ORIC® 5 mm Linear Translation Stage with Piezoelectric Inertia Drive


  • 5 mm Travel, Open-Loop Linear Stage
  • 1 kg Horizontal Load Capacity
  • Stackable Design for Compact 1-, 2-, or 3-Axis Setups
  • Ultra-Compact Footprint: 13.0 mm x 13.0 mm

PD2

Piezo Inertia Stage

U.S. Patent 11,218,090

Application Idea

PD2(/M) Stages in XY Configuration
Using PD2T(/M) Adapter

PD2T(/M)

8-32 (M4) Threaded
Adapter Plate

PD2Z

Right-Angle Bracket

Related Items


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ORIC® Piezo Inertia Stage Selection Guide
5 mm Translation Stage
20 mm Translation Stages
50 mm Translation Stage
Rotation Stages
Vacuum-Compatible Stages

Click to Enlarge

Three PD2(/M) stages can be mounted in an XYZ configuration using the PD2T(/M) and PD2Z(/M) adapters.

Features

  • Ultra-Compact Stainless Steel Stage with Piezo Inertia Drive
  • Ideal for OEMs and Set-and-Hold Applications that Require Relative Positioning with High Resolution
  • Top Plate Adapters Provide Alternate Mounting Hole Patterns
  • Right-Angle Bracket Adapter Allows Vertical Mounting and XYZ Configurations
  • Requires a Piezo Inertia Stage Controller (Sold Separately Below)

Thorlabs' PD2(/M) ORIC® Piezoelectric Inertia Drive Stage (U.S. Patent 11,218,090) provides fast and stable piezo-controlled linear motion in a miniature package with no backlash. This stage offers open-loop operation and has a horizontal load capacity of 1 kg. The piezo inertia drive is self-locking when the stage is at rest and no power is supplied to the piezo, making this stage ideal for set-and-hold applications that require nanometer resolution and long-term alignment stability.

Load Mounting Options
The load can be secured to the stage's moving platform using 00-90 (M1.2 x 0.25) threaded holes. Alternatively, the PD2T(/M) and PD2U(/M) adapter plates (sold separately below) provide an 8-32 (M4 x 0.7) threaded hole or #8 (M4) counterbore, respectively, for the top plate of the stage. The load can also be aligned using the array of Ø1 mm, 1.5 mm deep dowel pin holes; see the drawings below for details. Ensure that the maximum insertion depth of these holes is not exceeded or else the stage may be damaged. For more information, please refer to the Specs tab or the support documents accessible through the red Support Docs icons () below.

Stage Mounting Options
The two #00 (M1.2) mounting counterbores are accessible when the moving plate is translated to the ends of the travel range. The recommended mounting torque is 0.03 N·m. We offer the TD24 torque driver for tightening to a specific torque value.

The stage should be mounted on an even surface with a recommended flatness of ≤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 for the velocity variation and pitch/yaw of the stage to meet specifications.

Two linear stages can be stacked on top of each other in an XY configuration for applications that require additional movement. The PD2Z(/M) right-angle bracket adapter allows one single-axis stage to be mounted vertically on top of another stage for an XZ or XYZ configuration (as shown in the photo to the right). Note that when the stage is mounted vertically, the load capacity is greatly reduced. The central mounting features of the PD2T(/M) and PD2U(/M) adapter plates may also be used to mount a PD2(/M) stage to 8-32 (M4 x 0.7) threaded components.

Compatibility with Other ORIC Stages
The PD2(/M) 5 mm stage may also be mounted on our PD1 series 20 mm stages using the PD1T(/M) and PD2U(/M) adapter plates or onto our PD3(/M) 50 mm stage using a PD2U(/M) adapter plate.

Required Controller
A PDXC Piezo Inertia Stage Controller, KIM001 Single-Channel K-Cube™ Piezo Inertia Motor Controller, or KIM101 Four-Channel K-Cube Piezo Inertia Motor Controller, available below, is required to operate this stage; the piezo inertia drive cannot be driven using a standard piezo controller. To drive the PD2(/M) stage, the PDXC controller requires firmware revision 1.27 or higher (indicated when the controller is powered on). The KIM001 or KIM101 controller must be from 2019 or newer (noted on the S/N label) with a firmware revision of 010003 or higher (indicated when the controller is powered on). Older firmware will not function properly and may cause failure of the stage and/or the controller. Since the PDXC operates at higher frequencies than the K-Cube controllers, it is capable of driving the PD2(/M) stage at a higher speed with a smaller step size. See the Specs tab for stage performance when used with each type of controller.

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.

Piezoelectric Inertia "Stick-Slip" Motor

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 forward 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.

PD2(/M) Stage Specificationsa
Driving Controller PDXC Benchtop Controller KIM001 or KIM101 K-Cube Controllers
Travel 5 mm (0.20")
Step Size Minimum: 0.1 µmb
Maximum: <1 µmc
Adjustability: From 0.1 μm to 1 μmc
Minimum: 1.0 µmb
Maximum: <2 µmc
Adjustability: ≤30%c
Maximum Step Frequencyd 20 kHz 2 kHz
Speed (Continuous Stepping)e,f 10 mm/s Typical Max 2 mm/s Typical Max
Average Speed Variation
Over Travel Rangef,g
±10% ±15%
Horizontal Load Capacity 1 kg (2.20 lbs)
Vertical Load Capacityh 50 g (1.76 oz)
Clamping / Holding Force 1.5 N
Pitch / Yaw Over Travel Range 500 µrad
XY Stacked Orthogonality <5 mrad
Motor Type Piezoelectric Inertia Drive
Lifetimei >10 Billion Steps
Piezo Specifications
Max Operating Voltage 50 V 125 V
Capacitance 50 nF
Physical Specifications
Operating Temperature 10 to 40 °C (50 to 104 °F)
Connector Type D-Sub Female SMC Female
(PD2AD Adapter Required, Sold Separately)
Cable Lengthj 1 m (3.3 ft) Integrated Cable: 1 m (3.3 ft) &
PD2AD Adapter: 1 m (3.3 ft)
Top Plate
Mounting Options
Six 00-90 (M1.2 x 0.25) Threaded Holes, 2.0 mm Deep
Two Ø1 mm Dowel Pin Holes, 1.5 mm Deep
PD2T(/M) and PD2U(/M) Adapters
Dimensions 13.0 mm x 13.0 mm x 6.5 mm
(0.51" x 0.51" x 0.25")
Weight (Including Cable) 32 g (1.13 oz)
Required Controller
(Sold Separately Below)k,l
PDXC, KIM001, or KIM101
  • Specifications are measured using the PDXC controller with 100% amplitude setting (see the PDXC controller manual for more details), or using the KIM001 or KIM101 controller with 85 V amplitude and PD(R) stage mode set, except where noted. The stage was mounted on a surface with flatness ≤5 μm.
  • Tested with a 10% amplitude, 20 kHz signal from the PDXC controller or a 100% amplitude, 2 kHz signal from the KIM001 or KIM101 controller. The minimum step size can vary by 20% due to component variance, change of direction, and application conditions.
  • This is adjusted by changing the piezo drive voltage amplitude and frequency - see the PDXCKIM001, and KIM101 controllers’ manuals for more details.
  • It is recommended to set step frequency to 20 kHz for PDXC controller and 2 kHz for the KIM001 or KIM101 controller to drive the PD2(/M) stage; other step frequencies may result in the stage stopping or reversing direction unexpectedly.
  • The forward and backward speeds 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 set the stage type to "PD(R)" in the Kinesis software if using a KIMx01 controller. For applications that require the speed in both directions to be balanced, we recommend using the PDXC controller to adjust the forward and backward drive voltage amplitudes individually in order to mitigate the speed difference.
  • Specified at 20 kHz step frequency for PDXC controller and 2 kHz for the KIM001 or KIM101 controller.
  • Variation in Speed in a Single Travel Direction
  • This is equivalent to the push/pull force along the axial/travel direction, which is 0.5 N.
  • Long-term operation (>3 billion steps) when mounted vertically may cause rail creep, leading to a reduced travel range. To restore the stage performance, we recommend mounting the stage horizontally after 1 billion steps of operation in a vertical orientation and translating it back and forth across the full travel range several times.
  • The stage has an integrated 1 m (3.3 ft) cable. When using a PD2AD adapter cable, with a length of 1 m (3.3 ft), the total cable length is 2 m (6.6 ft). Due to the capacitance of the cables, do not use cables longer than 2.5 m in total.
  • To drive the PD2(/M) stage, the PDXC controller requires firmware revision 1.27 or higher (indicated when the controller is powered on). The KIM001 or KIM101 controller must be from 2019 or newer (noted on the S/N label) with a firmware revision of 010003 or higher (indicated when the controller is powered on). Older firmware will not function properly and may cause failure of the stage and/or the controller.
  • Since the PDXC can operate at a higher frequency, it is capable of driving the PD2(/M) stage at a higher speed and smaller step size compared to the KIM series controllers.

PD2(/M) Stage

Female 15-Pin D-Sub

D-Sub 15

PD2AD(/M) Adapter Cable

Male 15-Pin D-Sub

SMC Female

SMC Female

SMC Female
0 to 125 V
Pin(s) Voltage Name Description
3 0 V GND Digital Ground
12 0 V PGND Power Ground
13 125 V Max SigOut1 Piezo Output 1
14 5 V TTL EEPROM 1-Wire EEPROM
1, 2, 4-11, 15 - - Reserved
D-Sub Pin(s) SMC Connector Voltage Name Description
12 Outer Shield 0 V PGND Power Ground
13 Core Wire 125 V Max SigOut1 Piezo Output 1
1-11, 14, 15 - - - Reserved

Software

PDXC Version 1.4.1

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

Software Download

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

  • PD2(/M) 5 mm Linear Stage
  • PD1(/M) 20 mm Linear Stage
  • PD1V(/M) Vacuum-Compatible 20 mm Linear Stage
  • PD1D(/M) 20 mm Monolithic XY Stage
  • PDX1(/M) 20 mm Linear Stage with Optical Encoder
  • PD3(/M) 50 mm 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 1.14.35

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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Motorized Linear Translation Stages

Thorlabs' motorized linear translation stages are offered in a range of maximum travel distances, from a stage with 20 µm of piezo translation to our 600 mm direct drive stage. Many of these stages can be assembled in multi-axis configurations, providing XY or XYZ translation. For fiber coupling applications, please see our multi-axis stages, which offer finer adjustment than our standard motorized translation stages. In addition to motorized linear translation stages, we offer motorized rotation stages, pitch and yaw platforms, and goniometers. We also offer manual translation stages.

Piezo Stages

These stages incorporate piezoelectric elements in a variety of drive mechanisms. Our Nanoflex™ translation stages use standard piezo chips along with manual actuators. Our LPS710E z-axis stage features a mechanically amplified piezo design and includes a matched controller. The PD1 stage incorporates a piezo inertia drive that uses "stick-slip" friction properties to obtain an extended travel range. The Elliptec® stages use resonant piezo motors to push and pull the moving platform through resonant elliptical motion.

Piezoelectric Stages
Product Family Nanoflex™
20 µm Stage
with 5 mm Actuator
Nanoflex™
25 µm Stage
with 1.5 mm Actuator
ORIC®
PD2 Open-Loop
5 mm Stage
ORIC®
PD1 Open-Loop
20 mm Stage
ORIC®
PD1D Open-Loop
20 mm
Monolithic XY Stage
ORIC®
PDX1 Closed-Loop
20 mm Stage
ORIC®
PD3 Open-Loop
50 mm Stage
Click Photo
to Enlarge
Travel 20 µm + 5 mm Manual 25 µm + 1.5 mm Manual 5 mm 20 mm 50 mm
Maximum Velocity - 10 mm/sa 3 mm/s 20 mm/s 10 mm/sa
Drive Type Piezo with Manual Actuator Piezoelectric Inertia Drive
Possible Axis Configurations X, XY, XYZ X, XY, XYZ X, XY, XYZ XY, XYZ X, XY, XYZ X, XY, XYZ
Mounting
Surface Size
75 mm x 75 mm 30 mm x 30 mm 13 mm x 13 mm 30 mm x 30 mm 80 mm x 30 mm
Additional Details
  • Specified using PDXC Benchtop Controller. For performance when controlled with a KIM001 or KIM101 K-Cube Controller, see the Specs tab of the PD2 or PD3 stage presentation..
Piezoelectric Stages
Product Family Elliptec® 28 mm Stage Elliptec® 60 mm Stage LPS710E 1.1 mm Vertical Stage
Click Photo
to Enlarge
Travel 28 mm 60.0 mm 1.1 mm
Maximum Velocity 180 mm/s 90 mm/s -
Drive Type Resonant Piezoelectric Motor Amplified Piezo
Possible Axis Configurations X Z
Mounting Surface Size 15 mm x 15 mm 21 mm x 21 mm
Additional Details

Stepper Motor Stages

These translation stages feature removable or integrated stepper motors and long travel ranges up to 300 mm. The MLJ150 stage also offers high load capacity vertical translation. The other stages can be assembled into multi-axis configurations.

Stepper Motor Stages
Product Family LNR Series
25 mm Stage
LNR Series
50 mm Stage
NRT Series
100 mm Stage
NRT Series
150 mm Stage
LTS Series
150 mm Stage
LTS Series
300 mm Stage
MLJ150
50 mm Vertical Stage
Click Photo
to Enlarge
Travel 25 mm 50 mm 100 mm 150 mm 150 mm 300 mm 50 mm
Maximum Velocity 2.0 mm/s 50 mm/s 30 mm/s 50 mm/s 3.0 mm/s
Possible Axis
Configurations
X, XY, XYZ X, XY, XYZ X, XY, XYZ X, XY, XYZ Z
Mounting
Surface Size
60 mm x 60 mm 100 mm x 100 mm 84 mm x 84 mm 100 mm x 90 mm 148 mm x 131 mm
Additional Details

DC Servo Motor Stages

Thorlabs offers linear translation stages with removable or integrated DC servo motors. These stages feature low profiles and can be assembled in multi-axis configurations.

DC Servo Motor Stages
Product Family MT Series
12 mm Stages
PT Series
25 mm Stages
MTS Series
25 mm Stage
MTS Series
50 mm Stage
M30 Series
30 mm Stage
M30 Series
30 mm Monolithic
XY Stage
KVS30
30 mm Vertical Stage
Click Photo
to Enlarge
Travel 12 mm 25 mm 25 mm 50 mm 30 mm 30 mm
Maximum Velocity 2.6 mm/s 2.4 mm/s 2.4 mm/s 8.0 mm/s
Possible Axis Configurations X, XY, XYZ X, XY, XYZ X, Z XY, XZ Z
Mounting
Surface Size
61 mm x 61 mm 101.6 mm x 76.2 mm 43 mm x 43 mm 115 mm x 115 mm 116.2 mm x 116.2 mm
Additional Details

Direct Drive Stages

These low-profile stages feature integrated brushless DC servo motors for high speed translation with zero backlash. When no power is applied, the platforms of these stages have very little inertia and are virtually free running. Hence these stages may not be suitable for applications where the stage's platform needs to remain in a set position when the power is off. We do not recommend mounting these stages vertically.

Direct Drive Stages
Product Family DDS Series
50 mm Stage
DDS Series
100 mm Stage
DDS Series
220 mm Stage
DDS Series
300 mm Stage
DDS Series
600 mm Stage
Click Photo
to Enlarge
Travel 50 mm 100 mm 220 mm 300 mm 600 mm
Maximum Velocity 500 mm/s 300 mm/s 400 mm/s 400 mm/s
Possible Axis Configurations X, XY X, XY X X
Mounting Surface Size 60 mm x 52 mm 88 mm x 88 mm 120 mm x 120 mm
Additional Details

5 mm Linear Stage with Piezoelectric Inertia Drive


Click for Details

PD2(/M) Top Plate Schematic. Dimensions for the metric stage are given in parentheses.

Includes:

  • Linear Stage with Integrated Cable, D-Sub Female Connector
  • Six 00-90 (M1.2 x 0.25) Slotted Pan Head Screws
  • Six Ø1 mm Dowel Pins
  • Open-Loop Operation
  • Provides High-Resolution Positioning
  • <5 mrad XY Stacked Orthogonality
  • Speeds Up to 10 mm/s when Driven with PDXC Controller
  • Integrated 1 m (3.3 ft) Cable with D-Sub Female Connector
  • Requires the PDXC, KIM001, or KIM101 Piezo Inertia Controller (Sold Separately Below)

The PD2(/M) ORIC® open-loop piezo inertia stage can support loads up to 1 kg, operates with no backlash, and can achieve speeds up to 10 mm/s when driven with a PDXC controller. The piezo inertia drive is self-locking when the stage is at rest and no power is supplied to the piezo, making these actuators 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. Alternative top plate adapters are available below as well as a right-angle bracket adapter.

Each stage has an integrated 1.0 m cable. A PD2AD adapter cable (1 m long; sold separately) is required for use with the KIM001 or KIM101 K-Cube controllers. Please note that, due to the capacitance of the cables, 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.

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PD2 Support Documentation
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Adapter Plates

  • Additional Mounting Options with 8-32 (M4 x 0.7) Threaded Hole or #8 (M4) Counterbore
  • Same 13 mm x 13 mm Footprint as PD2(/M) Stage

These adapter plates provide alternative mounting holes for the PD2(/M) stage. The PD2T(/M) adapter plate is 3 mm thick and features a central 8-32 (M4 x 0.7) threaded hole accessible from the bottom side of the plate, making it ideal for post mounting as shown in the photo below. A PD2(/M) stage can be mounted to a PD1 series 20 mm linear stage using the PD2U(/M) adapter and a PD1T(/M) adapter. The PD2U(/M) adapter plate is 6 mm thick and features a central #8 (M4) counterbore, primarily designed to serve as a mounting adapter to provide a base with ≤5 µm flatness.

Each adapter matches the footprint of the stage and can be secured to the the top or bottom of the stage using two 00-90 (M1.2 x 0.25) slotted pan head screws and two Ø1 mm dowel pins (included with the stage). Both sides of these adapters provide features for compatibility with the PD2(/M) stage and PD2Z(/M) bracket: the bottom sides (illustrated in the drawings below) feature two 00-90 (M1.2 x 0.25) threaded through holes and six Ø1 mm dowel pin holes, while the top sides (illustrated in the detailed versions of the drawings below) feature six #00 (M1.2) counterbores and two Ø1 mm dowel pin holes. Two 00-90 (M1.2 x 0.25) holes on one edge of each adapter provide additional options for integration with user-customized setups, such as custom locking plates. See the drawings below for more details.


Click for Details

PD2T(/M) Adapter Plate Schematic. Dimensions for the metric adapter plate are given in parentheses.

Click for Details

PD2U(/M) Adapter Plate Schematic. Dimensions for the metric adapter plate are given in parentheses.

Click to Enlarge

The PD2(/M) stage can be mounted on a Ø1/2" post using the PD2T(/M) adapter.
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PD2TNEW!Adapter Plate for 5 mm Piezo Inertia Stage, 3 mm Thick, 8-32 Mounting Hole
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PD2UNEW!Adapter Plate for 5 mm Piezo Inertia Stage, 6 mm Thick, #8 Counterbore
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PD2T/MNEW!Adapter Plate for 5 mm Piezo Inertia Stage, 3 mm Thick, M4 x 0.7 Mounting Hole
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Right-Angle Bracket Adapter


Click for Details

PD2Z(/M) Bracket Schematic. Dimensions for the metric bracket are given in parentheses.

Click to Enlarge

Three PD2(/M) stages can be mounted in an XYZ configuration using the PD2T(/M) and PD2Z(/M) adapters.
  • Mounts PD2(/M) Stage at 90° for Vertical or Horizontal Translation
  • Enables Vertical X-, Z-, XZ-, or XYZ-Axis Configurations

The PD2Z(/M) right-angle bracket allows the user to mount the PD2(/M) single-axis stage at 90°. The bracket can be secured to the top plate of the PD2(/M) stage, a PD2T(/M) adapter, or PD2U(/M) adapter using two 00-90 (M1.2 x 0.25) slotted pan head screws in the base of the bracket. The vertical stage can then be mounted on the bracket using a second set of pan head screws and dowel pins. Six Ø1 mm dowel pin holes are located on each face for precise alignment. Two sides of the bracket also each feature 00-90 (M1.2 x 0.25) holes to provide additional options for integration with user-customized setups, such as custom locking plates.

Note: Long-term operation (>3 billion steps) when mounted vertically may cause rail creep, leading to a reduced travel range. To restore the stage performance, we recommend mounting the stage horizontally after 1 billion steps of operation in a vertical orientation and translating it back and forth across the full travel range several times.

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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 that support open-loop stage control using SMC outputs and one channel that can provide open- or 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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PDXC Support Documentation
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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
Compatible
Piezo Inertia Stagesc
5 mm Linear Stage, 20 mm Linear Stages,
50 mm Linear Stage, & Rotation Stages
  • For complete specifications, please see the manuals by clicking the red Docs icons () below.
  • Not Including Mounting Plate
  • Compatibility with the PD2(/M) 5 mm and PD3(/M) 50 mm stages require the PD2AD adapter cable. The KIM001 and KIM101 controllers are not compatible with the PDX1(/M) Linear Stage with Optical Encoder.
  • 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
  • See Table for Compatible 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 are also compatible with our PD2(/M) 5 mm or PD3(/M) 50 mm linear stages stages when used with a PD2AD adapter cable (sold separately below). 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 ORIC PD Series 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. Compatibility with the PD2(/M) 5 mm and PD3(/M) 50 mm stages require the PD2AD adapter cable.

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PD2(/M) or PD3(/M) Stage to KIMx01 Controller Adapter Cable


Click to Enlarge

DB15 Male to SMC Female

Click to Enlarge

Mechanical Drawing
  • Adapts Male D-Sub Connector on a PD2(/M) or PD3(/M) Stage to an SMC Female Connector
  • 50 Ω Impedance
  • RG174/U Coaxial Cable

The PD2AD piezo drive cable is required to drive the PD2(/M) 5 mm or PD3(/M) 50 mm linear piezo inertia stages using the KIM001 or KIM101 K-Cube controllers.

Note that the D-sub connector's Pin 12 is connected to the outer shield of the SMC connector, while Pin 13 is connected to the SMC core wire.

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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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KPS20115 V, 2.66 A Power Supply Unit with 3.5 mm Jack Connector for One K- or T-Cube
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