THORLABS KDC101 User Manual
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THORLABS KDC101 User Manual

Dc servo motor driver
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KDC101
DC Servo Motor Driver
Kinesis User Guide
Original Instructions

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Summary of Contents for THORLABS KDC101

  • Page 1 KDC101 DC Servo Motor Driver Kinesis 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 K-Cube Controller Hub ................6 2.3 Kinesis PC Software Overview ............... 7 Chapter 3 Getting Started ................
  • Page 3 Appendix A Rear Panel Connector Pinout Detail ........50 Appendix B Preventive Maintenance ............51 Appendix C Specifications and Associated Products ......52 Appendix D DC Motor Operation - Background ........54 Appendix E Regulatory ................59 Appendix F Thorlabs Worldwide Contacts ..........63...

  • 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

    Chapter 2 Introduction and Overview 2.1 Introduction The K-Cube DC Servo Controll er (KDC101) is a new very co mpact single channel controller/driver for e asy manual and automatic control of DC Servo motors. This driver has been designed to o perate with a varie ty of low er powered DC brushed motors (up to 15V/2.5W operation) equipped with encoder feedback.

  • Page 6: K-Cube Controller Hub

    For power, a single way wall plug supply (KPS101) is available for powering a single K-Cube Driver. As a further level of convenience when using the new K-Cube Controllers Thorlabs also offers th e 3-channel and 6 -channel K-Cube Controller Hubs (KCH301 and KCH601).

  • Page 7: Kinesis Pc Software Overview

    K-Cube Brushed DC Servo Motor Driver 2.3 Kinesis PC Software Overview 2.3.1 Introduction The K-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 pro grammable interface. Many such Co ntrols are available for Windows applications development, providing a large range of re-usable functionality.
  • Page 9 Ki nesis 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

    (KCH301 and KCH601). ) are also available - see Section 2.2. for further details. Full instructions on the fitting and use of the controller hub are contained in the handbook available at www.thorlabs.com Caution When siting the unit, it should be positioned so as not to impede the...

  • Page 12: Electrical Installation

    Fig. 3.2 Rear Panel Connections The unit is supp lied with a 15 pin D- type connector as sho wn above, which i s compatible with all new Thorlabs DC servo motor actuators (refer to Appendix A details of pin outs).
  • Page 13 POWER - A Standard 3.5 mm front panel jack connector for connecting 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 K-Cubes to be powered from a single mains outlet. A single way wall plug supply (KPS101) for powering a single Driver K-Cube is also available.

  • Page 14: Connect The Hardware

    Chapter 3 3.4 Connect The Hardware 1) Perform the mechanical installation as detailed in Section 3.2. 2) Install the APT Software. Caution During items (3) to (6) the instructions should be followed strictly in the order stated. Problems may occur if the process is not performed in the correct sequence.
  • Page 15 3.5 Stage identification Most of the stages compatible with the KDC101 controller are fitted with an identification device. On power-up the KDC1 01 reads the stage identification and loads the correct operating parameters associated with the stage. When the controller is used with kinesis software, the type of stage is also reported to the GUI.

  • Page 16: Verifying Software Operation

    Chapter 3 3.6 Verifying Software Operation 3.6.1 Initial Setup 1) Ensure power is applied to the unit, then switch the unit ON using the switch on the front panel. 2) Wait until the power up sequence is complete, then run the Kinesis Software and check that the Graphical User Interface (GUI) panel appears and is active.

  • Page 17: Chapter 4 Standalone Operation

    Chapter 4 Standalone Operation 4.1 Introduction The DC Driver K-Cube has been designed specifically to operate with the extensive range of Th orlabs DC motorised opto-mechanical products. The unit offers a ful ly featured motion control capability including velocity profile settings, limit sw itch handling, homing sequences and, for more advanced operation, adjustment of settings such a s lead screw pitch an d gearbox ratio, al lowing support for many different actuator configurations.

  • Page 18: Velocity Wheel Operation

    Chapter 4 4.2.2 Digital Display - Operating Mode During normal operation, the digital display shows the current position (in millimeters or degrees) and the current state of the motor (Stopped or Moving). If the stage being driven has been homed, the display will also show ‘Homed’. Brushed Motor Controller A t 0 .
  • Page 19 K-Cube Brushed DC Servo Motor Driver This mode of operation is enabled by setting the ‘Wheel Mode’ to ‘Go To Position’ through the software GUI - see Section 6.3.4. or via the display menu, see Section 4.4.5. Note for Rotation Stage Users If the current absolute position is outside the 0 to 360 degree range, then "go to position"...

  • Page 20: Settings Menu

    Chapter 4 4.4 Settings Menu 4.4.1 Overview A t 0 . 0 0 0 0 m m S t o p p e d Press the MENU button MENU Use the wheel to scroll through the menu options M e n u o p t i o n s U s e w h e e l Press the MENU button to enter a particular option M e n u o p t i o n s...
  • Page 21 K-Cube Brushed DC Servo Motor Driver 4.4.2 Menu Option - Go to position This mode is used to move to an absolute position. A t 0 . 0 0 0 0 m m S t o p p e d MENU Press the MENU bu tton, then use the wheel to scroll through the menu options.
  • Page 22 Chapter 4 4.4.3 Menu Option - Start homing A t 2 . 0 0 0 0 m m This mode is used to home the stage. S t o p p e d MENU Press the MENU bu tton, then use the wheel to scroll through the menu options.
  • Page 23 K-Cube Brushed DC Servo Motor Driver 4.4.5 Menu Option - Joystick Mode This mode i s used to set the operating mode of the A t 0 . 0 0 0 0 m m joystick wheel. H o m e d S t o p p e d V MENU Press the MENU bu tton, then use the wheel to scroll M e n u o p t i o n s...
  • Page 24 Chapter 4 4.4.6 Menu Option - Jog Step Size This mode is used to set the jog step size. A t 0 . 0 0 0 0 m m H o m e d S t o p p e d V MENU Press the MENU bu tton, then use the wheel to scroll M e n u o p t i o n s...
  • Page 25 K-Cube Brushed DC Servo Motor Driver 4.4.7 Menu Option - Teach Position This mode is used to set the teach positions, used when the Joystick mode option is set to Jog to positions mode - see Section 4.4.5. To set Teach Position 1... A t 1 0 .
  • Page 26 Chapter 4 4.4.8 Menu Option - Brightness A t 0 . 0 0 0 0 m m In certain applications, it may be necessary to adjust the H o m e d S t o p p e d V brightness of the LED display.
  • Page 27 4.4.11 Menu Option - Select Stage Most of the stages compatible with the KDC101 controller are fitted with an identification device. On power-up the KDC1 01 reads the stage identification and loads the correct operating parameters associated with the stage. However, some legacy stages are not fitted with an identification device.

  • Page 28: 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 29 1) Power up the hardware, and wait until the display has stopped flashing, then run the Kinesis software - Start/All Programs/Thorlabs/Kinesis/Kinesis. 2) Notice how the actuator type, associated automatically in at start up is displayed in the ‘Settings’ window. See Section 5.8. and Section 6. 3. for further details on the parameter values shown in the ‘Settings’...

  • Page 30: Homing Motors

    Chapter 5 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 31: Changing Motor Parameters And Moving To An Absolute Position

    K-Cube Brushed DC Servo Motor Driver 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 32: Jogging

    Chapter 5 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 ste p size specifie d in the Ste p Distance parameter.

  • Page 33: Setting Move Sequences

    K-Cube Brushed DC Servo Motor Driver 5.6 Setting Move Sequences The Kinesis software allows move seque nces 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 se ttings (e.g.

  • Page 34: Stage/Axis Tab

    These parameters were set automaticall y when the server aut omatically applied suitable defaults 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 35: 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. Fo r information o n the metho ds 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 K-Cube using the Kinesis software.

  • Page 36: Settings Panel

    Chapter 6 Velocity Parameters - the present setting for the move velocity parameters and the jog step size. The travel rang e 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 37 K-Cube Brushed DC Servo Motor Driver 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, Movi n g, Moving EXT or Homing.

  • Page 38: Ha0363T Rev Dk Jan

    Chapter 6 6.3 Settings Panel When the 'Settings' button on the GUI p anel 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 th ese parameters have programmable equivalents accessible through the functions on this Control (refer to the Kinesis API helpfile for further details.
  • Page 39 K-Cube Brushed DC Servo Motor Driver 6.3.2 Moves/Jogs Tab Fig. 6.2 DC Driver K-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 40 Chapter 6 There are two jogging modes available, ‘Jog’ and ‘Continuous’. In ‘ Jog’ mode, the motor moves by the distance specified in the Step Size parameter. If the jog key is held down, single step jogging is repeated until the button is released - see Fig. 6.3. In ‘Continuous’...
  • Page 41 K-Cube Brushed DC Servo Motor Driver 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 42 They need to be set accordingly such that a particular stage is driven properly by the system. For Thorlabs stages, the Kinesis software will automatically apply suitable defaults for the parameters on this tab during boot up of the software and these parameters cannot be altered subsequently as it may adversely affect the performance of the stage.
  • Page 43 K-Cube Brushed DC Servo Motor Driver Home Settings When homing, a sta ge typically moves in th e 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.
  • Page 44 Chapter 6 6.3.4 Advanced Tab Fig. 6.5 DC Driver K-Cube - Advanced Settings MMI Controls The velocity wheel is sprung such that when released it returns to it’s central position. In this central position the motor is stationary. As the wheel is moved away from the center, the motor begins to move;...
  • Page 45 K-Cube Brushed DC Servo Motor Driver Jog - Deflecting the wheel initiates a jog move, using the parameters specified by the Move/Jogs tab. Keeping the wheel deflected repeats the move automatically after the current move has completed. Move To Position - Deflecting the wheel starts a move from the current position to one of the two predefined “teach”...
  • Page 46 Chapter 6 Integral – This parameter accelerates the process towards the demanded position, ensuring that the positional error is eventually reduced to zero. If set too high, the output can overshoot the demand value. Under a constant torque loading, the static position error is zero.
  • Page 47 K-Cube Brushed DC Servo Motor Driver 6.3.5 Triggering Tab Fig. 6.6 Stepper Driver K-Cube - Triggering Settings Triggering Introduction The K-Cube motor controllers have two bidirectional trigger ports (TRIG1 and TRIG2) that can b e used to read an e xternal logic signal or ou tput a logic level to con trol external equipment.
  • Page 48 Chapter 6 Warning: do not drive the TRIG ports from any voltage source that can produce an output in excess of the normal 0 to 5 Volt logic level range. In any case the voltage at the TRIG ports must be limited to -0.25 to +5.25 Volts. Input Trigger Modes When configured as an input, the TRIG ports can be used as a general purpose digital input, or for triggering a relative, absolute or home move.
  • Page 49 K-Cube Brushed DC Servo Motor Driver Trigger Out Position Steps Note If the trigger mode is not set to one of the three position step modes described previously, then the following parameters are not applicable and will be hidden. As soon as a position triggering mode is selected on either of the TRIG ports, the port will assert the inactive logic state, set in the Trigger Polarity parameters.
  • Page 50 Chapter 6 parameter. This means that the total number of pulses output will be Trigger Cycle Counts x (Forward Trigger Count + Reverse Trigger Count). PosIntervalFwd 15 mm Pos2 Fwd 12 mm Pos1 Rev StartPosRev 10 mm StartPosFwd Pos1 Fwd Time Trig Voltage Time...
  • Page 51 K-Cube Brushed DC Servo Motor Driver 6.3.6 Rotation StagesTab Rotation Mode This setting relates to the way in which the angular position is displayed on the GUI panel. There are three options: Fixed Range - The angular rotation is limited to 360° i.e. one revolution. Equivalent Angle –...

  • Page 52: Appendix A Rear Panel Connector Pinout Detail

    Caution DO NOT connect a motor actuator while the K-Cube is powered up. Only use motor drive cables supplied by Thorlabs, other cables may have incompatible wiring. Please contact tech support for details on use with Th orlabs legacy Z6 series DC...

  • Page 53: 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 54: 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 55 K-Cube Brushed DC Servo Motor Driver 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 C.2 Associated Products Product Name Part Number 6mm DC Servo Motor Actuator, 1/4”-80...

  • Page 56: 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 ach ieved by fo rcing current through a coil and producing a magn etic field, which in turn, spins the motor.
  • Page 57 K-Cube Brushed DC Servo Motor Driver Both forces are of equal magnitude. At 180°, th e same phe nomenon 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 kee ps it spi nning until the brushes regain contact.
  • Page 58 Appendix D D.2 Positioning a Stage D.2.1 General Whenever a command is re ceived to move a stage, the movement is sp ecified 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 59 K-Cube Brushed DC Servo Motor Driver 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 60 Appendix D 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 61: 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 be en tested an d found to comply with the limits fo r a Class A digital device, persua nt to part 15 of the FCC rules.
  • Page 62 • 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 63 K-Cube Brushed DC Servo Motor Driver E.3 Certificate of Conformity...
  • Page 64 Fax: +49-(0) 8131-5956-99 Fax: +46-31-703-40-45 www.thorlabs.de www.thorlabs.com Email: europe@thorlabs.com Email: scandinavia@thorlabs.com France Brazil Thorlabs Vendas de Fotônicos Ltda. Thorlabs SAS 109, rue des Côtes Rua Riachuelo, 171 78600 Maisons-Laffitte São Carlos, SP 13560-110 France Brazil Tel: +33 (0) 970 444 844...

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