THORLABS LPS710E User Manual
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THORLABS LPS710E User Manual

Long travel piezo stage and controller
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LPS710E
Long Travel Piezo Stage
and Controller
APT User Guide
Original Instructions

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Summary of Contents for THORLABS LPS710E

  • Page 1 LPS710E Long Travel Piezo Stage and Controller APT 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 Overview ..................5 2.1 Introduction .....................5 2.2 APT PC Software Overview ..............7 2.2.1 Introduction ......................7 2.2.2 APTUser Utility ....................8 2.2.3 APT Config Utility ....................9 2.2.4 APT Server (ActiveX Controls) .................
  • Page 3 LPS710E Long Travel Piezo Stage and Controller Chapter 4 PC Operation - Tutorial ............. 24 4.1 Introduction ................... 24 4.2 Using the APT User Utility ..............24 4.3 Introduction to Open and Closed Loop Operation ........ 26 4.4 Tuning ....................26 4.5 Limitations on the Displayed Position Values ........

  • 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 APT software is run. Please consult your system administrator or contact Thorlabs technical support for more details.

  • Page 5: Chapter 2 Overview

    Chapter 2 Overview 2.1 Introduction The LPS710E kit comprises the LPS710 Long Travel Piezo Stage and the PPC001 precision piezo controller. The stage provides 1100 µm of travel in open loop and 800 µm in closed loop and is designed specifically for applications requiring large displacement such as visualizing specimens or samples in confocal microscopy and 3D imaging.
  • Page 6 Chapter 2 The piezo controller is supplied with a full suite of software support tools. An intuitive graphical instrument panel allows immediate control and visualization of the operation of the piezo controller, and any other controllers that are installed in the system. See Section 2.2.

  • Page 7: Apt Pc Software Overview

    LPS710E Long Travel Piezo Stage and Controller 2.2 APT PC Software Overview 2.2.1 Introduction As a member of the APT range of controllers, the PPC001 piezo controller shares many of the associated software benefits. This includes 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: Aptuser Utility

    Chapter 2 2.2.2 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 piezo moves) can be initiated.

  • Page 9: Apt Config Utility

    LPS710E Long Travel Piezo Stage and Controller 2.2.3 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 only be made 'off-line' before running the APT software.

  • Page 10: Apt Server (Activex Controls)

    Chapter 2 2.2.4 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 11: Software Upgrades

    APT ActiveX Controls collection. Additional software developer support is provided by the APT Support pages on www.thorlabs.com. 2.2.5 Software Upgrades Thorlabs operate a policy of continuous product development and may issue software upgrades as necessary. The latest software can be downloaded from the ‘Services’ section of www.thorlabs.com.

  • Page 12: Chapter 3 Installation

    Chapter 3 Installation 3.1 Unpacking Note Retain the packing for use in future transportation. Caution Once removed from its packaging, the stage can be damaged by mishandling. The unit should only be handled by its base, not by any attachments to the moving part. The equipment contains no user servicable parts.

  • Page 13: Accessories

    LPS710E Long Travel Piezo Stage and Controller 3.2 Accessories The accessories detailed below are available separately, and are not shipped with the LPS710E. In addition, the stage can also be used with our range of mini-series optomechanical accessories available from www.thorlabs.com Warning The top platform must not be removed.

  • Page 14: Mounting

    3.4 Installing the Stage The stage features several mounting options as shown below. Please search LPS710E at www.thorlabs.com for detailed dimension drawings. To fit M6 (1/4"-20) Cap Screw, 2 Places...

  • Page 15: Installing The Controller

    LPS710E Long Travel Piezo Stage and Controller 3.5 Installing the Controller 3.5.1 Siting The unit is designed to be mounted free standing on a shelf, benchtop or similar surface. To avoid vibration transfer from the fan operating inside the controller, it is advised to mount the unit on a different service to that which houses the stage.

  • Page 16: Installing Apt Software

    If you experience any problems when installing software, contact Thorlabs on +44 (0)1353 654440 and ask for Technical Support. DO NOT CONNECT THE CONTROLLER TO YOUR PC YET 1) Go to Services/Downloads at www.thorlabs.com and download the APT Software.

  • Page 17: Connecting The Hardware

    LPS710E Long Travel Piezo Stage and Controller Warning Piezo actuators are driven by high voltages. Voltages up to 150V may be present at the rear panel connector. This is hazardous and can cause serious injury. Appropriate care should be taken when using this device.
  • Page 18 Chapter 3 7) Check that the Graphical User Interface (GUI) panel appears and is active. Fig. 3.4 GUI panel 8) Click the ‘Ident’ button. The POWER LED on the front panel of the controller flashes. This is useful in multi-channel systems for identifying which controller is associated with which GUI.

  • Page 19: Powering Down The Controller

    LPS710E Long Travel Piezo Stage and Controller 3.7.3 Powering Down The Controller Warning The controller may cause drive voltage spikes on power down. In applications requiring the highest sensitivity, the piezo drive voltage should be set to zero before the unit is powered down.
  • Page 20 Chapter 3 EXT IN (Male BNC connector) – Used to control the piezo stage from an external source. When in open loop the EXT IN controls the voltage, when in closed loop it controls the position. This input allows a -10V to 10V input to drive the output to its full scale.

  • Page 21: Front Panel Controls And Indicators

    LPS710E Long Travel Piezo Stage and Controller 3.8 Front Panel Controls and Indicators Precision Piezo Controller Power Closed Loop Error Fig. 3.6 Front panel controls and indicators Power Button and LED – Applies and removes power to the controller. Power is applied when the LED is lit.

  • Page 22: Controller Schematic Diagram

    Chapter 3 3.9 Controller Schematic Diagram The PPC001 controller and LPS710 piezo stage bundle is a closed-loop position control system with a digital PID controller and dual notch filters. The stage contains a capacitive position sensor for accurate position measurement. The sensor is driven from a sine wave generator, the AC output signal of the actuator is demodulated and sampled by a precision 18 bit A/D converter.
  • Page 23 LPS710E Long Travel Piezo Stage and Controller Fig. 3.8 System Schematic - Part 2...

  • Page 24: Chapter 4 Pc Operation - Tutorial

    1) Install the hardware as detailed in Chapter 3. 2) Switch ON the controller. 3) Run the APT User program - Start/All Programs/Thorlabs/APT User/APT User. The APT server registers automatically the units connected on the USB bus and displays the associated GUI panels as shown in Fig. 4.1.
  • Page 25 Fig. 4.1 Piezo Controller Software GUI . Caution The LPS710 piezo actuated stage contains a capacitive feedback sensor and can be driven only by the Thorlabs PPC001 150V Piezo Controller. Warning The piezo actuators in this product use high voltages. Voltages up to 150V may be present at the STAGE connector on the rear panel.

  • Page 26: Introduction To Open And Closed Loop Operation

    Chapter 4 4.3 Introduction to Open and Closed Loop Operation The PPC001 Precision Piezo Controller has two distinct modes of operation: open and closed loop mode. In open loop mode, the output voltage is controlled directly, using the GUI, a joystick, the external BNC input, or a combination of these. The output voltage is proportional to the controlling source.

  • Page 27: Limitations On The Displayed Position Values

    LPS710E Long Travel Piezo Stage and Controller The following section describes details a typical tuning procedure 1) Mount the stage to the worksurface. 2) Weigh and note the load, then attach the load to the stage. 3) Connect the stage to the controller.

  • Page 28: Moving The Piezo Stage

    Chapter 4 4.6 Operating the Piezo Stage The piezo stage can be manually positioned in three ways: by entering a voltage/ position, by using the ‘Output’ potentiometer or by clicking the ‘Jog’ buttons. 4.6.1 Entering the Piezo Position (Closed Loop) Note The piezo position can be entered only when operating in ‘Closed Loop’...

  • Page 29: Setting The Zero Position

    LPS710E Long Travel Piezo Stage and Controller 4.6.2 Setting the Zero Position Upon power up, the controller is set to 0V and open loop. Typical operation involves moving to a position visually in open loop and then switching to closed loop, which maintains the stage position to that achieved at the moment of switch over.

  • Page 30: Moving The Piezo Using The 'Output' Control

    Chapter 4 4.6.4 Moving the Piezo using the ‘Output’ control The ‘Output’ control is used to adjust and set the voltage or position output as displayed in the main digital display. If the channel is in closed loop mode (set using the 'closed loop' button on the panel) then this control can be used to adjust position output.

  • Page 31: Jogging The Piezos

    LPS710E Long Travel Piezo Stage and Controller 4.6.5 Jogging the Piezos When the jog buttons are pressed, the piezo moves by the step size specified in the Jog Step Size parameter. 1) Click the ‘Settings’ button to display the Settings panel.

  • Page 32: Using The Controller As A Piezo Amplifier

    Chapter 4 4.7 Using the Controller as a Piezo Amplifier Certain applications may require the piezo to be driven by a voltage generated from an external source (e.g. -10V to 10V output). To achieve this, the controller must handle the amplification from 10V to 150V. Caution When using the controller as an amplifier, the performance of the piezo stage will be affected directly by the performance of the external source...

  • Page 33: Thermal Shutdown

    LPS710E Long Travel Piezo Stage and Controller 5) Click ‘OK’ to save the settings and close the window. Any voltage on the rear panel BNC connector is now amplified by the unit and presented at the STAGE (drive) connector. The position of the piezo stage in closed loop mode (0 to 800 µm) can be controlled by varying the 0-10V external source.

  • Page 34: Using The Mzf001 Joystick

    Chapter 4 4.9 Using the MZF001 Joystick The MZF001 joystick console has been designed to provide intuitive, tactile, manual positioning. It is used in conjunction with a PPC001 piezo controllers. Furthermore, if the parameter settings are saved (persisted) to the controller, the controller need not be connected to a host PC, thereby allowing remote operation.

  • Page 35: Load Response

    LPS710E Long Travel Piezo Stage and Controller 4.10 Load Response The response of the PPC001 to varying capacitance and frequencies is shown below. Fig. 4.6 Response of PPC001 to Varying Capacitance and Frequencies...

  • Page 36: Creating A Simulated Configuration Using Apt Config

    To create a simulated configuration proceed as follows: 1) Run the APT Config utility - Start/All Programs/Thorlabs/APT/APT Config. 2) Click the 'Simulator Configuration' tab. Fig. 4.7 APT Configuration Utility - Simulator Configuration Tab 3) Enter a name, e.g.
  • Page 37 LPS710E Long Travel Piezo Stage and Controller 4) In the 'Simulator' field, check the ‘Enable Simulator Mode’ box. The name of the most recently used configuration file is displayed in the 'Current Configuration' window. 5) In the ‘Control Unit’ field, select ‘Precision Piezo Controller (PPC001)’.
  • Page 38 Chapter 4 6) 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 39: Chapter 5 Software Reference

    LPS710E Long Travel Piezo Stage and Controller Chapter 5 Software Reference 5.1 GUI Panel The following screen shot shows the graphical user interface (GUI) (one panel per card fitted) displayed when accessing the controller using the APTUser utility. Fig. 5.1 PPC001 Piezo Driver Software GUI...
  • Page 40 Chapter 5 Travel - the range of travel (in µm) of the piezo actuator. Zero - Not used on the LPS710 stage. Enable - enables or disables the HV channel's output voltage. With the piezo enabled, the LED in the button is lit. When disabled, the LED is unlit, the output voltage on the HV amp channel is set to zero volts and the piezo is disconnected from the HV amplifier.

  • Page 41: Settings Panel

    LPS710E Long Travel Piezo Stage and Controller 5.2 Settings Panel When the 'Settings' button on the GUI panel is clicked, the 'Settings' window is displayed. This panel allows data such as jog step size and input sources to be entered. Note that all of these parameters have programmable equivalents accessible through the ActiveX methods and properties on this Control (refer to the Programming Guide in the APTServer helpfile (accessed via the Windows ‘Start’...
  • Page 42 Chapter 5 Drive Input Source - determines the input source(s) which control the output from the HV amplifier circuit (i.e. the drive to the piezo actuators). SW Only - the unit responds only to software inputs and the piezo drive output is that set using the SetVoltOutput method (or the GUI panel ‘Output’...

  • Page 43: Loop Tuning Tab

    LPS710E Long Travel Piezo Stage and Controller Output Bandwidth - Unfiltered or 200 Hz. A low pass filter can be switched on to limit the output bandwidth to the range of interest in most closed loop applications, i.e. 200Hz.. Force Reading - Not currently implemented. For future use with force sensing devices.
  • Page 44 Chapter 5 Loop Tuning - When operating in Closed Loop mode, the proportional, integral and differential (PID) constants can be used to fine tune the behaviour of the feedback loop to changes in the output position. While closed loop operation allows more precise control of the position, feedback loops need to be adjusted to suit the different types of device that can be mounted on the stage.
  • Page 45 LPS710E Long Travel Piezo Stage and Controller Generally, the system is most sensitive to the integral term and the notch filter settings. Fig. 5.4 shows how increasing the integral beyond an optimum value results in unnecessary overshoot. The same settings with a large step size, e.g.
  • Page 46 Chapter 5 Fig. 5.5 Loop settings v Load Deriv. LP Cut Off- The output of the derivative (differential) part of the PID controller can be passed through a tuneable low pass filter. Whilst the derivative component of the PID loop often improves stability (as it acts as a retaining force against abrupt changes in the system), it is prone to amplifying noise present in the system, as the derivative component is sensitive to changes between adjacent samples.
  • Page 47 LPS710E Long Travel Piezo Stage and Controller feedback, it can result in oscillations. With some actuators, the resonance peak is either weak enough or at a high enough frequency for the resonance not to be troublesome. With other actuators the resonance peak is very significant and needs to be eliminated for operation in a stable closed loop system.
  • Page 48 Chapter 5 As the resonance frequency of actuators varies with load in addition to the minor variations from product to product, the notch filter is tuneable so that its characteristics can be adjusted to match those of the actuator. In addition to its centre frequency, the bandwidth of the notch (or the equivalent quality factor, often referred to as the Q- factor) can also be adjusted.

  • Page 49: Appendix A Rear Panel Connector Pinout Detail

    † Power supply for the piezo actuator feedback circuit. It must not be used to drive any other circuits or devices. * This signal is applicable only to Thorlabs actuators. It enables the system to identify the piezo extension associated with the actuator.
  • Page 50 Appendix A A.2 Rear Panel USER Connector A.2.1 Pin Identification This female 15-pin D-Type connector exposes a number of internal electrical signals. For convenience, a number of logic inputs and outputs are included, thereby eliminating the need for extra PC based IO hardware. Using the APT support software, these user programmable logic lines can be deployed in applications requiring control of external devices such a relays, light sources and other auxilliary equipment.
  • Page 51 LPS710E Long Travel Piezo Stage and Controller A.2.2 Digital Outputs All digital outputs are of the open-collector type, with a 330 Ohm series resistor. When the output is set to a logic zero (which is also the default state), it behaves as open circuit.
  • Page 52 Appendix A A.2.3 Digital Inputs The digital inputs used in the controller are of the standard CMOS logic gate type with TTL compatible input levels and a built-in pull-up resistor (10 kOhm to +5V). They can be connected directly to mechanical switches, open-collector type outputs or most type of logic outputs.
  • Page 53 LPS710E Long Travel Piezo Stage and Controller As this output is actively driven, it can be connected, for example, to an oscilloscope without a need for an external pull-up resistor. It can also be used to drive most optocouplers. A.2.5 Trigger Input The Trigger inputs are ekectrically identical to the digital inputs (i.e.
  • Page 54 Appendix A A.3 Rear Panel RS232 Connector The RS232 terminal is a Male 9-Pin D-type connector exposes internal electrical signals for use with serial communications. This allows control of the device using the low level protocol in software environments that bypass APT server. A 9-way female- to-female crossover (zero modem) cable is required for connecting to a host PC.

  • Page 55: Appendix A 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 56: Appendix B Specifications And Associated Parts

    Appendix C Specifications and Associated Parts C.1 Stage Specifications Parameter Value Drive Voltage -25 V to 150 V Open Loop Travel Range (-25 V to 150 V) 1100 µm ±10% Closed Loop Travel Range 800 µm Feedback Transducer Type Capacitive Open Loop Resolution (Theoretical) 2 nm Closed Loop Resolution (Theoretical)
  • Page 57 LPS710E Long Travel Piezo Stage and Controller C.2 Controller Specifications Parameter Value Piezoelectric Output (Mixed Signal Combination D-Sub Connector) Voltage Output -25 V to 150 V DC Output Current 150 mA Voltage Stability 100ppm over 24 hours (after 30 mins warm up time) Noise <0.5 mV RMS (Bandwidth 20 Hz to 100 kHz)
  • Page 58 Version 2.0 Full Speed Compatible RS-232 3-wire Interface (RX, TX, GND) via 9-way D-type male connecvtor Joystick Compatible with Thorlabs MZF001 Joystick Closed Loop Algorithm Digital PID with Dual Tuneable Notch Filter Processor DSP 32-bit Floating Point, 160 MHz (ARM Cortex M4F) Servo Update Interval 50 µs...

  • Page 59: Appendix C Piezo Control Method Summary

    Appendix D Piezo Control Method Summary The 'Piezo' ActiveX Control provides the functionality required for a client application to control one or more of the APT series of piezo controller units. This range of controllers covers both open and closed loop piezo control in a variety of formats including compact Cube type controllers, benchtop units and 19"...
  • Page 60 Appendix D GetOutputLUTTrigParams Gets the output voltage waveform (LUT) triggering parameters. GetOutputLUTValue Gets a specific voltage output value in the voltage waveform (LUT) table. GetParentHWInfo Gets the identification information of the host controller. GetPosOutput Gets the piezo actuator extension in closed loop mode.
  • Page 61 LPS710E Long Travel Piezo Stage and Controller SetOutputLUTParams Sets the output voltage waveform (LUT) operating parameters. SetOutputLUTTrigParams Sets the output voltage waveform (LUT) triggering parameters. SetOutputLUTValue Sets a specific voltage output value in the voltage waveform (LUT) table. SetPosOutput Sets the piezo actuator extension in closed loop mode.

  • Page 62: Appendix D Piezo Operation - Background

    – see Fig. E.1. In this way, the distance from positive to negative electrodes is very small. A large field gradient can therefore be obtained with a modest drive voltage (75 V or 150 V in the case of Thorlabs actuators). expansion piezoelectric...
  • Page 63 Some Thorlabs nanopositioning actuators have position sensing, others do not. The Piezoelectric control module allows both types to be controlled.
  • Page 64 Appendix E moving open loop control part demand actuator moving closed loop control part demand a + b/s actuator sensor Fig. E.3 Open loop and closed loop control The result of using closed-loop control is a linear relationship between demand (voltage) and measured position –...

  • Page 65: Appendix E Regulatory

    Appendix F Regulatory F.1 Declarations Of Conformity F.1.1 For Customers in Europe See Section F.3. F.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 66 • 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. F.2.2 Waste treatment on your own responsibility If you do not return an "end of life"...
  • Page 67 LPS710E Long Travel Piezo Stage and Controller F.3 CE Certificate...
  • Page 68 Appendix F HA0378T Rev C Feb 2019...

  • Page 69: Appendix F Thorlabs Worldwide Contacts

    LPS710E Long Travel Piezo Stage and Controller Appendix G Thorlabs Worldwide Contacts USA, Canada, and South America France Thorlabs, Inc. Thorlabs SAS 56 Sparta Avenue 109, rue des Côtes Newton, NJ 07860 78600 Maisons-Laffitte France Tel: 973-300-3000 Tel: +33 (0) 970 444 844...
  • Page 70 Thorlabs Inc. Thorlabs Ltd. 56 Sparta Ave Saint Thomas Place, Ely Newton, NJ07860 Cambridgeshire CB7 4EX, Tel: +1 973 300 3000 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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