THORLABS BMS001 Instruction Manual
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THORLABS BMS001 Instruction Manual

THORLABS BMS001 Instruction Manual

Stepper motor controller
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STEPPER MOTOR CONTROLLER
Model Numbers BMS001 and BMS002

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Summary of Contents for THORLABS BMS001

  • Page 1 STEPPER MOTOR CONTROLLER Model Numbers BMS001 and BMS002...
  • Page 2 THORLABS About the Company Thorlabs Ltd is an a leading manufacturer of motion control systems, vibration isolation systems, machine vision products and multi-element optical systems for fiber-optic, semiconductor and reprographic applications. We offer customers an in-depth understanding of optical component manufacture, allowing us to quickly and confidently develop optimal positioning solutions.

  • Page 3: Table Of Contents

    Contents 1 For Your Safety ..................3 Safety Information ......................3 Warnings ........................4 Declarations Of Conformity .................... 4 For Customers in Europe ..................4 For Customers In The USA ..................4 2 Overview and Setup .................. 5 Introduction ........................5 Mechanical Installation ....................
  • Page 4 4 PC (Remote Mode) Tutorial ..............28 Introduction ........................28 Select the Stage Type ....................28 Using the APT User Utility .................... 30 Homing Motors ......................32 Moving to an Absolute Position ..................33 Changing Motor Parameters ..................34 Jogging ......................... 35 Creating a Simulated Configuration ................

  • Page 5: For Your Safety

    Chapter 1 For Your Safety 1.1 Safety Information For the continuing safety of the operators of this equipment, and the protection of the equipment itself, the operator should take note of the Warnings, Cautions and Notes throughout this handbook and, where visible, on the product itself. The following safety symbols may be used on the equipment: Warning, risk of danger.

  • Page 6: Warnings

    Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense. Changes or modifications not expressly approved by Thorlabs Ltd could void the user’s authority to operate the equipment.

  • Page 7: Overview And Setup

    The unit is available in single (BMS001) and two channel (BMS002) versions. Control of the unit can be performed in both ‘Local’ (benchtop) and ‘Remote’ (PC) modes. In ‘Local’...

  • Page 8: Mechanical Installation

    Warnings. • The unit must be connected only to an earthed fused supply of 110 to 230V. • Use only power supply cables supplied by Thorlabs, other cables may not be rated to the same current. • The unit is shipped to the UK, Europe and the USA, with the appropriate power plug already fitted.

  • Page 9: Rear Panel Connections

    PC. Refer to Appendix A for details of pin outs. Note. Thorlabs supply a remote jogging handset (Part Number RCU601). If a remote handset is not used, the terminator supplied must be fitted - see Chapter 2.3.2 for details.

  • Page 10: Front Panel Controls And Indicators

    Pos Ch2 Mode 000.000 000.000 Menu Move Chan Save CHANNEL ENABLE Stop Channel enable keys Main display Local controls BMS001 - 1 channel variant α apt- STEPPER MOTOR CONTROLLER LOCAL CONTROLS Pos Ch1 Mode 000.000 Menu Move Save ENABLE Stop Fig.

  • Page 11: Remote Jog Handset

    PC. To allow this kind of use, Thorlabs can supply a jog handset, which enables the motors to be jogged at some distance from the controller itself or a remote PC. The handset is supplied with 1.5m (4.9 ft) of cable.

  • Page 12: Benchtop (Local Mode) Operation Basics

    Chapter 2 Overview and Setup 2.6 Benchtop (Local Mode) Operation Basics 2.6.1 Changing the Channel Selection When making move commands and parameter changes, channel selection is made by pressing the key. Repeated pressing results in the following sequence: Chan Press 1 Press 2 Press 3 In this way, moves can be initiated on one or both drive channels.

  • Page 13: Motor Moves

    BMS001 and BMS002 Stepper Motor Controller Pos Ch1 Pos Ch2 Chan Calibration 000.000 000.000 001.000 Menu press to enter 'Setup' mode scroll through the parameter list Save Local / Remote Local (Panel) Menu press to enter 'Edit' mode Save Local (Panel)

  • Page 14: Installing Apt Software For Pc (Remote) Operation

    D) Install the APTUser Utility Run setup.exe from the ‘APT User’ folder and follow the instructions on screen. If you experience any problems when installing software, contact Thorlabs on +44 (0)1353 654440 and ask for Technical Support. Caution. Some PC’s may have been configured to restrict access to the registry. If this...

  • Page 15: Software Upgrades

    BMS001 and BMS002 Stepper Motor Controller 2.7.3 Software Upgrades Thorlabs operate a policy of continuous product development and may issue software upgrades as necessary. Detailed instructions on installing upgrades are included on the APT Software CD ROM. 2.8 APT PC Software Overview 2.8.1 Introduction...

  • Page 16: Aptuser Utility

    Chapter 2 Overview and Setup 2.8.2 APTUser Utility The APTUser application allows the user to interact with a number of APT hardware control units connected to the host PC. This program displays multiple graphical instrument panels to allow multiple APT units to be controlled simultaneously. All basic operating parameters can be altered and, similarly, all operations (such as motor moves) can be initiated.

  • Page 17: Apt Config Utility

    BMS001 and BMS002 Stepper Motor Controller 2.8.3 APT Config Utility There are many system parameters and configuration settings associated with the operation of the APT Server. Most can be directly accessed using the various graphical panels, however there are several system wide settings that can be made 'off-line' before running the APT software.

  • Page 18: Apt Server (Activex Controls)

    Chapter 2 Overview and Setup 2.8.4 APT Server (ActiveX Controls) ActiveX 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.
  • Page 19 BMS001 and BMS002 Stepper Motor Controller The APT ActiveX Controls collection provides a rich set of graphical user panels and programmable interfaces allowing users and client application developers to interact seamlessly with the APT hardware. Each of the APT controllers has an associated ActiveX Control and these are described fully in system online help or the handbooks associated with the controllers.

  • Page 20: Verifying Software Operation

    Chapter 2 Overview and Setup 2.9 Verifying Software Operation 2.9.1 Initial Setup 1) Install the APT software as detailed in Section 2.7. 2) Connect the controller to the stepper actuators or the relevent axes of the associated stages (see Section 2.3.). 3) Fit the interlock plug (supplied) to the MOTOR CONTROL connector on the rear panel.

  • Page 21: Benchtop (Local Mode) Tutorial

    After about 6 seconds, the LEDs flash and the version of software installed is displayed e.g. Thorlabs Stepper Panel Unit V1.0.1 It is useful to report this number to Thorlabs Customer Support when requesting assistance. The unit is fully powered up and ready for use when the channel positions are displayed as shown below..

  • Page 22: Homing The Motors

    Chapter 3 Benchtop (Local Mode) Tutorial 5) Check that the value displayed is correct for the motor connected to channel 1. For example, the ZST range of stepper motor actuators have 3072 microsteps per revolution, a 76:1 reduction ratio gearbox and a 0.5mm pitch lead screw. This results in a calibration constant of: 3072 x 76 x 2 = 466944 (this is the factory set default value).

  • Page 23: Moving To An Absolute Position (Channel 1)

    BMS001 and BMS002 Stepper Motor Controller 3.4 Moving to an Absolute Position (channel 1) Absolute moves are measured in real world units (e.g. millimetres), relative to the Home position. 1) Press the key until the channel 1 led is lit.

  • Page 24: Moving A Relative Distance (Channel 2)

    Chapter 3 Benchtop (Local Mode) Tutorial 3.5 Moving a Relative Distance (channel 2) Relative moves are measured in real world units (e.g. millimetres), relative to the present position. 1) Press the key until the channel 2 led is lit. Chan 2) Press the key to select the ‘Rel’...

  • Page 25: Changing Motor Velocity (Channel 2)

    BMS001 and BMS002 Stepper Motor Controller 3.6 Changing Motor Velocity (channel 2) Moves are performed using a trapezoidal velocity profile (see Appendix D, Section D.1.3.). The velocity setting relates to the maximum velocity at which a move is performed. 1) Press the key until the channel 2 led is lit.

  • Page 26: Jogging

    Chapter 3 Benchtop (Local Mode) Tutorial 3.7 Jogging In ‘Local’ mode, the motor actuators can be jogged using the front panel arrow keys, or by using an optional jog handset connected to the MOTOR CONTROL port on the rear panel of the unit (see Section 2.5. for details on the jog handset). There are two jogging modes available, ‘Single Step’...
  • Page 27 BMS001 and BMS002 Stepper Motor Controller 9) Repeat items 2) to 8) to set the following parameter values: Jog Step Size - 000.100 Jog Velocity - 000.400 Jog Accel - 000.200 This equates to a jog step size of 0.1mm each time the jog button a pressed. Jog moves will be performed at 0.4mm/sec and the motor will accelerate at 0.2mm/...

  • Page 28: Switching Operating Modes

    Chapter 3 Benchtop (Local Mode) Tutorial 3.8 Switching Operating Modes By default, the unit powers up in ‘Local’ mode and all system settings and move commands are accessed via the front panel keys (see Section 2.4.). To allow remote operation via a PC, the unit can be switched to ‘Remote’ mode, where all commands and settings are entered via the APT software running on a PC.

  • Page 29: Changing Default Values

    BMS001 and BMS002 Stepper Motor Controller 3.9 Changing Default Values Default values for the operational parameters of the stage or actuator being positioned are set at the factory and are loaded on power up (default values are for the Thorlabs ZST6 stepper motor).

  • Page 30: Pc (Remote Mode) Tutorial

    (e.g. for a custom stage type not selectable using the APT Config utility). 1) Shut down all applications using the APT server (e.g. APT User or your own custom application). 2) Run the APT Config utility - Start/All Programs/Thorlabs/APT Config/APT Config.
  • Page 31 BMS001 and BMS002 Stepper Motor Controller 3) From the 'APT Configuration Utility' window, click the 'Stage' tab. Fig. 4.7 APT Configuration Utility - Stage Tab 4) In the ‘Stepper’ field, select the serial number of the stepper motor controller to be configured.

  • Page 32: Using The Apt User Utility

    (such as motor moves) can be initiated. Hardware configurations and parameter settings can be saved to a file, which simplifies system set up whenever APT User is run up. Fig. 4.8 Typical APT User Screen 1) Run the APT User program - Start/All Programs/Thorlabs/APT User/APT User.
  • Page 33 BMS001 and BMS002 Stepper Motor Controller 2) Notice how the ZST6 actuator type, selected in Section 4.2. is displayed in the ‘Settings’ window. See Section 4.9. and Section 6.3. for further details on the parameter values shown in the ‘Settings’ display.

  • Page 34: Homing Motors

    Chapter 4 PC (Remote Mode) Tutorial 4.4 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 35: Moving To An Absolute Position

    BMS001 and BMS002 Stepper Motor Controller 4.5 Moving to an Absolute Position Absolute moves are measured in real world units (e.g. millimetres), relative to the Home position. 1) Click the position display associated with channel 1. Fig. 4.11 Absolute Position Popup Window 2) Enter 3.0 into the pop up window...

  • Page 36: Changing Motor Parameters

    Chapter 4 PC (Remote Mode) Tutorial 4.6 Changing Motor Parameters Moves are performed using a trapezoidal velocity profile (see Appendix D, Section D.1.3.). The velocity settings relate to the minimum and maximum velocities at which a move is performed, and the acceleration at which the motor speeds up from minimum to maximum velocity.

  • Page 37: Jogging

    BMS001 and BMS002 Stepper Motor Controller 4.7 Jogging In ‘Remote’ mode, the motor actuators are jogged using the GUI panel arrow keys or by using an optional jog handset connected to the MOTOR CONTROL port on the rear panel of the unit - see Section 2.5. for more information on the jog handset. There are two jogging modes available, ‘Single Step’...

  • Page 38: Creating A Simulated Configuration

    Chapter 4 PC (Remote Mode) Tutorial 4.8 Creating a Simulated Configuration The 'APT Config' utility can be used to set up simulated hardware configurations and place the APT Server into simulator mode. In this way it is possible to create any number and type of simulated (virtual) hardware units in order to emulate a set of real hardware.
  • Page 39 BMS001 and BMS002 Stepper Motor Controller 4) Enter a 6 digit serial number. Note. Each physical APT hardware unit is factory programmed with a unique 8 digit serial number. In order to simulate a set of ‘real’ hardware the Config utility allows an 8 digit serial number to be associated with each simulated unit.

  • Page 40: Stage/Axis Tab

    APTUser. These parameters should not be altered for pre-defined Thorlabs stages and actuators selected using APT Config, as it may adversely affect the performance of the stage.

  • Page 41: Reference - Benchtop (Local) Operation

    Chapter 5 Reference - Benchtop (Local) Operation 5.1 Introduction This chapter gives an explanation of the individual parameters and settings accessed from the front panel. 5.2 Front Panel Parameter Reference Default Display Pos Ch1 Pos Ch2 Shows the present position of the motors. 000.000 000.000 Press the...
  • Page 42 Chapter 5 Reference - Benchtop (Local) Operation Channel Calibration Chan Calibration By default, the display shows ‘real world’ distance 001.000 units (e.g. millimetres for linear stages). This parameter relates the microstep resolution of the motor to ‘real world’ distance units. See Appendix D for background information on microsteps.
  • Page 43 BMS001 and BMS002 Stepper Motor Controller Home Settings Home Settings > When homing, a stage typically moves in the reverse direction to the reverse limit switch (as indicated by the factory set defaults). To accomodate stages that can home to both Forward...
  • Page 44 MOTOR CONTROL port on the rear of the unit. Jog Mode See Section 2.5. for details on the Thorlabs Jog Jog Step Size Handset. Jog Accn Jog Velocity There are two jogging modes available, ‘Single...
  • Page 45 BMS001 and BMS002 Stepper Motor Controller Limit Switches Lim. Switches > The operation of the limit switches is inherent in the design of the associated stage or actuator. This parameter notifies the system to the action of the switches when contact is made. Select Fwd Lim or...
  • Page 46 Chapter 5 Reference - Benchtop (Local) Operation Phase Powers Phase Powers > The power needed to hold a motor in a fixed position is much smaller than the power needed to move it, and it is advantageous to reduce the power through a stationary motor in order to reduce <...
  • Page 47 BMS001 and BMS002 Stepper Motor Controller Operational Limits Oper. Limits > These operational limits are those used when limit checking is enabled. For limit checking on position and velocity parameters to be effective it is important that those operational limits are tailored Max Velocity to the particular actuator being driven.
  • Page 48 Chapter 5 Reference - Benchtop (Local) Operation Advanced Advanced > The options availble from this menu are not typically used in normal operation of the unit, however there may be times when they are useful. < Reset Counter Reset Counter: Used to set the position counter of the associated channel to zero.

  • Page 49: Reference - Pc (Remote) Operation

    Chapter 6 Reference - PC (Remote) Operation 6.1 Introduction This chapter gives an explanation of the parameters and settings accessed from the APT software running on a PC. 6.2 GUI Panel The following screen shot shows the graphical user interface (GUI) displayed when accessing the miniAPT stepper controller using the APTUser utility.
  • Page 50 Chapter 6 Reference - PC (Remote) Operation using the ‘Settings’ button (bottom right hand corner of the GUI) and subsequently displayed in the 'Settings' panel. Jog - used to increment or decrement the motor position. When the button is clicked, the motor is driven in the selected direction at the jog velocity one step per click.

  • Page 51: Settings Panel

    BMS001 and BMS002 Stepper Motor Controller shown when the Settings panel is displayed is determined by the channel rocker switch on the main panel. Ident - when this button is pressed, the Channel LEDs on the front panel of the associated hardware unit will flash for a short period.
  • Page 52 Chapter 6 Reference - PC (Remote) Operation Velocity Profile (specified in real world units, millimetres or degrees) MinVel - the minimum velocity at which to start and end a move. MaxVel - the maximum velocity at which to perform a move. Accn/Dec - the rate at which the velocity climbs from minimum to maximum, and slows from maximum to minimum.
  • Page 53 For Thorlabs stages, the APT Config utility can be used to associate a specific stage and axis type with the motor channel (refer to the APT Config helpfile for further details on how to associate a stage and axis).
  • Page 54 Chapter 6 Reference - PC (Remote) Operation Stage and Axis Type - For Thorlabs stages, the stage type is displayed automatically once the axis has been associated using the APTConfig utility. For third party stages, the display shows ‘Unknown’. Caution. Extreme care must be taken when modifying the stage related settings that follow.
  • Page 55 128 microsteps per full step. • The stepper motors used on the majority of Thorlabs stages/actuators have 200 full steps per rev and no gearbox fitted. For these motors the Steps Per Rev and Gearbox Ratio parameters have values of 200 and 1 respectively. As an exception to this, the ZST family of actuators use 24 steps per rev stepper motors fitted with a 76:1 reduction gearbox.

  • Page 56: A Rear Panel Connector Pinout Details

    Appendix A Rear Panel Connector Pinout Details A.1 Rear Panel Motor Control Connector Note. If the motor control connector is not used, the terminator supplied must be fitted. The ‘Motor Control’ connector provides digital (TTL) signals for use with an external control panel, e.g.
  • Page 57 BMS001 and BMS002 Stepper Motor Controller 5V User 470 Ω trigger output 0V User Fig. A.2 Trigger Output Details 20mA 330 Ω Trigger input 0V User Fig. A.3 Trigger Input Details...

  • Page 58: Rear Panel Drive Channel Connectors

    Appendix A Rear Panel Connector Pinout Details A.2 Rear Panel Drive Channel Connectors The ‘DRIVE CHANNEL’ connectors provide connection to the motors. The pin functions are the same for each channel and are detailed in Fig. A.4. In each case the signal must be referenced to the indicated return pin in order to be true.

  • Page 59: B Preventive Maintenance

    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 60: Cleaning

    Appendix B Preventive Maintenance B.3 Cleaning Warnings. • Disconnect the power supply before cleaning the unit. • Never allow water to get inside the case. • Do not saturate the unit. • Do not use any type of abrasive pad, scouring powder or solvent, e.g. alcohol or benzene.

  • Page 61: C Specifications And Associated Products

    Appendix C Specifications and Associated Products C.1 Specifications Power Supply Voltage 100 to 240 VAC Frequency 50 to 60 Hz Power 50 W Fuse Dimensions (W x D x H) 300 x 200 x 100 mm (12 x 8.0 x 4.0 in.) Weight 2.5 kg (5.5 lb) Microstep capability...

  • Page 62: D Stepper Motor Operation - Background

    The size of the microstep depends on the resolution of the driver electronics. When used with the Thorlabs miniAPT motor controller,128 microsteps per full step can be achieved, giving a total resolution of 3072 microsteps per revolution for a 24 full step motor.

  • Page 63: Positive And Negative Moves

    BMS001 and BMS002 Stepper Motor Controller D.1.2 Positive and Negative Moves Positive and negative are used to describe the direction of a move. A positive move means a move from a smaller absolute position to a larger one, a negative move means the opposite.

  • Page 64: Home Position

    Appendix D Stepper Motor Operation - Background D.2.2 Home position When the system is powered up, the position counters in the controller are all set to zero and consequently, the system has no way of knowing the position of the stage in relation to any physical datum.

  • Page 65: Minimum And Maximum Positions

    BMS001 and BMS002 Stepper Motor Controller 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’ position - see Fig. D.4.

  • Page 66: Error Correction

    Chapter 6 Stepper Motor Operation - Background 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 67 Filter and Polarizer Mounts, Mirror/ Fax: +44 (0) 1353 654444 Beamsplitter Mounts and Prism Tables. Product Warranty Nanopositioning All Thorlabs products are covered by a Stages, Mechanical Accessories, Piezo- manufacturers warranty against faulty electric and Stepper-motor Controllers, workmanship and materials, valid for 12 Autoalignment, Modular System months from the date of original purchase.
  • Page 68 THORLABS © Thorlabs 2005 Printed in UK (0205) Thorlabs Ltd. Saint Thomas Place Cambridgeshire CB7 4EX, UK Tel: +44 (0) 1353 654440 Fax: +44 (0) 1353 654444 www.thorlabs.com ha 0121T Issue 1...

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