THORLABS PRM1Z8 Motorized Rotation Stage User Guide
- June 9, 2024
- THORLABS
Table of Contents
THORLABS PRM1Z8 Motorized Rotation Stage
Chapter 1 Overview
Introduction
The PRM1Z8 is a precision motorized rotation mount for 1″ optics.
Rotation is driven via a DC servo motor equipped with high ratio gearbox
(67:1) and rotary encoder for accurate closed loop position control. The
KDC101 DC servo controller is the ideal companion for achieving smooth
continuous motion which can be measured both through the software interfaces
and by using the Vernier dial and 1° engraved graduation marks on the rotating
plate. The precision DC motor actuator provides a minimum incremental motion
of 25 arcsecond over the 360° rotation. This rotation stage is also equipped
with a precision home limit switch to facilitate automated rotation to the
zero datum position, allowing absolute angular positioning thereafter.
The limit switch is designed to allow continuous rotation of the stage over
multiple 360° cycles. For complete flexibility the stage can be mounted either
vertically on a post or horizontally using an adapter plate – see Section 3.2
For attachment to other stages or fittings, please contact Tech Support..
Chapter 2 Safety
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 throughout the handbook and on the
equipment itself.
-
Warning: Risk of Electrical Shock
Given when there is a risk of injury from electrical shock. -
Warning
Given when there is a risk of injury to users. -
Caution
Given when there is a risk of damage to the product. -
Note
Clarification of an instruction or additional information.
General Warnings
Warning
If this equipment is used in a manner not specified by the manufacturer, the
protection provided by the equipment may be impaired. In particular, excessive
moisture may impair operation.
Spillage of fluid, such as sample solutions, should be avoided. If spillage
does occur, clean up immediately using absorbant tissue. Do not allow spilled
fluid to enter the internal mechanism.
Chapter 3 Installation
Unpacking
Caution
Once removed from its packaging, the stage is easily damaged by mishandling.
The unit should only be handled by its base, not by the motor or any
attachments to the moving platform.
Note
Retain the packing in which the unit was shipped, for use in future
transportation.
Mounting
The stage can be mounted to a standard 1/2” post, with an option to mount in a
vertical or an inclined orientation (as shown in Fig. 1.1.). The stage can
also be fixed directly to the worksurface in a horizontal (flat) orientation
using the counter-bored holes in the main body.
The rotating platform features several options for mounting accessories. The
central aperture has a standard SM1 internal thread, for compatibility with a
range of optics. Accessories can also be fixed using the series of threaded
mounting holes (see Fig. 3.3).
Standard ‘tongue and groove’ accessories can be mounted using the PRM1SP1(/M)
grooved adapter plate, which raises the deck height to 29mm (1.14”).
Adapter plates are available which allow more stable installation and raise
the deck height to 34mm (1.34”) (PRM1SP2), or 62.5mm (2.46”) (PRM1SP3)..
Caution
When mounting components, or fitting the stage within an application, do not
apply excessive pressure to the moving platform.
Fig. 3.1 PRM1Z8 mounted on a PRM1SP2 Adapter Plate
Connecting The Motor Driver
Caution
It is recommended that the PRM1Z8 series stages be driven by the Thorlabs
KDC101 DC Servo Motor Driver. If the stage is being driven by any other driver
or controller, consult Section 6.1. for motor pin out details and Chapter 5
for details of the motor specification.
The stage is supplied with 0.5m (1.6 ft) of cable and is terminated in a 15 pin Male D-Type connector. This is compatible with the MOTOR drive terminal of the KDC101 K-Cube DC driver unit – see Fig. 3.2 below. A 3m (9.8 ft) extension cable (PAA632) is available on request.
Transportation
Caution
When packing the unit for shipping, use the original packing. If this is not
available, use a strong box and surround the unit with at least 100 mm of
shock absorbent material.
Dimensions
PRM1Z8 Dimensions
Fig. 3.3 Dimensions
Chapter 4 Operation
Introduction
Caution
Thora’s often releases updated firmware for bug fixes and support for new
features. We recommend all users to download the latest version of Kinesis
software and use the included firmware update utility. Failure to do this
could result in stages not being recognized by the latest controllers.
The PRM1Z8 series stages form part of the Thora’s Nano positioning system. We
recommend they are driven by the Thora’s KDC101 K-Cube DC Servo Motor Driver.
If the stage is being driven by any other driver or controller, consult the
Section 6.1. for motor pin out details.
- Connect the stage to the DC motor driver and power up the unit.
- Connect the driver to the control PC.
Using the Kinesis Software
The stages are connected to the controller via a flying lead terminated in a D-type connector.
- Run the software – Start/Programs/Thorlabs/Kinesis/Kinesis The server reads in the stage and controller information on boot up and the GUI panel shown below is displayed..
When the software was run up, default settings applicable to the PRM1Z8 stage were loaded. These settings can now be tailored to your particular application.
- Check that the PRM1Z8 stage type is displayed in the bottom right of the GUI panel.
- Click the Settings button on the GUI to display the Settings panel.
- Click each tab in turn, and make parameter changes as necessary. If in doubt, run your application with the default settings unchanged until performance data is available – see Section 4.2.1. and also the handbook supplied for the KDC101 controller.
- After the parameter changes have been performed, click the ‘Persist Settings to Hardware’ box on each tab, then click ‘OK’. This will ensure that the same parameter settings will be loaded next time the unit is powered up – even in the absence of a PC.
- On the GUI panel, click the ‘HOME” button to move the stage to its home position. This will establish a zero datum from which future moves can be measured.
Rotation Stage Settings
The manual supplied for the controller unit contains full details of the
various settings tabs, however the PRM1Z8 stage contains an extra tab for
Rotation settings.
-
Rotation Mode – This setting relates to the way in which the angular position is displayed on the GUI panel.
-
Equivalent Angle – The maximum displayed position is 359.99°.
If a stage is driven past the 360° rotation point, the display reverts back to zero and counts up to 360° again. -
Total Angle – The total angular rotation is displayed, e.g. for a movement of two full rotations plus 10°, the display will show 730°.
-
Fixed Range – The angular rotation is limited to 360° i.e. one revolution.
-
Rotation Direction – This setting specifies the move direction.
-
Note. These parameters are applicable only if the Rotation Mode above is set to ‘Equivalent Angle.
-
Rotate Forwards – The move is performed in a positive direction
-
Rotate Reverse – The move is performed in a negative direction
-
Rotate Quickest – The move is performed in the quickest direction
Using the APT Software
-
Start the APT User utility – Start/Programs/Thora’s/APT User/APT User
The APT server reads in the stage and controller information on boot up and the GUI panel shown below is displayed..When the APT user utility was run up, default settings applicable to the PRM1Z8 stage were loaded. These settings can now be tailored to your particular application.
-
Check that the PRM1Z8 stage type is displayed as shown above.
-
Click the Settings button on the GUI to display the Settings panel.
-
Click each tab in turn, and make parameter changes as necessary. If in doubt, run your application with the default settings unchanged until performance data is available.
-
After the parameter changes have been performed, click the ‘Persist Settings to Hardware’ box on each tab, then click ‘OK’. This will ensure that the same parameter settings will be loaded next time the unit is powered up – even in the absence of a PC.
-
On the GUI panel, click the ‘HOME” button to move the stage to its home position. This will establish a zero datum from which future moves can be measured.
See the manual supplied with the controller unit for more information.
Chapter 5 Specifications
Parameter | Value |
---|
Stage Specifications
Range| 360° Continuous
Bidirectional Repeatability| ±0.1°
Backlash| ±0.3° a
Max Rotation Velocity| 25 deg/sec
Calculated Resolution| 2 arcsec (0.0005°)
On-Axis Load Capacity, Horizontal Mounting| 15 N (1.5 kg/3.4 lbs)
On-Axis Load Capacity, Vertical Mounting| 5 N (0.5 kg/1.1 lbs)
Min Repeatable Incremental Motion| 0.03°
Percentage Accuracy| 0.1%
Home Location Accuracy| ±0.2°
Wobble| 200 µrad
Motor Specifications
Motor Type| DC Servo
Nominal voltage| 6 V
No load speed| 6560 rpm
No load current| 7.43 mA
Nominal speed| 1050 rpm
Nominal torque (max. continuous torque)| 1.26 mNm
Nominal current (max. continuous current)| 0.156 A
Stall torque| 1.54 mNm
Starting current| 0.184 A
Max. efficiency| 65%
Terminal resistance| 32.7 W
Terminal inductance| 0.607 mH
Torque constant| 8.38 mNm/A
Speed constant| 1140 rpm/V
Speed / torque gradient| 4450 rpm/mNm
Mechanical time constant| 13.9 ms
Rotor inertia| 0.298gcm2
a With backlash correction enabled, see the handbook for the KDC101 controller for more details.
Chapter 6 Pin Out Details & Associated Products
Motor Connector Pin Out
The Motor cable is terminated in a 15 way D-type connector, which provides connection to the DC motor controller. The pin functions are detailed in Fig. 6.1.
Pin | Description | Pin | Description |
---|---|---|---|
1 | Ground/Return | 9 | Ident Resistor |
2 | 10 | Vcc/Ident Resistor | |
3 | Limit Switch | 11 | Encoder B |
4 | 12 | ||
5 | Motor + | 13 | Encoder A |
6 | 14 | ||
7 | Motor – | 15 | |
8 |
Fig. 6.1 Motor Connector Pin Descriptions
Associated Products
Product Name | Part Number |
---|---|
Grooved Adapter Plate Imperial | PRM1SP1 |
Grooved Adapter Plate Metric | PRM1SP1/M |
Raiser plate (34mm (1.34”) deck height) | PRM1SP2 |
Raiser plate (62.5mm (2.46”) deck height) | PRM1SP3 |
Chapter 7 Regulatory
Declarations Of Conformity
For Customers in Europe
See Section 7.2.
For Customers In The USA
This equipment has been tested and found to comply with the limits for a Class
A digital device, pursuant 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. This equipment
generates, uses and can radiate radio frequency energy and, if not installed
and used in accordance with the instruction manual, may cause harmful
interference to radio communications. 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 the company could void the
user’s authority to operate the equipment.
Chapter 8 Thorlabs Worldwide Contacts
For technical support or sales inquiries, please visit us at
www.thorlabs.com/contact for our most up-
to-date contact information.
-
USA, Canada, and South America
Thorlabs, Inc.
sales@thorlabs.com
techsupport@thorlabs.com -
Europe
Thorlabs GmbH
europe@thorlabs.com -
France
Thorlabs SAS
sales.fr@thorlabs.com -
Japan
Thorlabs Japan Inc.
sales@thorlabs.jp -
UK and Ireland
Thorlabs Ltd.
sales@uk.thorlabs.com
techsupport.uk@thorlabs.com -
Scandinavia
Thorlabs Sweden AB
scandinavia@thorlabs.com -
Brazil
Thorlabs Vendas de Fotônicos Ltda.
brasil@thorlabs.com -
China
Thorlabs China
chinasales@thorlabs.com
Thorlabs verifies our compliance with the WEEE (Waste Electrical and Electronic Equipment) directive of the European Community and the corresponding national laws. Accordingly, all end users in the EC may return “end of life” Annex I category electrical and electronic equipment sold after August 13, 2005 to Thorlabs, without incurring disposal charges. Eligible units are marked with the crossed out “wheelie bin” logo (see right), were sold to and are currently owned by a company or institute within the EC, and are not dissembled or contaminated. Contact Thorlabs for more information. Waste treatment is your own responsibility. “End of life” units must be returned to Thorlabs or handed to a company specializing in waste recovery. Do not dispose of the unit in a litter bin or at a public waste disposal site.
References
- Thorlabs, Inc. - Your Source for Fiber Optics, Laser Diodes, Optical Instrumentation and Polarization Measurement & Control
- Thorlabs, Inc. - Your Source for Fiber Optics, Laser Diodes, Optical Instrumentation and Polarization Measurement & Control
- Thorlabs, Inc. - Your Source for Fiber Optics, Laser Diodes, Optical Instrumentation and Polarization Measurement & Control