THORLABS Kinesis MLJ050, User Manual

Page 1: ...MLJ050 Motorized Lab Jack Kinesis User Guide Original Instructions ...

Page 2: ...e Operation 14 5 1 Introduction 14 5 2 Top Panel Controls and Indicators 14 5 3 Potentiometer Operation 15 5 4 Button Operation 15 Chapter 6 PC Operation 16 6 1 Introduction 16 6 2 Using the Kinesis Software 16 6 3 Homing Motors 17 6 4 Stopping the Stage 17 6 5 Changing Motor Parameters and Moving to an Absolute Position 18 6 6 Jogging 19 6 7 Setting Move Sequences 20 6 8 Changing and Saving Param...

Page 3: ...users Caution Given when there is a risk of damage to the product Note Clarification of an instruction or additional information Warnings If this equipment is used in a manner not specified in the handbook 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...

Page 4: ...ideal for mounting optomechanical sub assemblies requiring height adjustment The MLJ050 Motorized Lab Jack offers excellent rigidity and platform parallelism while providing smooth quiet motion Integral limt switches prevent overdriving The large 5 6 x 4 9 125 mm x 142 mm mounting platform supports up to 44 lbs 20 kg with a smooth vertical adjustment range of 2 50 mm Both the top and bottom plates...

Page 5: ...ion of advanced automated positioning applications very rapidly and with great ease 2 1 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 ...

Page 6: ...ons to be automated by a client application The instrument panel reflects the current operating state of the controller unit to which it is associated e g such as motor position Updates to the panel take place automatically when a user client application is making software calls into the same Control For example if a client application instructs the associated stage to move the progress of that mo...

Page 7: ...d fully in the handbooks associated with the controllers Fig 2 2 System Architecture Diagram Refer to the main Kinesis Software online help file for a complete programmers guide and reference material on using the 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 1 3 Softw...

Page 8: ...ce 3 3 1 General When mounting the lab jack close to other equipment ensure that the travel of the moving platform is not obstructed If equipment mounted on the moving platform is driven against a solid object damage to the internal mechanism could occur The range of travel is 2 0 50 mm vertically Note Retain the packing in which the unit was shipped for use in future transportation Caution Once r...

Page 9: ...is mounted to the working surface by four M6 1 4 20 screws through the base as shown in Fig 3 1 Fig 3 1 Installation Note The mounting holes are accessible with the lab jack fully retracted The unit must be powered down or disabled before fixing to the work surface 4 Bolts M6 1 4 20 2 each side ...

Page 10: ...king If this is not available use a strong box and surround the unit with at least 100 mm of shock absorbent material all dimensions in mm in 142 0 5 59 25 0 1 0 25 0 1 0 25 0 1 0 125 0 4 92 100 0 3 94 210 5 8 29 25 x M6 1 4 20 Tapped Holes for Mounting 116 0 4 57 MAXIMUM EXTENDED POSITION MAXIMUM RETRACTED POSITION 65 00 2 56 ...

Page 11: ...ghts to install run software please consult your system administrator before attempting to install If you experience any problems when installing software contact Thorlabs on 44 0 1353 654440 and ask for Technical Support Shock Warning The PSU unit must be connected only to an earthed fused supply of 100 to 240V Use only the power supply supplied by Thorlabs other units may not be rated to the sam...

Page 12: ...upply and switch ON 6 Wait for the unit to initialize about 5 sec Do not press any controls during this time The ACTIVE LED is extinguished or flashing when the unit is ready for use 7 WindowsTM should detect the new hardware Wait while WindowsTM installs the drivers for the new hardware see the Getting Started guide for more information Fig 4 1 Power and USB Connectors Note The USB cable should b...

Page 13: ...l showing jog and ident buttons 2 Click the Identify button The POWER LED on the control keypad flashes This is useful in multi channel systems for identifying which driver unit is associated with which GUI 3 Click the jog buttons on the GUI panel and check that the associated stage moves The position display for the associated GUI should increment and decrement accordingly ...

Page 14: ... stepper motor operation contained in Appendix C 5 2 Top Panel Controls and Indicators Fig 5 1 Front Panel Controls and Indicators MOVE Controls These controls allow all motor moves to be initiated Jog Buttons Used to jog the motors and make discrete position increments in either direction left button up right button down see Section 6 6 for more details on jogging Slider Potentiometer Used to dri...

Page 15: ...performed to establish a datum from which subsequent absolute position moves can be measured see Section 6 3 and Section C 2 2 for further information on the home position To initiate a Home move press and hold both buttons for 2 seconds 5 4 2 Jogging The front panel buttons can also be used to jog the motor The jogging parameters for the buttons are taken from the Jog parameters on the Move Jogs ...

Page 16: ...sis software application allows the user to interact with any number of hardware control units connected to the PC USB Bus This program allows multiple graphical instrument panels to be displayed so that multiple units can be controlled All basic operating parameters can be set through this program and all basic operations such as motor moves can be initiated Parameter settings can be saved which ...

Page 17: ...d position for both channels counts down to 000 000 i e the home position 2 When homing is complete the Homed LED is lit as shown above See Appendix C Section C 2 2 for background information on the home position 6 4 Stopping the Stage The drive channel is enabled and disabled by clicking the Enable button on the GUI panel The green indicator in the button center is lit when the drive channel is e...

Page 18: ... velocity settings relate to the maximum velocities at which a move is performed and the acceleration at which the motor speeds up from zero to maximum velocity 1 On the GUI panel click the Move arrow to show the Settings panel Fig 6 3 Move Settings Panel 2 Enter the required absolute position and or parameter values 3 To move to the position entered click the arrow 4 Click Apply to save the param...

Page 19: ...is repeated until the button is released see Fig 7 3 In Continuous mode the motor actuator will accelerate and move at the jog velocity while the button is held down 1 On the GUI panel click the word Jog to display the Settings panel Fig 6 4 Jog Settings Panel 2 Make parameter changes as required 3 Click Apply to save the settings and close the window click Reset to return to the previously saved ...

Page 20: ... e g max velocity jog step size etc can be changed as required Other settings e g PID parameter values cannot be changed so easily When the Kinesis Server is run up and the stage acuator association made suitable default settings are loaded and these values have been chosen to provide safe performance in the majority of applications However for applications where these settings need to be changed ...

Page 21: ...etres or degrees of the motor The motor must be Homed before the display will show a meaningful value i e the displayed position is relative to a physical datum the limit switch Move Opens the settings window so that position data and velocity parameters can be entered see Section 6 5 Moves are performed using the current velocity parameters which can be changed in the same panel The present setti...

Page 22: ...jog velocity parameters can be changed by clicking Jog or the small down arrow to display the settings panel Homed Not Homed lit when the motor has not been Homed since power up When the home button is clicked the caption changes to Homed and the LED flashes while the home move is being performed The LED is lit green once the move is complete End Stop lit when a limit switch is activated i e the m...

Page 23: ...tored persisted within the unit itself such that when the unit is next powered up these settings are applied automatically This is particularly important when the driver is being used manually in the absence of a PC and USB link The Velocity Profile and Jogging parameters described previously are good examples of settings that can be altered and then persisted in the driver for use in absence of a...

Page 24: ...iated by using the Jog keys on the GUI panel see Section 6 6 or the Jog Buttons on the front panel of the unit Step Size The distance to move when a jog command is initiated The step size is specified in real world units mm or degrees dependent upon the stage Mode The way in which the motor moves when a jog command is received i e front panel button pressed or GUI panel button clicked There are tw...

Page 25: ...to perform a move Acceleration the rate at which the velocity climbs from zero to maximum and slows from maximum to zero Velocity Parameters Moves can be initiated via the GUI panel by entering a position value after clicking on the position display box see Section 6 5 or by calling a software function see the KinesisServer helpfile The following settings determine the velocity profile of such mov...

Page 26: ...te these parameters will then remain unchanged until the next move begins The specific move profile created by the system depends on several factors such as the profile mode and profile parameters presently selected and other conditions such as whether a motion stop has been requested Profile This field is used to set the profile mode to either Trapezoidal or S curve In either case the velocity an...

Page 27: ...e specified Bow Index BI until the maximum acceleration A is reached The axis continues to accelerate linearly Bow Index 0 through segment 2 The profile then applies the negative value of Bow Index to reduce the acceleration to 0 during segment 3 The axis is now at the maximum velocity V at which it continues through segment 4 The profile then decelerates in a similar manner to the acceleration ph...

Page 28: ... error is measured at a large number of points and these errors are stored as a look up table LUT The LUT is saved as a calibration file one file for each particular stage Whenever the stage is moved the LUT is consulted to ascertain the precise movement required to achieve the demanded position A calibration file is shipped with each unit The use of a calibration file is optional Without it the r...

Page 29: ...ther Ignore Clockwise or Counter Clockwise Note This tab contains a number of parameters which are related to the physical characteristics of the particular stage being driven They need to be set accordingly such that a particular stage is driven properly by the system For MLJ050 the Kinesis software will automatically apply suitable defaults for the parameters on this tab during boot up of the so...

Page 30: ... in the design of the associated stage or actuator The following parameters notify the system to the action of the switches when contact is made Select Reverse or Forward as required then select the relevant operation Switch Makes The switch closes on contact Switch Breaks The switch opens on contact Ignore Absent The switch is missing or should be ignored Limit Switch Software Policy Note The min...

Page 31: ...heat When moving these phase currents are boosted to provide sufficient motor torque and minimise the possibility of stalling missed steps The moving phase powers are set automatically by the unit and cannot be adjusted The Resting Power is entered as a percentage of full power Note The default values applied by the software have been selected based on the type of stage or actuator associated with...

Page 32: ...osition to which the motor will move when the top button is pressed Right Lower Button Pos The position to which the motor will move when the bottom button is pressed Drive Array Velocities These parameters relate to the velocity for moves initiated by the DRIVE bar graph Each specifies a velocity to apply when the associated bar is clicked These settings are applicable in either direction of pot ...

Page 33: ... enabled In the event of a breakdown or malfunction of the product please contact Thorlabs Tech Support Contact details are contained in Appendix E Warning 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 it...

Page 34: ... 8 nm Unidirectional Repeatability Software Corrected 10 µm Bidirectional Repeatability System Backlash 50 µm Deck Parallelism 150 µm Over Full Travel Range Pitch Yaw Error over 50 mm Travel 500 µrad Accuracy 30 µm Lead Screw Pitch 1 0 mm Motor Specifications Step Angle 1 8 Step Accuracy 5 Rated Phase Current 0 85 A Phase Resistance 5 4 Ohms Phase Inductance 5 6 mH Holding Torque 20 N cm Detent To...

Page 35: ...shown above in reality there are numerous tooth like poles on both the rotor and stator The result is that positional increments steps of 1 8 degrees can be achieved by switching the coils i e 200 steps per revolution If the current through one coil is increased as it is decreased in another the new rotor position is somewhere between the two coils and the step size is a defined fraction of a full...

Page 36: ...e stage to its destination as quickly as possible without causing it to stall or lose steps The stage is ramped at acceleration a to a maximum velocity v As the destination is approached the stage is decelerated at a so that the final position is approached slowly in a controlled manner Fig C 2 Graph of a trapezoidal velocity profile C 2 Positioning a Stage C 2 1 General Whenever a command is rece...

Page 37: ...ssible Linear stages can include stages that control the angle of a platform within a certain range although the movement of the platform is not really linear but angular Rotary stages can rotate indefinitely like a wheel Linear and rotary stages both contain microswitches that detect certain positions of the stage but they differ in the way these switches are used All linear stages have a ve limi...

Page 38: ...e conventionally set to 0 and 360 degrees respectively When the position of a rotary stage is requested the answer will be reported as a number between 0 and 360 degrees measured in the positive direction from the Home position Fig C 4 Minimum and Maximum Positions C 2 5 Power Saving The current needed to hold a motor in a fixed position is much smaller than the current needed to move it and it is...

Page 39: ...n Fig C 5 a positive move from 10 to 20 mm is carried out as one simple move whereas a negative move from 20 to 10 mm first causes the stage to overshoot the target position and then move positively through a small amount Fig C 5 Backlash correction The controller has this type of backlash correction enabled as its default mode of operation but it can be overridden if the overshoot part of the mov...

Page 40: ...ea 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 D 2 Waste Electrical and Electronic Equipment WEEE Directive D 2 1 Compliance As required by the Waste Electrical and Electronic Equipment WEEE Direct...

Page 41: ...arest dealer for further information D 2 2 Waste treatment on your own responsibility If you do not return an end of life unit to the company you must hand it to a company specialized in waste recovery Do not dispose of the unit in a litter bin or at a public waste disposal site D 2 3 Ecological background It is well known that WEEE pollutes the environment by releasing toxic products during decom...

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