ORIC® Piezo Inertia Drive Stages, Vacuum Compatible


  • Linear Stage with 20 mm Travel
  • Rotation Stage with Continuous 360° Rotation
  • Vacuum-Compatible Down to 10-6 Torr
  • Flying Leads

PD1V

Linear Translation Stage

PDR1V

Rotation Stage

U.S. Patent 11,218,090

Related Items


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Key Specificationsa
Item # PD1V(/M) PDR1V(/M)
Stage Travel 20 mm Linear 360° Rotation
Typical Step Size 1 µmb 250 µradb
Top Plate Mounting Options Four 2-56 (M2) Threaded Holes;
Six 8-32 (M4) Threaded Holes;
Six Ø2 mm Dowel Pin Holes
Four 8-32 (M4) Threaded Holes;
SM05 (0.535"-40) Threaded Hole;
Four Ø2 mm Dowel Pin Holes
Vacuum Compatibility 10-6 Torr
  • For complete specifications, please see the Specs tab.
  • This value can vary by up to 20% due to component variance, change of direction, and application conditions.
ORIC Webinar
ORIC® Piezo Inertia Stage Selection Guide
Linear Translation Stages
Rotation Stages
Vacuum-Compatible Stages

Piezoelectric Inertia "Stick-Slip" Motor

Inertia Motor Operation
Click to Enlarge

Simplified Illustration Showing the Operation of the Piezo Inertia Drive
Inertia Motor Operation
The "stick-slip" cycle consists of a slow piezo expansion and a fast piezo contraction.

The piezo inertia motor consists of three main parts: a flexure-coupled piezo actuator, a friction element, and a slider (the moving platform). During the "stick" part of a cycle, the piezo slowly expands under the ramp voltage, pushing the friction element and the slider forward 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" backward. The slider does not move due to its inertia and the low coefficient of kinetic friction between the friction element and the bottom surface of the slider. The graph to the right shows the piezo drive voltage during one "stick-slip" cycle.

Repeating this cycle produces continuous travel of the slider. For travel in the reverse direction, the opposite drive voltage pattern is required, resulting in rapid piezo expansion and slower piezo contraction, or "slip-stick". 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.

Due to a number of factors that include the application conditions, piezo hysteresis, component variance, and the axial load, the achieved step size will vary and is not repeatable. To help overcome this variance, an external feedback system will be necessary.

Features

  • Compact Stainless Steel Stages with Piezo Inertia Drive
  • Ideal for OEMs and Set-and-Hold Applications that Require Relative Positioning with High Resolution
  • Vertical Mounting Options for Each Stage
  • Requires a Piezo Inertia Stage Controller (Sold Separately Below)

Thorlabs' Vacuum-Compatible ORIC® Piezoelectric Inertia Drive Stages (U.S. Patent 11,218,090) provide fast and stable open-loop piezo-controlled motion with no backlash in compact, vacuum-compatible packages. The piezo inertia drive is self-locking when the stage is at rest and no power is supplied to the piezo, making these stages ideal for set-and-hold applications that require nanometer resolution and long-term alignment stability. A 20 mm linear translation stage and a 360° rotation stage are available.

Load Mounting Options
Each stage has an array of threaded holes on the moving platform for securing a load to the stage (see the table to the right). Alternatively, the linear stage is compatible with the PD1T(/M) and PD1U(/M) adapter plates, which provide alternative mounting hole patterns for the top plate. For more information on the hole patterns, please refer to the drawings below.

Stage Mounting Options
The linear stage includes mounting counterbores that are accessible when the moving plate is translated to the ends of the travel range. There are two mounting options: using two 2-56 (M2) screws on the corners with 0.35 N·m recommended torque or two 8-32 (M4) screws on the ends with 0.55 N·m recommended torque. We offer the TD75 torque driver for tightening to a specific torque value. The linear stage should be mounted on an even surface with recommended flatness ≤5 μm. If the stage is mounted on a surface with >5 µm flatness (as with most breadboards and optical tables), the mounting torque may need to be decreased in order for the velocity variation and pitch/yaw of the stage to meet specifications. If needed, the PD1B(/M) or PD1B2(/M) adapters provide a mounting surface with precise flatness to avoid warping the stage when mounting it to a table surface.

Two linear stages can be stacked on top of each other for an XY configuration for applications that require additonal movement. The PD1Z(/M) right-angle bracket adapter allows the stage to be mounted vertically on top of another stage for an XZ or XYZ configuration. Note that when the stage is mounted vertically, the load capacity is greatly reduced.

The rotation stage can be mounted vertically or horizontally. The 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 rotation 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 PD1V(/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.

XY + Rotation Stage
Two linear stages can be combined with the rotation stage for applications that require XY translation and rotation. For more details, visit the full web presentation for the ORIC rotation stages.

Vacuum Usage
Although the unit is thoroughly cleaned after assembly, it is recommended to pre-bake the stage and all accessories in order to remove volatile compounds and moisture from the components. During the bake-out process, the temperature must be limited to 100 °C for the PD1V(/M) or 120 °C for PDR1V(/M). If separately baking out mechanical accessories, the temperature can be as high as 150 °C, but the components must cool down to room temperature before mounting on the stage.

Required Controller
One of our piezo inertia controllers is required to operate these stages. Note that the piezo inertia drives cannot be driven using a standard piezo controller. Please see below on more information on which controllers are compatible with each stage.

PD1V(/M) Specificationsa
Travel 20 mm (0.78")
Step Size Typical: 1 µmb
Maximum: <3 µmc
Adjustability: ≤30%c
Maximum Step Frequency 2 kHzd
Speed (Continuous Stepping) 3 mm/s Typical Maxe,f
Average Velocity Variation
Over Travel Range
±10%e,g
Horizontal Load Capacity 3 kg (6.61 lbs)
Vertical Load Capacityh 100 g (3.5 oz)
Clamping / Holding Force 3 N
Pitch / Yaw Over Travel Range 200 µrad
XY Stacked Orthogonality <5 mrad
Motor Type Piezoelectric Inertia Drive
Lifetime >10 Billion Stepsi,j
Vacuum Compatibility 10-6 Torr
Piezo Specifications
Max Operating Voltage 125 V
Capacitance 170 nF
Physical Specifications
Operating Temperature 10 to 40 °C
Connector Type Flying Leads Attached to Stage;
Additional Bare Lead to SMC Female Cable Included
Cable Lengthk 0.75 m (2.48 ft) Flying Lead for Vacuum;
1.0 m (3.3 ft) Cored Cable Included for Wiring Outside Chamber
Top Plate Mounting Options Four 2-56 (M2) Threaded Holes, 3.5 mm Deep;
Six 8-32 (M4) Threaded Holes, 3.2 mm Deep;
Six Ø2 mm Dowel Pin Holes, 1.5 mm Deep;
PD1T(/M) and PD1U(/M) Adapters
Dimensions 32.5 mm x 32.0 mm x 11.5 mm
(1.28" x 1.26" x 0.45")
Weight (Including Cable) 80 g (2.82 oz)
Required Controller
(Available Separately Below)
KIM001, KIM101l, or PDXCm
  • Specifications are measured using the KIM101 Inertia Piezo Controller and with the stage mounted on a surface with flatness ≤ 5 µm.
  • This value can vary by up to 20% due to component variance, change of direction, and application conditions.
  • This is adjusted by changing the piezo drive voltage and frequency. See the KIM001 or KIM101 controller manuals for more details.
  • 2 kHz is the maximum output frequency of the KIM001 and KIM101 controllers.
  • Specified at 2 kHz Step Frequency
  • The forward and backward velocities may differ by up to 50% due to the open-loop design, component variances, and application conditions. Operating the stage with the wrong software settings will further increase the variance; be sure to select stage type "PD(R)" in the Kinesis software.
  • Variation in Speed in a Single Travel Direction
  • This is equivalent to the push/pull force along the axial/travel direction, which is 1 N.
  • This lifetime is valid in a normal atmospheric environment. When using the stage in a vacuum, heat dissipation can be done only through the stage body itself, and the abrasion will also be heavier than in an atmospheric environment. Because of these factors, the lifetime of the stage will be reduced.
  • When mounted vertically, long term usage (>3 billion steps) may cause creep of the rails, leading to decreased travel range. To avoid this, return the stage to a horizontal position and run it back and forth over the full range several times after approximately 1 billion steps in a vertical orientation.
  • The total length of the included cables is 1.75 m. Please note that, due to the capacitance of the cables, the total length of the control cables should not exceed 2.5 m.
  • The KIM101 controller version must be 2019 or newer (per the S/N label) with a firmware revision of 010004 or higher (indicated when the controller is powered on. Earlier versions of the KIM101 controller or those with older firmware will not function properly and may cause failure of the stage and/or the controller.
  • The PDXC operates at higher frequencies but outputs a lower maximum voltage than the K-Cube controllers. It will drive the PDR1V(/M) stage at a higher speed with a smaller step size and lower driving torque.
PDR1V(/M) Specificationsa
Rotation Range 360° Continuous
Step Size Typical: 250 µradb
Maximum: <350 µradc
Adjustability: ≤30%c
Maximum Step Frequency 2 kHzd
Maximum Speed (Continuous Stepping)e 20°/s (Typical)
Speed Variation Over Travel Range (Average)e ±10% (Typical)
Horizontal Load Capacity 1 kg (2.2 lbs)
Vertical Load Torque Capacityf 15 mN•m
Holding Torque 25 mN•m
Wobble ≤200 µrad
Lifetime >10 Billion Stepsg
Vacuum Compatibility 10-6 Torr
Piezo Specifications
Max Operating Voltage 125 V
Capacitance 170 nF
Physical Specifications
Operating Temperature 10 to 40 °C
Connector Type Flying Leads Attached to Stage;
Additional Bare Lead to SMC Female Cable Included
Cable Lengthh 0.75 m (2.48 ft) Flying Lead for Vacuum;
1.0 m (3.3 ft) Cored Cable Included for Wiring Outside Chamber
Top Plate Mounting Options Four 8-32 (M4) Threaded Holes, 2.0 mm Deep;
Four Ø2 mm Dowel Pin Holes, 1.5 mm Deep;
One SM05 (0.535"-40) Threaded Aperture, 2.5 mm Deep
Dimensions 40.0 mm x 40.0 mm x 18.0 mm
(1.57" x 1.57" x 0.71")
Weight (Including Cable) 163 g (5.75 oz)
Required Controller KIM001, KIM101i, or PDXCj
  • 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.
  • This can vary by 20% due to component variance, change of direction, and application conditions.
  • This is adjusted by changing the piezo drive voltage and frequency. See the KIM001 or KIM101 controller manual for more details.
  • 2 kHz is the maximum output frequency of the KIM001 and KIM101 controllers.
  • Specified at 2 kHz Step Frequency
  • Assuming a 100 g (0.22 lbs) load extending 15 mm from the stage. A higher load or longer arm will increase the wobble and may lead to failure of the stage.
  • This lifetime is valid in a normal atmospheric environment. When using the stage in a vacuum, heat dissipation can be done only through the stage body itself, and the abrasion will also be heavier than in an atmospheric environment. Because of these factors, the lifetime of the stage will be reduced.
  • The total length of the included cables is 1.75 m. Please note that, due to the capacitance of the cables, the total length of the control cables should not exceed 2.5 m.
  • The KIM101 controller version must be 2019 or newer (per the S/N label) with a firmware revision of 010004 or higher (indicated when the controller is powered on. Earlier versions of the KIM101 controller or those with older firmware will not function properly and may cause failure of the stage and/or the controller.
  • The PDXC operates at higher frequencies but outputs a lower maximum voltage than the K-Cube controllers. It will drive the PDR1V(/M) stage at a higher speed with a smaller step size and lower driving torque.

Software

PDXC Version 1.2.0

The PDXC Software Package, which includes a GUI, drivers, and LabVIEW™/C++/Python SDK for third-party development.

Software Download

Thorlabs offers a PDXC software package to control the PDXC Piezo Stage Controller. This controller is designed to drive the following piezo inertia stages:

  • PD1(/M) Linear Stage
  • PDX1(/M) Linear Stage with Optical Encoder
  • PD1V(/M) Vacuum-Compatible Linear Stage
  • PDR1(/M) Rotation Stage
  • PDR1V(/M) Vacuum-Compatible Rotation Stage

The software package allows 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 for third-party development of custom-integrated positioning and alignment solutions to be easily programmed in the development language of choice (LabVIEW™/C++/Python SDK).

Note: This software is compatible with the KIM001 and KIM101 controllers; it cannot be used to operate the PDXC controller.

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 Software
Kinesis GUI Screen
APT Software
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 1.14.30

The Kinesis Software Package, which includes a GUI for control of Thorlabs' Kinesis and APT™ system controllers.

Also Available:

  • Communications Protocol
Software Download

Software

APT Version 3.21.5

The APT Software Package, which includes a GUI for control of Thorlabs' APT™ and Kinesis system controllers.

Also Available:

  • Communications Protocol
Software Download

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).

C Sharp Icon Click Here for the Kinesis with C# Quick Start Guide
Click Here for C# Example Projects
Click Here for Quick Start Device Control Examples
C Sharp Icon

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.

Labview Icon Click Here to View the LabVIEW Guide
Click Here to View the Kinesis with LabVIEW Overview Page
Labview Icon

Achieving the Specified Performance

In this application note, we will discuss how to achieve the specified velocity and step size for the open-loop PD1(/M), PD1D(/M), and PDR1(/M) ORIC® Stages when driving them with KIM001 or KIM101 K-Cube™ Controllers; examples using the Kinesis® software and the K-Cube's front panel controls are discussed below. There are limitations when using an open-loop system, and we have created this application note to help minimize velocity and step size variation. We recommend using this application note upon initial setup, and/or if you are having issues with velocity and step size variation. For further details on how to change settings, please refer to the manuals of the individual stage and controller.




Click to Enlarge

Figure 2: These are the recommended channel settings for the PD(R) stage type. They can be changed in Device Settings -> Current Device Settings-> Channel 1.

Click to Enlarge

Figure 1: When controlling an Oric Stage, the stage type needs to be set to PD(R). This can be found in the Kinesis Software Device Settings -> Startup.

Click to Enlarge

Figure 4: Depicted in the circle is the jog mode, which should be set to continuous. This can be changed in Device Settings -> Current -> Channel 1.

Figure 3: Circled in black are the jog buttons which can be found in the device GUI.

Kinesis© Software Control with a K-Cube Controller

The Kinesis software defaults the stage type to PIA, which is not applicable to ORIC stages; to change this, we need to change the startup settings. The startup settings can be found by first accessing the device settings in the device GUI panel and then clicking the Startup tab. Under the Configuration tab, change the stage type to PD(R), check the "Persist Settings to the Device" box on the bottom right, and click the "Save" button in the lower left corner. These selections are shown circled in Figure 1. By using these settings, the Kinesis software will use the PD(R) stage type. The other device and channel settings can also be changed in the startup settings.

With the PD(R) stage type, we recommend certain channel settings to achieve the specified speed, speed variation, and force. These settings can be changed in the "Channel 1" tab of the device settings and are depicted in Figure 2. We will be focusing on the settings in the “Drive” box, circled in black, and the "Jog" box, circled in blue.

For the "Drive" box, we recommend setting the "Maximum Voltage" to 85 V, the "Rate" at 2000 steps/s, and "Acceleration" to 10000 Steps/s2. For the settings in the "Jog" box, we recommend setting the "Forward Size" to 250 Steps, the "Reverse Size" to 250 Steps, the "Mode" to "Continuous", the "Step Rate" to 2000 Steps/s, and the "Step Acceleration" to 10000 Steps/s2. To achieve the specified results, it is important to make sure the stage is mounted properly to an even surface, to our recommended mounting plate, or to a compatible adapter plate.

A continuous jog at a step rate higher than 1000 steps/s can only be achieved by using the jog buttons in the device GUI, shown circled in Figure 3. Continuous jog movement is limited to within 1000 step/s when using the joystick on the KIM101 K-Cube Controller or wheel on the KIM001 K-Cube Controller. Single movement or movement by counts is not limited to 1000 step/s when using the joystick or wheel.

Please note that if you change the jog mode in Kinesis to "Continuous" or "Single" this will only influence the jog buttons in the Kinesis GUI, shown circled in Figure 3. This will not change the joystick mode on the KIM001 or KIM101 controller front panel. The jog mode can be found in Kinesis under Device settings -> Channel 1 -> "Jog" box -> "Mode", also shown in Figure 4. More information on this can be found in the Front Panel Control section, located below.







Click to Enlarge

Figure 6: Kinesis software showing the "Device" tab under Device Settings in the Device GUI. The "Maximum Step Rate" setting is circled in blue. To use the joystick with continuous jogging mode this setting must be less than 1000 steps/s. The Kinesis joystick modes can be selected via the dropdown menu circled in black.

Figure 5: Drawing of the front panel of the KIM101 K-Cube Controller showing option 5, Joystick Mode.

Click to Enlarge

Figure 8: Kinesis software showing where the step size can be changed using the "Forward Size" and "Reverse Size" settings. The "Mode" setting, also shown, only affects the controls of the jog buttons in the GUI and does not affect the joystick mode.

Click to Enlarge

Figure 7: The drive rate can be changed in the Kinesis software under Device Settings -> Current -> Channel 1. This is equivalent to Front Panel Control option 3, "Set Velocity".

KIMx01 Front Panel Control and Related Settings in Kinesis

There are 10 options on the front panel control menu. These can be accessed using the two buttons and joystick on the KIM101 K-Cube Controller or the button and wheel on the KIM001 K-Cube Controller.

Option 5, Joystick Mode, shown in Figure 5, has 3 modes: "Jog to Count", "Jogging in Steps", and "Velocity Control". The Joystick mode in the Kinesis software is related to option 5, Joystick Mode, on the front panel. The three options for the Joystick Mode in the Kinesis software are "Step Rate", "Jog", and "Goto Position". This setting is circled in black in Figure 6.

"Jog to Count" mode will move the stage to the target count, which is defaulted at 0, under the velocity that is set by option 3, "Set Velocity" on the front panel. The setting for option 3 is the velocity at which the stage will move for option 5’s “Jog to Count” mode and for option 1, "Goto Pos Count". There is an equivalent setting in Kinesis which can be found in Device Settings -> Channel 1 -> "Drive" box -> "Rate". This is shown in Figure 7.

In "Jogging in Steps" mode, option 3, "Set Velocity" does not change the stage's velocity. The velocity in this mode must be changed in the Kinesis software. This can be changed in Device settings -> Channel 1 -> "Jog" box -> "Step Rate". Instead of changing the step rate to increase the stage speed, the step size can be changed to increase the stage speed. The step size can be changed on the front panel of a KIM001 or KIM101 device through option 4, "Jog Step Size". This can also be achieved in Kinesis through Device settings -> "Channel 1" -> "Jog" box-> "Forward Size" and "Reverse Size", shown in Figure 8.

In option 5 "Velocity Control" mode, the joystick can be used to achieve continuous jogging, but only if the velocity is less than 1000 step/s. This velocity cannot be changed by option 3 on the front panel. The velocity can only be changed in the Kinesis software under the Device settings -> Device -> "Maximum Step Rate", shown in Figure 6. A value of 10000 may appear initially, but this value is not accepted by the software and must be revised to a number between 1 and 1000.

In Kinesis, the joystick mode "Step Rate", is related to the "Velocity Control" mode on the front panel and can use the setting of "Maximum Step Rate". The "Direction Sense" can be used to switch the travel direction when using the joystick or wheel.

The APT video tutorials available here fall into two main groups - one group covers using the supplied APT utilities and the second group covers programming the APT System using a selection of different programming environments.

Disclaimer: The videos below were originally produced in Adobe Flash. Following the discontinuation of Flash after 2020, these tutorials were re-recorded for future use. The Flash Player controls still appear in the bottom of each video, but they are not functional.

Every APT controller is supplied with the utilities APTUser and APTConfig. APTUser provides a quick and easy way of interacting with the APT control hardware using intuitive graphical control panels. APTConfig is an 'off-line' utility that allows various system wide settings to be made such as pre-selecting mechanical stage types and associating them with specific motion controllers.

APT User Utility

The first video below gives an overview of using the APTUser Utility. The OptoDriver single channel controller products can be operated via their front panel controls in the absence of a control PC. The stored settings relating to the operation of these front panel controls can be changed using the APTUser utility. The second video illustrates this process.

APT User - Overview
APT User - OptoDriver Settings


APT Config Utility

There are various APT system-wide settings that can be made using the APT Config utility, including setting up a simulated hardware configuration and associating mechanical stages with specific motor drive channels. The first video presents a brief overview of the APT Config application. More details on creating a simulated hardware configuration and making stage associations are present in the next two videos.

APT Config - Overview
APT Config - Simulator Setup
APT Config - Stage Association


APT Programming

The APT Software System is implemented as a collection of ActiveX Controls. ActiveX Controls are language-independant software modules that provide both a graphical user interface and a programming interface. There is an ActiveX Control type for each type of hardware unit, e.g. a Motor ActiveX Control covers operation with any type of APT motor controller (DC or stepper). Many Windows software development environments and languages directly support ActiveX Controls, and, once such a Control is embedded into a custom application, all of the functionality it contains is immediately available to the application for automated operation. The videos below illustrate the basics of using the APT ActiveX Controls with LabVIEW, Visual Basic, and Visual C++. Note that many other languages support ActiveX including LabWindows CVI, C++ Builder, VB.NET, C#.NET, Office VBA, Matlab, HPVEE etc. Although these environments are not covered specifically by the tutorial videos, many of the ideas shown will still be relevant to using these other languages.

Visual Basic

Part 1 illustrates how to get an APT ActiveX Control running within Visual Basic, and Part 2 goes on to show how to program a custom positioning sequence.

APT Programming Using Visual Basic - Part 1
APT Programming Using Visual Basic - Part 2


LabVIEW

Full Active support is provided by LabVIEW and the series of tutorial videos below illustrate the basic building blocks in creating a custom APT motion control sequence. We start by showing how to call up the Thorlabs-supplied online help during software development. Part 2 illustrates how to create an APT ActiveX Control. ActiveX Controls provide both Methods (i.e. Functions) and Properties (i.e. Value Settings). Parts 3 and 4 show how to create and wire up both the methods and properties exposed by an ActiveX Control. Finally, in Part 5, we pull everything together and show a completed LabVIEW example program that demonstrates a custom move sequence.

APT Programming Using LabVIEW -
Part 1: Accessing Online Help
APT Programming Using LabVIEW -
Part 2: Creating an ActiveX Control
APT Programming Using LabVIEW -
Part 3: Create an ActiveX Method
APT Programming Using LabVIEW -
Part 4: Create an ActiveX Property
APT Programming Using LabVIEW -
Part 5: How to Start an ActiveX Control


The following tutorial videos illustrate alternative ways of creating Method and Property nodes:

APT Programming Using LabVIEW -
Create an ActiveX Method (Alternative)
APT Programming Using LabVIEW -
Create an ActiveX Property (Alternative)


Visual C++

Part 1 illustrates how to get an APT ActiveX Control running within Visual C++, and Part 2 goes on to show how to program a custom positioning sequence.

APT Programming with Visual C++ - Part 1
APT Programming with Visual C++ - Part 2


MATLAB

For assistance when using MATLAB and ActiveX controls with the Thorlabs APT positioners, click here.

To further assist programmers, a guide to programming the APT software in LabVIEW is also available here.


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20 mm Linear Stage with Piezoelectric Inertia Drive, Vacuum Compatible


Click for Details

PD1V(/M) Top Plate Schematic. Dimensions for the metric stage are given in parentheses.
  • Vacuum-Compatible Down to 10-6 Torr
  • Open-Loop Operation
  • Provides High-Resolution Positioning
  • Speeds Up to 3 mm/s when Driven with KIMx01 Controller
  • Integrated 0.75 m (2.48 ft) Cable with Bare Leads
    • Additional 1.0 m (3.3 ft) Bare Lead-to-SMC Cable Included
  • Requires the KIM001, KIM101, or PDXC Piezo Inertia Controller (Sold Separately Below)
  • Includes:
    • Two 2-56 (M2) Mounting Screws
    • Two 8-32 (M4) Mounting Screws
    • Two Ø2 mm Dowel Pins

This ORIC® open-loop piezo stage can support loads up to 3 kg, operates with no backlash, and can achieve speeds up to 3 mm/s when driven with a KIMx01 controller. The piezo inertia drive is self-locking when the stage is at rest and no power is supplied to the piezo, making the stage ideal for set-and-hold applications that require micrometer resolution and long-term alignment stability. See the Specs tab for detailed specifications.

The stage should be placed on a surface with flatness ≤5 µm. If needed, the PD1B(/M) or PD1B2(/M) mounting bases (sold separately) will provide a flat surface for the stage to reduce stage warping. We also offer the PD1T(/M) and PD1U(/M) top plate adapters for alternative hole patterns and the PD1Z(/M) right-angle bracket adapter for vertical mounting.

This stage is vacuum compatible down to 10-6 Torr. It is recommended that before the unit and any adapter plates are installed in the vacuum chamber, all components are pre-baked in order to remove volatile compounds and moisture from the unit, which could potentially spoil the vacuum. During the pre-bake, the stage temperature must be limited to 100 °C. If separately baking out mechanical accessories, the temperature can be as high as 150 °C, but the components must cool down to room temperature before mounting on the stage. The stage has an integrated 0.75 m long vacuum-compatible cable with flying leads for connecting the actuator to the vacuum chamber bulkhead. The leads are PTFE-coated, 30 AWG wires; the red lead is positive and the white lead is negative. A 1.0 m dual-core cable with an SMC connector is also included.

The PD1V(/M) stage is compatible with all three of the controllers offered on this page: the KIM001 Single-Channel K-Cube™ Piezo Inertia Motor Controller, KIM101 Four-Channel K-Cube Piezo Inertia Motor Controller, and the PDXC Piezo Inertia Stage Controller. The KIM101 controller must be the 2019 or newer version and revision 010004 or higher firmware. Earlier versions of this controller or those with older firmware will not function properly and may cause failure of the stage and/or the controller. The specifications for this stage were measured using the KIM101 K-Cube™ Controller (see the Specs tab for details); similar performance is provided by the KIM001 controller. Since the PDXC operates at higher frequencies but outputs a lower maximum voltage than the K-Cube controllers, it is capable of driving the PD1V(/M) stage at a higher speed with a smaller step size and lower driving force.

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.

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PD1VORIC Vacuum-Compatible 20 mm Linear Stage with Piezoelectric Inertia Drive, Imperial
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PD1V/MORIC Vacuum-Compatible 20 mm Linear Stage with Piezoelectric Inertia Drive, Metric
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Rotation Stage with Piezo Inertia Drive, Vacuum Compatible


Click for Details

Vacuum Rotation Stage Features. Dimensions for the metric stage are given in parentheses.
  • Vacuum-Compatible Down to 10-6 Torr
  • Open-Loop Operation
  • Continuous 360° Rotation at Speeds Up to 20°/s When Driven with the KIM001 or KIM101 Controller
  • Typical Step Size: 250 µrad When Driven with the KIM001 or KIM101 Controller
  • 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 0.75 m (2.48 ft) Cable with Bare Leads
    • Additional 1.0 m (3.3 ft) Bare Lead-to-SMC Cable Included
  • Requires a Piezo Controller (Sold Separately Below)

The ORIC® 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 when driven with the KIM001 or KIM101 controller. 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 PDR1V(/M) stage ideal for set-and-hold applications that require resolutions smaller than a milliradian and long-term alignment stability.

This stage is vacuum compatible down to 10-6 Torr. It is recommended that before the unit and any adapter plates are installed in the vacuum chamber, all components are pre-baked in order to remove volatile compounds and moisture from the unit, which could potentially spoil the vacuum. During the pre-bake, the temperature must be limited to 120 °C. The stage has an integrated 0.75 m long vacuum-compatible cable with flying leads for connecting the actuator to the vacuum chamber bulkhead. The leads are PTFE-coated, 30 AWG wires; the red lead is positive and the white lead is negative. A 1.0 m dual-core cable with an SMC connector is also included.

The specifications for this stage were measured using the KIM101 K-Cube Controller, and the KIM001 controller provides similar performance. The KIM101 controller version must be 2019 or newer (per the S/N label) with a firmware revision of 010004 or higher (indicated when the controller is powered on. Earlier versions of the KIM101 controller or those with older firmware will not function properly and may cause failure of the stage and/or the controller The PDXC is capable of driving the PDR1V(/M) stage at a higher speed with a smaller step size and lower driving torque since this controller operates at higher frequencies but outputs a lower maximum voltage than the K-Cube controllers.

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.

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PDR1VORIC Vacuum-Compatible Rotation Stage with Piezo Inertia Drive, Imperial
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K-Cube™ Controllers for Piezo Inertia Stages and Actuators

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
(W x D x H)
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 & 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
  • Compatible with the PD1(/M) Linear, PD1D(/M) Linear, and PDR1(/M) Rotation Stages*

These compact K-Cube Controllers provide easy manual and PC control of our piezo inertia stages that use SMC connectors*, piezo inertia 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). These controllers 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.

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. The compatible KPS201 Power Supply is sold separately 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. Only use the KPS201 power supply unit. These controllers are also not compatible with the PDX1(/M) stage.

*The KIM001 and KIM101 controllers are not compatible with the PDX1(/M) Linear Stage with Optical Encoder.

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KIM001Customer Inspired! Single-Channel K-Cube Piezo Inertia Motor Controller (Power Supply Sold Separately)
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KIM101Four-Channel K-Cube Piezo Inertia Motor Controller (Power Supply Sold Separately)
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Compatible Power Supply

  • Power Supply Compatible with KIM001 and KIM101 Motor Controllers
  • Universal Input: 100 - 240 VAC
  • Region-Specific Adapter Plug Shipped with Power Supply

The KPS201 power supply outputs +15 VDC at up to 2.66 A and can power a single K-Cube or T-Cube with a 3.5 mm jack. It plugs into a standard wall outlet. One region-specific plug adapter, selectable at checkout, is included with each power supply.

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PDXC Piezo Inertia Stage Controller

Key Specificationsa
SMC Port Number of Ports Two
Voltage 0 to 40 V
Frequency 20 kHz Max
D-Sub Port Number of Ports One
Voltage -10 to 50 V
Frequency 20 kHz Max
Max Current Limit 10 A
Front USB Type A, USB Host 2.0
Back USB Type B, USB Device 2.0
Voltage of Analog In/Out -10 to 10 V, ±2%
Voltage of Trigger In/Out 0 to 5 V, TTL
Input Power 100 - 240 VAC, 50 - 60 Hz
  • For complete specifications, please see the manual by clicking the red Docs icon () below.
  • Controller for PD Series Piezo Inertia Stages
  • Supports Both Open- and Closed-Loop Operation
  • SMC and 15-Pin D-Sub Ports Available

This controller is designed to control our piezo-inertia-driven linear stages and rotation stages. It offers two channels of open-loop stage control using SMC outputs and one channel of both open- and closed-loop stage control using a 15-pin D-Sub output.

Embedded software allows this unit to be fully controlled using the buttons, LCD display, and knob on the front panel. Alternatively, built-in external trigger modes support single-channel operation. By connecting multiple controllers together, multi-channel operation in D-Sub mode such as a raster scan is possible. Users can select the output port(s), switch between open-loop and closed-loop modes, and perform homing and encoder calibration without being connected to a PC. In addition to these on-unit controls, USB connectivity provides simple PC-control with our available software platform.

The unit comes with a compatible region-specific power cord. For all applications, use an IEC320 compatible power cord fitted with a plug appropriate for your particular power socket. Ensure the line voltage rating marked on the rear panel agrees with your local power supply.

For more information, please see our full web presentation.

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PDXCORIC® Piezo Inertia Stage Controller
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