengthg | 1 m (3.3 ft) |
| Operating Voltage | 125 V (Max) |
| Required Controller | KIM001 or KIM101 |
Click to Enlarge
XY + rotation stage created by mounting a PDR1(/M) rotation stage on two PD1(/M) 20 mm travel linear stages. Two 5/16" (8 mm) long, 8-32 (M4 x 0.7) screws are required to mount the bottom PD1(/M) stage to the UBP2(/M) base.
Click to Enlarge
XY + Rotation Stage created by mounting two PD1(/M) linear stages on a PDR1(/M) rotation stage using the included accessories. Note that the cables from the PD1(/M) stages will limit the rotation in this configuration.
Features
- Compact Stainless Steel Stage with Piezo Inertia Drive
- Ideal for Applications Requiring High-Resolution Relative Positioning
- SM05 (0.535"-40) Threaded Rotating Platform with Ø9.0 mm Clear Aperture
- 30 mm Cage System Compatible
- 8-32 (M4 x 0.7) Holes on Two Sides for Post Mounting
- Stack with PD1(/M) Linear Stages to Create XY + Rotation Configurations (See Images at Right)
- Requires KIM001 or KIM101 Piezo Inertia Controller (Sold Separately Below)
Thorlabs' ORIC™ Piezoelectric Inertia Drive Rotation Stage provides stable, open-loop piezo-controlled rotary motion in a compact package. It is capable of 360° of continuous rotation at speeds up to 20°/s and with a typical step size of 250 µrad. As the step size is dependent on the load and the drive voltage, it can be further adjusted by changing the rise and fall voltages used to control the stage. In addition to continuous long-term stepping, the stage can also be used in a rotate-and-hold mode, with a holding torque of 25 mN•m.
Mounting Features
The compact 1.57" x 1.57" x 0.71" (40.0 mm 40.0 mm x 18.0 mm) PDR1(/M) stage can be mounted vertically or horizontally. Ø6 mm through holes at each corner accept ER cage rods, allowing the rotation stage to be incorporated into a 30 mm cage system. The rods are secured in place with 5/64" (2.0 mm) hex setscrews. Additionally, two sides of the stage each have one 8-32 (M4 x 0.7) tapped hole for mounting to a Ø1/2" post.
The bottom of the stage has two 8-32 (M4 x 0.7) tapped holes spaced 1" (25.0 mm) apart that can be used to mount the stage to a flat, even surface or to a PD1(/M) linear stage when constructing an XY + rotation configuration. Note that when mounting the stage using these holes, the mounting surface must have a flatness of ≤20 µm.
The top plate of this piezoelectric inertia drive stage features four 8-32 (M4 x 0.7) holes and four holes for Ø2 mm dowel pins that can be used for mounting components or a PD1(/M) linear stage. SM05 (0.535"-40) internal threads in the center of the top plate surround a Ø9 mm (0.35") bore through the center of the stage, enabling applications that require an optical path to pass through the body of the stage.
XY + Rotation Stage
The PDR1(/M) rotation stage can be combined with two PD1(/M) linear stages to create an XY + rotation stage (see the photos to the right). In one configuration, the PDR1(/M) stage is mounted on top of the PD1(/M) stages using a PD1U Adapter Plate. Alternatively, a PD1(/M) linear stage can be mounted directly to the rotating platform of the PDR1(/M) stage using two dowel pins and 5.3 mm long, 8-32 (M4 x 0.7) cap screws [both included with the PDR1(/M) stage]. Note that in this configuration, rotation will be limited by the wires connected to the PD1(/M) linear stages.
Required Controller
A KIM001 Single-Channel or KIM101 Four-Channel K-Cube Piezo Inertia Motor Controller, available below, is required to operate these stages; the piezo inertia drives cannot be driven using a standard piezo controller. The KIM101 controller must be the 2019 or newer version and have firmware revision 010004 or higher installed. Earlier versions of the this controller or those with older firmware will not function properly and may cause failure of the stage and/or the controller. The previous-generation TIM101 controller is not compatible.
Click to Enlarge
Simplified Illustration Showing the Operation of the Piezo Inertia Drive
The "stick-slip" cycle consists of a slow piezo expansion and a fast piezo contraction.
Piezoelectric Inertia "Stick-Slip" Motor
The piezo inertia motor consists of three main parts: a flexure-coupled piezo actuator, a friction element, and a rotating platform. For clockwise rotation, the piezo slowly expands under the ramp voltage during the "stick" part of the cycle, pushing the friction element and the rotating platform in unison. During the "slip" part, the drive voltage drops rapidly and the piezo element returns to its starting length, with the friction element "slipping." Due to the rotating platform's inertia and the low coefficient of kinetic friction between the friction element and the surface of the platform, the rotating platform does not reverse its direction during this process. The graph to the right shows the piezo drive voltage during one "stick-slip" cycle.
Repeating this cycle produces continuous clockwise rotation of the stage. For rotation in the reverse direction, the opposite drive voltage pattern is required, resulting in rapid piezo expansion and slower piezo contraction, or "slip-stick."
The achieved step size will vary and is not repeatable due to a number of factors, which include the application conditions, piezo hysteresis, component variance, and the axial load. To help overcome this variance, an external feedback system will be necessary.
All specifications were measured using the KIM101 K-Cube Four-Channel Piezo Inertia Motor Controller at frequencies under 2000 Hz, with a voltage setting of 85 V, and with the stage mounted on a surface with flatness ≤20 µm.
| PDR1(/M) Specifications | |
|---|---|
| Rotation Range | 360° Continuous |
| Step Size | 250 µrad (Typical)a; <350 µrad (Max)b |
| Step Size Adjustabilityb | Up to 30% |
| Maximum Step Frequency | 2 kHz |
| Maximum Speed (Continuous Stepping)c | 20°/s (Typical) |
| Speed Variation Over Travel Range (Average)c | ±10% (Typical) |
| Horizontal Load Capacity | 1 kg (2.2 lbs) |
| Vertical Load Torque Capacityd | 15 mN•m |
| Holding Torque | 25 mN•m |
| Wobble | <200 µrad |
| Lifetimee | >10 Billion Steps |
| Connector Type | SMC Female |
| Cable Length | 1 m (3.3 ft)f |
| Piezo Capacitance | 170 nF |
| Operating Voltage | 125 V (Max) |
| Operating Temperature | 10 to 40 °C |
| Dimensions | 40.0 mm x 40.0 mm x 18.0 mm (1.57" x 1.57" x 0.71") |
| Weight (Including Cable) | 151 g (5.33 oz) |
| Required Controller | KIM001 or KIM101 |
Note: The KIM001 uses Kinesis software. The KIM101 is compatible with both Kinesis and our legacy APT software.
Thorlabs offers two platforms to drive our wide range of motion controllers: our Kinesis® software package or the legacy APT™ (Advanced Positioning Technology) software package. Either package can be used to control devices in the Kinesis family, which covers a wide range of motion controllers ranging from small, low-powered, single-channel drivers (such as the K-Cubes™ and T-Cubes™) to high-power, multi-channel, modular 19" rack nanopositioning systems (the APT Rack System).
The Kinesis Software features .NET controls which can be used by 3rd party developers working in the latest C#, Visual Basic, LabVIEW™, or any .NET compatible languages to create custom applications. Low-level DLL libraries are included for applications not expected to use the .NET framework. A Central Sequence Manager supports integration and synchronization of all Thorlabs motion control hardware.
Kinesis GUI Screen
APT GUI Screen
Our legacy APT System Software platform offers ActiveX-based controls which can be used by 3rd party developers working on C#, Visual Basic, LabVIEW™, or any Active-X compatible languages to create custom applications and includes a simulator mode to assist in developing custom applications without requiring hardware.
By providing these common software platforms, Thorlabs has ensured that users can easily mix and match any of the Kinesis and APT controllers in a single application, while only having to learn a single set of software tools. In this way, it is perfectly feasible to combine any of the controllers from single-axis to multi-axis systems and control all from a single, PC-based unified software interface.
The software packages allow two methods of usage: graphical user interface (GUI) utilities for direct interaction with and control of the controllers 'out of the box', and a set of programming interfaces that allow custom-integrated positioning and alignment solutions to be easily programmed in the development language of choice.
A range of video tutorials is available to help explain our APT system software. These tutorials provide an overview of the software and the APT Config utility. Additionally, a tutorial video is available to explain how to select simulator mode within the software, which allows the user to experiment with the software without a controller connected. Please select the APT Tutorials tab above to view these videos.
Software
Kinesis Version 1.14.23
The Kinesis Software Package, which includes a GUI for control of Thorlabs' Kinesis and APT™ system controllers.
Also Available:
- Communications Protocol
Software
APT Version 3.21.4
The APT Software Package, which includes a GUI for control of Thorlabs' APT™ and Kinesis system controllers.
Also Available:
- Communications Protocol
Thorlabs' Kinesis® software features new .NET controls which can be used by third-party developers working in the latest C#, Visual Basic, LabVIEW™, or any .NET compatible languages to create custom applications.
C#
This programming language is designed to allow multiple programming paradigms, or languages, to be used, thus allowing for complex problems to be solved in an easy or efficient manner. It encompasses typing, imperative, declarative, functional, generic, object-oriented, and component-oriented programming. By providing functionality with this common software platform, Thorlabs has ensured that users can easily mix and match any of the Kinesis controllers in a single application, while only having to learn a single set of software tools. In this way, it is perfectly feasible to combine any of the controllers from the low-powered, single-axis to the high-powered, multi-axis systems and control all from a single, PC-based unified software interface.
The Kinesis System Software allows two methods of usage: graphical user interface (GUI) utilities for direct interaction and control of the controllers 'out of the box', and a set of programming interfaces that allow custom-integrated positioning and alignment solutions to be easily programmed in the development language of choice.
For a collection of example projects that can be compiled and run to demonstrate the different ways in which developers can build on the Kinesis motion control libraries, click on the links below. Please note that a separate integrated development environment (IDE) (e.g., Microsoft Visual Studio) will be required to execute the Quick Start examples. The C# example projects can be executed using the included .NET controls in the Kinesis software package (see the Kinesis Software tab for details).
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Click Here for the Kinesis with C# Quick Start Guide Click Here for C# Example Projects Click Here for Quick Start Device Control Examples |
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LabVIEW
LabVIEW can be used to communicate with any Kinesis- or APT-based controller via .NET controls. In LabVIEW, you build a user interface, known as a front panel, with a set of tools and objects and then add code using graphical representations of functions to control the front panel objects. The LabVIEW tutorial, provided below, provides some information on using the .NET controls to create control GUIs for Kinesis- and APT-driven devices within LabVIEW. It includes an overview with basic information about using controllers in LabVIEW and explains the setup procedure that needs to be completed before using a LabVIEW GUI to operate a device.
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Click Here to View the LabVIEW Guide Click Here to View the Kinesis with LabVIEW Overview Page |
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These videos illustrate some of the basics of using the APT System Software from both a non-programming and a programming point of view. There are videos that illustrate usage of the supplied APT utilities that allow immediate control of the APT controllers out of the box. There are also a number of videos that explain the basics of programming custom software applications using Visual Basic, LabView and Visual C++. Watch the videos now to see what we mean.
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Click here to view the video tutorial | |
To further assist programmers, a guide to programming the APT software in LabView is also available.
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Click here to view the LabView guide | |
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Rotation Mount and Stage Selection Guide
Thorlabs offers a wide variety of manual and motorized rotation mounts and stages. Rotation mounts are designed with an inner bore to mount a Ø1/2", Ø1", or Ø2" optic, while rotation stages are designed with mounting taps to attach a variety of components or systems. Motorized options are powered by a DC Servo motor, 2 phase stepper motor, piezo inertia motor, or an Elliptec™ resonant piezo motor. Each offers 360° of continuous rotation.
Manual Rotation Mounts
| Rotation Mounts for Ø1/2" Optics | |||||||
|---|---|---|---|---|---|---|---|
| Item # | MRM05(/M) | RSP05(/M) | CRM05 | PRM05(/M)a | SRM05 | KS05RS | CT104 |
| Click Photo to Enlarge |
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| Features | Mini Series | Standard | External SM1 (1.035"-40) Threads |
Micrometer | 16 mm Cage-Compatible | ±4° Kinematic Tip/Tilt Adjustment Plus Rotation | Compatible with CT1 Cage Translator Stage and 1/4" Translation Stagesb |
| Additional Details | |||||||
| Rotation Mounts for Ø1" Optics | ||||||||
|---|---|---|---|---|---|---|---|---|
| Item # | RSP1(/M) | LRM1 | RSP1D(/M) | DLM1(/M) | CLR1(/M) | RSP1X15(/M) | RSP1X225(/M) | PRM1(/M)a |
| Click Photo to Enlarge |
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| Features | Standard | External SM1 (1.035"-40) Threads |
Adjustable Zero | Two Independently Rotating Carriages | Rotates Optic Within Fixed Lens Tube System |
Continuous 360° Rotation or 15° Increments |
Continuous 360° Rotation or 22.5° Increments |
Micrometer |
| Additional Details | ||||||||
| Rotation Mounts for Ø1" Optics | ||||||
|---|---|---|---|---|---|---|
| Item # | LM1-A & LM1-B(/M) |
CRM1(/M) | CRM1L(/M) | CRM1P | KS1RS | K6XS |
| Click Photo to Enlarge |
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| Features | Optic Carriage Rotates Within Mounting Ring | 30 mm Cage-Compatiblea | 30 mm Cage-Compatible for Thick Opticsa |
30 mm Cage-Compatible with Micrometera |
±4° Kinematic Tip/Tilt Adjustment Plus Rotation | Six-Axis Kinematic Mounta |
| Additional Details | ||||||
| Rotation Mounts for Ø2" Optics | |||||||
|---|---|---|---|---|---|---|---|
| Item # | RSP2(/M) | RSP2D(/M) | PRM2(/M) | LM2-A & LM2-B(/M) |
LCRM2(/M) | KS2RS | K6X2 |
| Click Photo to Enlarge |  |
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| Features | Standard | Adjustable Zero |
Micrometer | Optic Carriage Rotates Within Mounting Ring | 60 mm Cage-Compatible | ±4° Kinematic Tip/Tilt Adjustment Plus Rotation | Six-Axis Kinematic Mount |
| Additional Details | |||||||
Manual Rotation Stages
| Manual Rotation Stages | ||||||
|---|---|---|---|---|---|---|
| Item # | RP005(/M) | PR005(/M) | MSRP01(/M) | RP01(/M) | RP03(/M) | QRP02(/M) |
| Click Photo to Enlarge |
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| Features | Standard | Two Hard Stops | ||||
| Additional Details | ||||||
| Manual Rotation Stages | |||||
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| Item # | XRR1(/M) | PR01(/M) | CR1(/M) | XYR1(/M) | OCT-XYR1(/M) |
| Click Photo to Enlarge |
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| Features | Fine Rotation Adjuster and 3" Wide Dovetail Quick Connect |
Fine Rotation Adjuster and SM1-Threaded Central Aperture |
Fine Pitch Worm Gear | Rotation and 1/2" Linear XY Translation | |
| Additional Details | |||||
Motorized Rotation Mounts and Stages
| Motorized Rotation Mounts and Stages with Central Clear Apertures | |||||||
|---|---|---|---|---|---|---|---|
| Item # | DDR25(/M) | PDR1(/M) | K10CR1(/M) | PRM1Z8(/M)a | DDR100(/M) | ELL14 | HDR50(/M) |
| Click Photo to Enlarge |
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| Features | Compatible with SM05 Lens Tubes, 16 mm Cage System, 30 mm Cage System |
Compatible with SM05 Lens Tubes, 30 mm Cage System, PD1(/M) Linear Stages |
Compatible with SM1 Lens Tubes & 30 mm Cage System |
Compatible with SM1 Lens Tubes, 16 mm Cage System, 30 mm Cage System |
Compatible with SM1 Lens Tubes, Open Frame Design for OEM Applications |
Compatible with SM2 Lens Tubes |
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| Motorized Rotation Mounts and Stages with Tapped Platforms | ||
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| Item # | PRMTZ8(/M)a | ELL18(/M)b |
| Click Photo to Enlarge |
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| Features | Tapped Mounting Platform for Mounting Prisms or Other Optics | Tapped Mounting Platform, Open Frame Design for OEM Applications |
| Additional Details | ||
Zoom
Click for Details
Metric Stage Features
Click for Details
Imperial Stage Features
- Continuous 360° Rotation at Speeds Up to 20°/s
- Typical Step Size: 250 µrad
- Platform Size: Ø1.34" (34.0 mm)
- Internal SM05 (0.535"-40) Threads
- Ø0.35" (Ø9.0 mm) Clear Aperture
- Four 8-32 (M4 x 0.7) Threaded Holes
- Platform Height: 0.71" (18.0 mm)
- Small Footprint: 1.57" x 1.57" (40.0 mm x 40.0 mm)
- Integrated 1 m (3.3 ft) Cable with SMC Female Connector
This open-loop piezo inertia rotation stage can operate at speeds up to 20°/s with no backlash and a typical step size of 250 µrad. The piezo inertia drive is self-locking when the stage is at rest and no power is supplied to the piezo. These features make the PDR1(/M) stage ideal for set-and-hold applications that require resolutions smaller than a milliradian and long-term alignment stability.
Each stage has an integrated 1.0 m cable; the PAA101 1.5 m SMC extension cable and T5026 male-to-male SMC adapter can be used to extend the cable length. Due to the capacitance of the cables, please note that the total length of the control cable should not exceed 2.5 m.
Note: During operation, the stage makes a high-pitch noise and may generate some heat. This is normal behavior in the performance of the device and does not indicate a fault condition.
Zoom| Key Specificationsa | ||
|---|---|---|
| Item # | KIM001 | KIM101 |
| Piezoelectric Outputs (SMC Male) | One | Four |
| Piezo Output Voltage | 85 to 125 VDC | 85 to 125 VDC per Channel |
| Top Panel Controls | Scroll Wheel | Dual-Axis Joystick |
| External Input (SMA Female) |
±10 V ± 2% | |
| Input Power | +15 VDC @ 2 A | |
| Housing Dimensionsb |
60.0 mm x 60.0 mm x 47.0 mm (2.36" x 2.36" x 1.85") |
121.0 mm x 60.0 mm x 47.0 mm (4.76" x 2.36" x 1.85") |
| Compatible Software | Kinesis | Kinesis & Legacy APT |
- For complete specifications, please see the manuals by clicking the red Docs icons (
) below. - Not Including Mounting Plate
- Compact Footprints
- Adjustable Voltage Output from 85 V to 125 V
- Single-Channel and Four-Channel Versions Available
- Standalone Operation via Top Panel Controls and Display or PC Control via USB Plug and Play
These compact K-Cube Controllers provide easy manual and PC control of our piezo inertia stages, actuators, and optic mounts. They feature adjustable voltage output from 85 V to 125 V. The top panel display screen enables operation as soon as the unit is turned on, without the need for connection to a PC. Alternatively, both controllers have USB connectivity that provides 'Plug-and-Play' PC-controlled operation with our Kinesis® software package (included). The KIM101 controller can also be operated with our legacy APT™ (Advanced Positioning Technology) software package.
These units have small footprints and may be mounted directly to the optical table using the 1/4" (M6) counterbored slots in the base plate. Their compact size allows these controllers to be positioned close to the motorized system for added convenience when manually adjusting motor positions using the top panel controls. Tabletop operation also allows minimal drive cable lengths for easier cable management.
Please note that these controllers do not ship with a power supply. The compatible KPS101 power supply is sold below.
KIM001 Single-Channel Controller
This single-channel piezo inertia controller provides a voltage output for a single piezo inertia stage or actuator. The top panel features a spring-loaded scroll wheel for driving the stage or actuator as well as selecting menu options.
KIM101 Four-Channel Controller
This four-channel controller features four SMC outputs to drive piezo inertia devices. The channels can be controlled independently or simultaneously in pairs using the dual-axis joystick on the controller's top panel. The controller can be configured to operate up to four PD series piezo inertia stages, up to four PIA seies piezo inertia actuators, or up to two PIM series piezo inertia optic mounts; one KIM101 can only concurrently drive devices that use the same "Select Stage" configuration in the controller's menu options (see the manuals for more details).
For more information, please see the full web presentation.
Operation
Set the stage configuration on the KIM001 or KIM101 controller to "PD(R)" before driving this stage. Select the "Select Stage" option, change it from "PIA" to "PD(R)", and then restart the controller. The display will show "Stage is PD(R)" and the configuration will be changed to drive the PD1(/M) linear or PD1R(/M) rotation stage. For additional front panel configuration details, please see the KIM001 or KIM101 controller manuals by clicking the red Docs icons () below. These drivers have an internal sawtooth voltage signal generator capable of sending sub-millisecond pulses (steps) with controllable amplitudes from 85 V to 125 V.
Power Supply
The KIM001 and KIM101 Motor Controllers do not ship with a power supply. A compatible power supply is our KPS101, sold below.
Note: Due to the nature of its design, and its non-linear high frequency switching, the KIM001 and KIM001 units are not compatible with the KCH301 and KCH601 hubs. Use only the KPS101 power supply unit.
Zoom- Power Supply Compatible with KIM001 and KIM101 Motor Controllers
- Universal Input: 90 - 264 VAC
- Interchangeable AC Plug
The KPS101 power supply outputs +15 VDC at up to 2.4 A and can power a single K-Cube or T-Cube with a 3.5 mm jack. It plugs into a standard wall outlet.
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