THORLABS PDXR1 Bedienungsanleitung

PDXR1(/M)

Piezo Inertia Drive Rotation Stage

with Optical Encoder

User Guide

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder 
 
Table of Contents
Chapter 1 Safety.........................................................................................................................1 
Chapter 2 Overview....................................................................................................................3 
Chapter 3 Installation .................................................................................................................5 
3.1.1 Mounting Features.............................................................................................................................................. 5 
3.1.2 Mounting on a Base ............................................................................................................................................ 6 
3.1.3 Post Mounting..................................................................................................................................................... 7 
3.1.4 Setting Up an XY + Rotation Stage Configuration................................................................................................ 8 
3.1.5 Mounting Components to the Stage ................................................................................................................... 9 
Chapter 4 Operation.................................................................................................................13 
Chapter 5 Software reference ...................................................................................................15 
5.1.1 GUI Setting in Open-Loop Mode ....................................................................................................................... 15 
5.1.2 GUI Setting in Closed-Loop Mode ..................................................................................................................... 15 
Chapter 6 Specifications ...........................................................................................................16 
Chapter 7 Frequently Asked Questions .....................................................................................17 
Chapter 8 Mechanical Drawings................................................................................................18 
Chapter 9 Regulatory................................................................................................................20 
Chapter 10 Declarations of Conformity .......................................................................................21 
Chapter 11 Thorlabs Worldwide Contacts ...................................................................................22 

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder Chapter 1: Safety

Rev. A, June 14, 2023 Page 1

Chapter 1 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 manual and, where visible, on

the product itself.

The following safety symbols may be used throughout the manual and on the equipment itself.

Warning

A warning is given when there is danger of injury to users.

Caution

A caution is given when there is a possibility of damage to the product.

Caution: Hot Surface

The housing of the stage can get very hot during operation. Avoid touching it directly.

Note

This is a clarification of an instruction or additional information.

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder Chapter 1: Safety

Page 2 CTN020719-D02

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 and/or dust may

impair operation.

Spillage of fluid, such as sample solutions, should be avoided. If spillage does occur, clean up

immediately using absorbent tissue. Do not allow spilled fluid to enter the internal mechanism.

The stage is for indoor use only. The stage is not designed for use in an explosive atmosphere.

When running custom move sequences, or under fault conditions, the stage may move

unexpectedly. Operators should take care when working inside the moving envelope of the

stage.

General Cautions

Caution

Dust and debris can reduce the lifetime of the stage. If left running unattended for extended

periods of time, the application should be covered where possible.

If the clamping force onto the moving platform is too high, this can cause reduced stepping

performance and possible stalling of the stage.

The stage’s screws are well adjusted and fixed. Loosening or removing any screws will change the

performance and invalidate the warranty, except where instructed to do so in this manual.

General Notes

Note

The stick-slip function of the mechanism uses a very short pulse width.

The stage can work in either open-loop or closed-loop mode depending on the configuration of the PDXC

controller. The stage's speed is adjusted by the voltage amplitude with constant 20 kHz driving frequency

in both open loop and closed-loop mode, which ensures the stage operates without audible noise.

In closed-loop mode, the stage's speed is adjusted using a feedback loop between the controller and the

optical encoder. The encoder outputs the stage's actual position to the controller to guarantee accurate

movement as well as very low speed variation.

In open-loop mode, the controller does not use the actual position information to compensate for

positioning errors, so that it does not provide accurate positioning as in closed-loop mode.

For the reasons mentioned above, we recommend using the stage in closed-loop mode and keeping the

stage's speed adjustment range between 10 degrees/s to 30 degrees/s.

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder Chapter 2: Overview

Rev. A, June 21, 2023 Page 3

Chapter 2 Overview

Introduction

The PDXR1(/M) stage features a piezo inertia motor that uses friction and inertia to translate the platform in

discrete cycles. Each cycle consists of a relatively slow piezo expansion step accompanied by a rapid piezo

contraction step. During the expansion step, the moving platform moves in the same direction as the piezo

element due to friction, while the rapid piezo contraction causes the moving platform to slip and remain immobile

due to inertia. Continuous motion is achieved through repetition (“continuous stepping”) of this cycle and reverse

travel is achieved by performing the cycle in reverse.

The PDXR1(/M) stage provides 360° continuous rotation for both open-loop & closed-loop operation and a

rotation speed of up to 30 degrees/s when driven by the PDXC controller. The stage is designed to be mounted on

a mounting base, a post, or an even surface. An SM05-threaded center bore with a Ø9.0 mm clear aperture allows

our SM05-threaded components to be mounted and an optical path to pass directly through the body of the stage.

When driven by the PDXC Piezo Controller, the PDXR1(/M) stage offers continuous long-term stepping as well as

a periodic position-and-hold mode with 25 mN⋅m clamping/holding torque. The stage can achieve a typical

minimal incremental motion of 0.873 µrad in closed-loop mode with a resolution down to 0.4365 µrad provided

by the optical encoder.

Figure 1 Stage Features

Included Components

The PDXR1(/M) stage is delivered with the following components:

•8-32 (M4 x 0.7) Cap Screws, 16 mm Long, 2 Pieces

•8-32 (M4 x 0.7) Cap Screws, 8 mm Long, 2 Pieces

•8-32 (M4 x 0.7) Cap Screws, 5.3 mm Long, 2 Pieces

•2-56 (M2 x 0.4) Cap Screws, 2 mm Long, 2 Pieces

•2-56 (M2 x 0.4) Cap Screws, 6 mm Long, 2 Pieces

•Ø2 mm Dowel Pins, 3 mm Long, 2 Pieces

Stage

Base

Rotary

Platform

Optical

Encoder Cable

Drive Cable

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder Chapter 2: Overview

Page 4 CTN020719-D02

Pin Diagram

Figure 2 and the table below show the pin assignment and the signal definition of the female 15-pin D-Sub

connector.

Figure 2 Female 15-Pin D-Sub Port Pin Assignment

Pin No.

Voltage Range

Name

Description

-7.5 to +12.5 V

Encoder_B_N

Encoder B-

-7.5 to +12.5 V

Encoder_B_P

Encoder B+

0 V

GND

Digital Ground

-7.5 to +12.5 V

Encoder_A_N

Encoder A-

-7.5 to +12.5 V

Encoder_A_P

Encoder A+

+5 V

5 V Power

-7.5 to +12.5 V

Encoder_Z_N

Encoder Z-

-7.5 to +12.5 V

Encoder_Z_P

Encoder Z+

-10 to +50 V

SigOut2

Piezo Output 2

0 V

PGND

Power Ground

-10 to +50 V

SigOut1

Piezo Output 1

5 V TTL

EEPROM

1-Wire EEPROM

6,7,15

Reserved

Unpacking

Unpack the stage with care, checking the contents for signs of damage. If there is any sign of damage or missing

parts, contact Thorlabs immediately.

Accessories

The MSB34 & MSB7510/M high-density optical breadboards provide a flat surface for mounting the PDXR1 and

PDXR1(/M) stages, respectively.

The PD1T(/M) adapter plate features a central 8-32 (M4 x 0.7) tapped hole. Both imperial and metric versions

have four 4-40 tapped holes on 16 mm spacings for 16 mm cage systems. The PD1T(/M) plate attaches to the

rotation platform of the PDXR1(/M) stage via two 2-56 (M2 x 0.4) threaded holes on opposite diagonals.

The PD1U(/M) adapter plate features four 6-32 and four 8-32 tapped holes (or eight M4 x 0.7 tapped holes) in a

cross pattern. The bottom surface features five #8 (M4) counterbores, providing a convenient means of attaching

a load to the stage. PD1U(/M) mount on rotation platform of PDXR1(/M) via 2 pieces of M2(2-56) tapping holes

in diagonal direction of rotation platform.

Caution

Do not mount an imperial accessory to a metric stage or a metric accessory to an imperial stage.

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder Chapter 3: Installation

Rev. A, June 21, 2023 Page 5

Chapter 3 Installation

Mounting

3.1.1 Mounting Features

Take care to securely mount the stage before attaching components to the stage’s rotation platform.

Mount the PDXR1(/M) stage on an even surface. The recommended flatness of the surface is ≤5 μm. For

applications with large temperature variations, only mount the PDXR1(/M) stage on a surface that has the same

or similar thermal expansion properties as the stage.

The stage can be mounted using the two #8 (M4) counterbored holes on opposite corners of the housing or using

two 8-32 (M4 x 0.7) threaded holes on the opposite corners on the underside of the stage. The stage can also be

mounted on a Ø1/2" post using the 8-32 (M4 x 0.7) tapped hole on one side. The max torque for 8-32 (M4 x 0.7)

screws is 0.55 N·m.

Figure 3 Mounting Holes

Caution

Mounting the PDXR1(/M) stage on an uneven surface can warp the stage, degrading the

performance and possibly damaging the stage.

When mounting close to other equipment, ensure that the travel of the rotation platform is not

obstructed. If movement is obstructed the stage will stall, which could cause excessive wear

and premature failure.

When using the stage in the proximity of other objects or equipment, ensure that movement of

cables connected to the moving carriage is not impeded.

1. #8 (M4) Counterbore for Stage Mounting, 2" x 2" (50 mm x 50 mm) Spacing (2 Places)

2. 8-32 (M4 x 0.7) Threaded Hole for Stage Mounting, 2" x 2" (50 mm x 50 mm) Spacing (2 Places)

3. 8-32 (M4 x 0.7) Threaded Hole for Stage Mounting

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder Chapter 3: Installation

Page 6 CTN020719-D02

3.1.2 Mounting on a Base

The PDXR1 and PDXR1/M stages can mounted onto the MSB34 & MSB7510/M high-density optical breadboards,

respectively. The breadboard provides a flat surface for mounting the stage and four 1/4" (M6) counterbored

holes for mounting to an optical table or standard breadboard.

1. First mount the MSB34 or MSB7510/M breadboard to a table, larger breadboard, or base plate using 1/4"-20

(M6 x 1.0) cap screws and the four counterbored holes.

2. Insert two 8-32 (M4 x 0.7), 16 mm long cap screws through the stage and thread them into the high-density

breadboard.

Figure 4 Mounting the PDXR1(/M) Stage on the MSB34 or MSB7510/M High-Density Breadboard

8-32 (M4 x 0.7)

Cap Screw,

16 mm Long

1/4" (M6)

Counterbored holes

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder Chapter 3: Installation

Rev. A, June 21, 2023 Page 7

3.1.3 Post Mounting

The stage can be mounted vertically on a Ø1/2" post via the 8-32 (M4 x 0.7) tapped hole on the side opposite

the cable exit.

Figure 5 PDXR1(/M) Stage Mounted on Post

Caution

Due to the increased likelihood of vibration, post mounting is not recommended for heavy or

off-centered loads.

Ø1/2" Post

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder Chapter 3: Installation

Page 8 CTN020719-D02

3.1.4 Setting Up an XY + Rotation Stage Configuration

This section describes how to build an XY + rotation stage using two PDX1(/M) linear stages and a PDXR1(/M)

rotation stage. Note that the PDX1(/M) stages will need to be translated to access the mounting holes, which can

be done using a PDXC controller. See the PDX1(/M) manual for details.

First, build an XY stage using two PDX1(/M) linear stages according to instructions in the PDX1(/M) manual.

Two PDX1(/M) linear stages mounted to rotation platform of PDXR1(/M) to set up an XY + rotation stage

configuration.

Please noted the rotation angle of PDXR1(/M) is limited to avoid entangling the cables of the XY stages.

Caution

In a multi-axis system, upper stage(s) and any mounting adapters must also be moved and

should be considered as part of the load. Do not exceed the load capacity for any of the stages

in a multi-axis system. When a stage is mounted vertically, make sure that the installed load is

lower than holding torque or push/pull force of the stage.

Screws and locating dowel pins that are inserted too deep into the stage will damage it. Do not

thread screws into the rotation platform with excessive force as they may break through the

terminating lip at the base of each threaded hole.

To set up an XY + Rotation system:

•First, build the XY stage as described in the PDX1(/M) manual.

•Insert two Ø2 mm, 3 mm long dowel pins into two of the holes located diagonally from each other in the

PDXR1(/M) stage’s rotating platform.

•Place the XY stage onto the PDXR1(/M) stage, taking care to align the two dowel pins with the

corresponding slots in the base of the XY stage.

•Translate the moving platform of PDX1(/M) for access of 8-32(M4 x 0.7) tapped holes. Insert two 8-32 (M4

x 0.7), 8 mm long cap screws through the XY stage and into the two 8-32 (M4 x 0.7) tapped holes in the

rotation platform of the PDXR1(/M) rotation stage.

Figure 6 Setting Up an XY + Rotation Stage Configuration

8-32 (M4 x 0.7) Cap Screws,

8 mm Long

(2 Places)

Ø2 mm Dowel Pin,

3 mm Long

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