THORLABS TDC001 User Manual
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THORLABS TDC001 User Manual

Dc servo motor driver
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Summary of Contents for THORLABS TDC001

  • Page 1 TDC001 DC Servo Motor Driver User Guide Original Instructions...

  • Page 2: Table Of Contents

    Contents Chapter 1 Safety ..................... 4 1.1 Safety Information .................. 4 1.2 General Warnings .................. 4 Chapter 2 Introduction and Overview ............5 2.1 Introduction ..................... 5 2.2 T-Cube Controller Hub ................6 2.3 Kinesis PC Software Overview ............... 7 Chapter 3 Getting Started ................
  • Page 3 Appendix A Rear Panel Connector Pinout Detail ........41 Appendix B Preventive Maintenance ............42 Appendix C Specifications and Associated Products ......43 Appendix D DC Motor Operation - Background ........45 Appendix E Regulatory ................50 Appendix F Thorlabs Worldwide Contacts ..........55...

  • Page 4: Chapter 1 Safety

    To minimize the possibility of this happening it is strongly recommended that any such modes that result in prolonged unresponsiveness be disabled before the software is run. Please consult your system administrator or contact Thorlabs technical support for more details.

  • Page 5: Chapter 2 Introduction And Overview

    DC brushed motors (up to 15V/2.5W operation) equipped with encoder feedback. The TDC001 has been optimised for 'out of the box' operation with the Thorlabs range of Z8 DC motor equipped opto-mechanical products, however highly flexible software settings and closed loop tuning also supports operation with a wide range of third party DC Servo motors and associated stages/actuators.

  • Page 6: T-Cube Controller Hub

    For power, a compact multi-way power supply unit (TPS008) is available from Thorlabs allowing up to 8 T-Cube Drivers to be powered from a single mains outlet. This power supply unit is also designed to take up minimal space and can be mounted to the optical table in close proximity to the driver units, connected via short power leads.

  • Page 7: Kinesis Pc Software Overview

    DC Servo Motor Driver 2.3 Kinesis PC Software Overview 2.3.1 Introduction The T-Cube range of controllers share many of the benefits. These include USB connectivity (allowing multiple units to be used together on a single PC), fully featured Graphical User Interface (GUI) panels, and extensive software function libraries for custom application development.
  • Page 8 Chapter 2 2.3.2 Kinesis Server Kinesis controls are re-usable compiled software components that supply both a graphical user interface and a programmable interface. Many such Controls are available for Windows applications development, providing a large range of re-usable functionality. For example, there are Controls available that can be used to manipulate image files, connect to the internet or simply provide user interface components such as buttons and list boxes.
  • Page 9 Kinesis Controls collection. This is available either by pressing the F1 key when running the Kinesis server, or via the Start menu, Start\Programs\Thorlabs\Kinesis\Kinesis Help. 2.3.3 Software Upgrades Thorlabs operate a policy of continuous product development and may issue software upgrades as necessary.

  • Page 10: Chapter 3 Getting Started

    To minimize the possibility of this happening it is strongly recommended that any such modes that result in prolonged unresponsiveness be disabled before the Kinesis software is run. Please consult your system administrator or contact Thorlabs technical support for more details. Caution Some PCs may have been configured to restrict the users ability to load software, and on these systems the software may not install/run.

  • Page 11: Mechanical Installation

    DC Servo Motor Driver 3.2 Mechanical Installation 3.2.1 Environmental Conditions Warning Operation outside the following environmental limits may adversely affect operator safety. Location Indoor use only Maximum altitude 2000 m Temperature range C to 40 Maximum Humidity Less than 80% RH (non-condensing) at 31°C To ensure reliable operation the unit should not be exposed to corrosive agents or excessive moisture, heat or dust.
  • Page 12 Chapter 3 3.2.3 Removing the Baseplate The baseplate must be removed before the rubber feet (supplied) can be fitted, or the unit is connected to the USB controller hub.. Detail A Detail B Baseplate attachment screws Baseplate removed and rubber feet fitted Fig.

  • Page 13: Electrical Installation

    Fig. 3.2 Rear Panel Connections The unit is supplied with a 15 pin D-type connector as shown above, which is compatible with all new Thorlabs DC servo motor actuators (refer to Appendix A details of pin outs). 3.3.2 Using The TCH002 Controller Hub...

  • Page 14: Connect The Hardware

    1) Using the front panel connector as shown above, connect the unit to a regulated DC power supply of 15 V, 1A. Thorlabs offers a compact, multi-way power supply unit (TPS008), allowing up to eight Driver T-Cubes to be powered from a single mains outlet. A single way wall plug supply (TPS001) for powering a single Driver T-Cube is also available.

  • Page 15: Select The Stage Type

    DC Servo Motor Driver 3) Connect the Controller unit to your PC. (Note. The USB cable should be no more than 3 metres in length. Communication lengths in excess of 3 metres can be achieved by using a powered USB hub). Caution During item (4) ensure the power supply unit is isolated from the mains before connecting to the T-Cube unit.
  • Page 16 Kinesis software) - see Section 6.3.3. 1) Ensure that the device is connected to the PC and powered up. 2) Run the Kinesis software - Start/All Programs/Thorlabs/Kinesis/Kinesis. 3) The 'Actuator/Startup Settings ' window is displayed.

  • Page 17: Verifying Software Operation

    DC Servo Motor Driver 3.6 Verifying Software Operation 3.6.1 Initial Setup 1) Wait until the TDC001 POWER led is lit bright green, then run the Kinesis Software and check that the Graphical User Interface (GUI) panel appears and is active.

  • Page 18: Chapter 4 Standalone Operation

    4.1 Introduction The DC Driver T-Cube has been designed specifically to operate with the extensive range of Thorlabs DC motorised opto-mechanical products. The unit offers a fully featured motion control capability including velocity profile settings, limit switch handling, homing sequences and, for more advanced operation, adjustment of settings such as lead screw pitch and gearbox ratio, allowing support for many different actuator configurations.

  • Page 19: Control Panel Buttons And Indicators

    DC Servo Motor Driver 4.2 Control Panel Buttons and Indicators apt - dc servo controller VELOCITY MOVE/JOG ACTIVE POWER Fig. 4.1 Panel Controls and Indicators MOVE Controls - These controls allow all motor moves to be initiated. Move/Jog Buttons - Used to jog the motors and make discrete position increments in either direction - see Section 5.5.

  • Page 20: Button Operation

    Chapter 4 4.4 Button Operation The buttons on the front of the unit can be used to control the motor in a number of ways, as described below. 4.4.1 Homing A ‘Home’ move is performed to establish a datum from which subsequent absolute position moves can be measured (see Section 5.3.

  • Page 21: Chapter 5 Pc Operation - Tutorial

    To minimize the possibility of this happening it is strongly recommended that any such modes that result in prolonged unresponsiveness be disabled before the Kinesis software is run. Please consult your system administrator or contact Thorlabs technical support for more details. Caution On start up, wait until the top panel POWER led is lit bright green before running the Kinesis software.
  • Page 22 On start up, wait until the top panel POWER led is lit bright green before running the software. 1) Power up the hardware, and wait until the TDC001 POWER led is lit bright green, then run the Kinesis software - Start/All Programs/Thorlabs/Kinesis/Kinesis.

  • Page 23: Homing Motors

    DC Servo Motor Driver 5.3 Homing Motors Homing the motor moves the actuator to the home limit switch and resets the internal position counter to zero. The limit switch provides a fixed datum that can be found after the system has been powered up. Fig.

  • Page 24: Changing Motor Parameters And Moving To An Absolute Position

    Chapter 5 5.4 Changing Motor Parameters and Moving to an Absolute Position Absolute moves are measured in real world units (e.g. millimetres), relative to the Home position. Moves are performed using a trapezoidal velocity profile (see Appendix D , Section D.1.3.).

  • Page 25: Jogging

    DC Servo Motor Driver 5.5 Jogging During PC operation, the motor actuators are jogged using the GUI panel arrow keys. There are two jogging modes available, ‘Single Step’ and ‘Continuous’. In ‘Single Step’ mode, the motor moves by the step size specified in the Step Distance parameter.

  • Page 26: Setting Move Sequences

    Chapter 5 5.6 Setting Move Sequences The Kinesis software allows move sequences to be programmed, allowing several positions to be visited without user intervention. For more details and instructions on setting move sequences, please see the Kinesis Helpfile. 5.7 Changing and Saving Parameter Settings During operation, certain settings (e.g.

  • Page 27: Istage/Axis Tab

    These parameters were set automatically when the actuator was selected in Section 3.5. The server automatically applied suitable defaults for the parameters on this tab during boot up. These parameters should not be altered for pre-defined Thorlabs stages and actuators, as it may adversely affect the performance of the stage.

  • Page 28: Chapter 6 Software Reference

    Chapter 6 Software Reference 6.1 Introduction This chapter gives an explanation of the parameters and settings accessed from the Kinesis software running on a PC. For information on the methods and properties which can be called via a programming interface, see Appendix D 6.2 GUI Panel The following screen shot shows the graphical user interface (GUI) displayed when accessing the DC Driver T-Cube using the Kinesis software.
  • Page 29 DC Servo Motor Driver Velocity Parameters - the present setting for the move velocity parameters and the jog step size. The travel range of the associated stage/actuator is also displayed. These settings can be adjusted as described previously, or by clicking the Settings button to display the settings window, see Section 6.3.2.
  • Page 30 Chapter 6 Home - sends the motor to its 'Home' position - see Appendix D Section D.2.2. Stop - halts the movement of the motor. Lower Display - Shows the present state of the motor, e.g. Idle, Moving, Moving EXT or Homing. Also shows the part number of the associated actuator or stage.

  • Page 31: Settings Panel

    DC Servo Motor Driver 6.3 Settings Panel When the 'Settings' button on the GUI panel is clicked, the 'Settings' window is displayed. This panel allows motor operation parameters such as move/jog velocities, and stage/axis information to be modified. Note that all of these parameters have programmable equivalents accessible through the functions on this Control (refer to the Kinesis API helpfile for further details.

  • Page 32: Ha0142T Rev 17K Sept

    Chapter 6 6.3.2 Moves/Jogs Tab Fig. 6.2 DC Driver T-Cube - Move/Jog Settings Display Units By default, the unit will display position in real world units (mm or degrees). If required, the units can be changed to so that the display shows other positional units (cm, µm, µrad etc).
  • Page 33 DC Servo Motor Driver held down, single step jogging is repeated until the button is released - see Fig. 6.3. In ‘Continuous’ mode, the motor actuator will accelerate and move at the jog velocity while the button is held down.. Fig.
  • Page 34 Chapter 6 Acceleration - the rate at which the velocity climbs from zero to maximum, and slows from maximum to zero. Note Under certain velocity parameter and move distance conditions, the maximum velocity may never be reached (i.e. the move comprises an acceleration and deceleration phase only).
  • Page 35 They need to be set accordingly such that a particular stage is driven properly by the system. For Thorlabs stages, the Kinesis software can be used to associate a specific stage and axis type with the motor channel (see Section 3.5. for further details on how to associate a stage and axis).
  • Page 36 Chapter 6 Homing When homing, a stage typically moves in the reverse direction, (i.e. towards the reverse limit switch). The following settings allow support for stages with both Forward and Reverse limits. Note Typically, the following two parameters are set the same, i.e. both Forward or both Reverse.
  • Page 37 DC Servo Motor Driver 6.3.4 Advanced Tab Fig. 6.5 DC Driver T-Cube - Advanced Settings Potentiometer Control Settings The potentiometer slider is sprung such that when released it returns to it’s central position. In this central position the motor is stationary. As the slider is moved away from the center, the motor begins to move;...
  • Page 38 Chapter 6 that when the pot has been deflected to 20 (approx 1/6 full scale deflection) the motor will start to move at 0.1mm/sec. At a deflection of 50 (approx 2/5 full scale deflection) the motor velocity will increase to 0.2m/sec, and so on. Note It is acceptable to set velocities equal to each other to reduce the number of speeds, however this is not allowed for the deflection settings, e.g.
  • Page 39 DC Servo Motor Driver Indicator LED Modes The ‘ACTIVE’ LED fitted to the front panel of the unit can be configured to indicate certain driver states as follows: Limit Switch Activation: When this option is selected, the Active LED will flash when the motor reaches a forward or reverse limit switch.
  • Page 40 Chapter 6 are applicable in either direction of pot deflection, i.e. 4 possible velocity settings in the forward or reverse motion directions. Note It is acceptable to set velocities equal to each other to reduce the number of speeds. HA0142T Rev 17K Sept 2015...

  • Page 41: Appendix A Rear Panel Connector Pinout Detail

    * The action of the limit switch on contact (i.e. switch open or switch close) is set in the settings panel, see Section 6.3.3. Fig. A.1 MOTOR I/O Connector Pin Identification A 15 Pin DIN to 10 Pin IDC converter (161699) is available for use with Thorlabs legacy DC Servo Motors.

  • Page 42: Appendix B Preventive Maintenance

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

  • Page 43: Appendix C Specifications And Associated Products

    Appendix C Specifications and Associated Products C.1 Specifications Parameter Value Motor Output Motor Drive Voltage ±12 to ±15V (Depending on Supply) Motor Drive Current 150mA (Cont) >250 mA (peak) Motor Drive Type 8-bit Sign/Magnitude PWM Control Algorithm Digital PID Filter (16bit) Position Feedback: 5V Single Ended Quadrature Encoder (QEP) Input...
  • Page 44 Appendix C Recommended Motor Requirements Peak Power 2.5W Rated Current 10mA to 200mA (Nominal) Motor Type Brushed DC Coil Resistance 5 to 50Ω Coil Inductance 250 to 1500mH Position Control Closed loop Encoder Resolution Encoder Specific Peak Power 2.5W Rated Current 0mA to 150mA Motor Type Brushed DC...

  • Page 45: Appendix Ddc Motor Operation - Background

    Appendix D DC Motor Operation - Background D.1 How A DC Motor Works D.1.1 General Principle A DC motor works by converting electric power into mechanical energy (movement). This is achieved by forcing current through a coil and producing a magnetic field, which in turn, spins the motor.
  • Page 46 Appendix D Both forces are of equal magnitude. At 180°, the same phenomenon occurs, but segment A-B is forced down and C-D is forced up. In the 90° and 270° positions, the brushes are not in contact with the voltage source and no force is produced. In these two positions, the rotational kinetic energy of the motor keeps it spinning until the brushes regain contact.
  • Page 47 DC Servo Motor Driver D.2 Positioning a Stage D.2.1 General Whenever a command is received to move a stage, the movement is specified in motion units, (e.g. millimetres). This motion unit value is converted to encoder counts before it is sent to the stage by the software. Each motor in the system has an associated electronic counter in the controller, which keeps a record of the net number of encoder counts moved.
  • Page 48 Appendix D Datum switch +ve limit switch -ve limit switch (or stop) Linear stage Rotary stage Fig. D.3 Stage limit switches D.2.4 Minimum and Maximum Positions These positions are dependent upon the stage or actuator to which the motors are fitted, and are defined as the minimum and maximum useful positions of the stage relative to the ‘Home’...
  • Page 49 DC Servo Motor Driver D.3 Error Correction D.3.1 Backlash correction The term backlash refers to the tendency of the stage to reach a different position depending on the direction of approach. Backlash can be overcome by always making the last portion of a move in the same direction, conventionally the positive direction.

  • Page 50: Appendix E Regulatory

    Appendix E Regulatory E.1 Declarations Of Conformity E.1.1 For Customers in Europe See Section E.3. E.1.2 For Customers In The USA This equipment has been tested and found to comply with the limits for a Class A digital device, persuant to part 15 of the FCC rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment.
  • Page 51 • left over parts of units disassembled by the user (PCB's, housings etc.). If you wish to return a unit for waste recovery, please contact Thorlabs or your nearest dealer for further information. E.2.2 Waste treatment on your own responsibility If you do not return an "end of life"...
  • Page 52 Appendix E E.3 Certificate of Conformity HA0142T Rev 17K Sept 2015...
  • Page 53 DC Servo Motor Driver...

  • Page 55: Appendix F Thorlabs Worldwide Contacts

    Fax: +86 (0)21-32513480 email: sales.uk@thorlabs.com www.thorlabs.com Support: techsupport.uk@thorlabs.com email: chinasales@thorlabs.com France Brazil Thorlabs SAS Thorlabs Vendas de Fotônicos Ltda. 109, rue des Côtes Rua Riachuelo, 171 78600 Maisons-Laffitte France São Carlos, SP 13560-110 Tel: +33 (0) 970 444 844 Brazil...
  • Page 56 Thorlabs Inc. Thorlabs Ltd. 56 Sparta Ave 1 Saint Thomas Place, Ely Newton, NJ07860 Cambridgeshire CB7 4EX, Tel: +1 973 579 7227 Tel: +44 (0) 1353 654440 Fax: +1 973 300 3600 Fax: +44 (0) 1353 654444 www.thorlabs.com www.thorlabs.com...

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