THORLABS TBD001 Manuel utilisateur
TBD001
T-Cube Brushless DC Servo
Driver
User Guide
Original Instructions
2 HA0265T Rev DK Sept 2015
Contents
Chapter 1 Safety ............................................................................................. 4
1.1 Safety Information .................................................................................. 4
1.2 General Warnings .................................................................................. 4
Chapter 2 Overview and Setup ..................................................................... 5
2.1 Introduction ............................................................................................. 5
2.2 PC Software Overview ........................................................................... 7
2.2.1 Introduction .........................................................................................................7
2.2.2 Kinesis Server ....................................................................................................7
2.2.3 Software Upgrades .............................................................................................9
Chapter 3 Getting Started ............................................................................ 10
3.1 Installing the Software .......................................................................... 10
3.2 Mechanical Installation ......................................................................... 11
3.2.1 Environmental Conditions ................................................................................11
3.2.2 Mounting Options .............................................................................................11
3.2.3 Removing the Baseplate ..................................................................................12
3.3 Electrical Installation ............................................................................. 13
3.3.1 Connecting a Motor ..........................................................................................13
3.3.2 Using The TCH002 Controller Hub ..................................................................13
3.3.3 Connecting To A Standalone Power Supply ...................................................13
3.4 Connect The Hardware ........................................................................ 14
3.5 Select the Stage Type .......................................................................... 16
Chapter 4 Standalone Operation ................................................................ 17
4.1 Introduction ........................................................................................... 17
4.2 Control Panel Buttons and Indicators .................................................. 17
4.3 Joystick Operation ................................................................................ 18
4.4 Homing ................................................................................................. 18
4.5 External Triggering ............................................................................... 18
4.5.1 Trigger In ..........................................................................................................19
4.5.2 Trigger Out .......................................................................................................19
4.5.3 Triggering Latency ............................................................................................20
Continued...
3
Brushless DC Servo Driver T-Cube
Chapter 5 Tutorial ........................................................................................ 21
5.1 Introduction ...........................................................................................21
5.2 Using the Kinesis Software ...................................................................22
5.3 Verifying Software Operation ................................................................22
5.3.1 Initial Setup ...................................................................................................... 22
5.4 Homing Motors .....................................................................................23
5.5 Changing Motor Parameters and Moving to an Absolute Position .......24
5.6 Jogging 2.................................................................................................5
5.7 Setting Move Sequences ......................................................................26
5.8 Changing and Saving Parameter Settings ...........................................26
Chapter 6 Software Reference .................................................................... 27
6.1 Introduction ...........................................................................................27
6.2 GUI Panel .............................................................................................27
6.2.1 Keyboard Shortcuts ......................................................................................... 29
6.3 Settings Panel ......................................................................................30
6.3.1 Persisting Settings to Hardware ....................................................................... 30
6.3.2 Moves/Jogs tab ................................................................................................ 31
6.3.3 Stage/Axis Tab ................................................................................................. 34
6.3.4 Advanced SettingsTab ..................................................................................... 36
6.3.5 Advanced - Misc. Tab ...................................................................................... 42
6.3.6 Triggering Latency 4 ........................................................................................... 7
6.4 Troubleshooting and Restoring Default Parameters ............................48
Appendices
Appendix A Rear Panel Connector Pinout Details .................................... 49
Appendix B Preventive Maintenance ......................................................... 50
Appendix C Specifications .......................................................................... 51
Appendix D Regulatory ............................................................................... 52
Appendix E Thorlabs Worldwide Contacts ................................................ 55
4
Chapter 1 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 throughout the handbook and on the
equipment itself.
1.2 General Warnings
Shock Warning
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.
Warnings
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.
Caution
If your PC becomes unresponsive (e.g due to an operating system problem,
entering a sleep state condition, or screen saver operation) for a prolonged
period, this will interrupt communication between the Kinesis Software and
the hardware, and a communications error may be generated. To minimize the
possibility of this happening it is strongly recommended that any such modes
that result in prolonged unresponsiveness be disabled before the software is
run. Please consult your system administrator or contact Thorlabs technical
support for more details.
5
Chapter 2 Overview and Setup
2.1 Introduction
The TBD001 Brushless DC Motor T-Cubes are ideal for motion control applications
demanding high speed (100s of mm/s) and high encoder resolution (<100 nm)
operation. These single channel drivers offer high-precision motion control in a wide
range of applications, and in particular when used along with our DDSM100 fast
translation stage where speeds of up to 500 mm/sec can be achieved. Designed
using latest digital and analog techniques and with high-bandwidth high-power servo
control circuitry, these new drivers are capable of driving a range of rotary and linear
brushless 3-phase DC motors of up to 2 Amp peak coil current.
Integrated into the Kinesis family of products, it offers Thorlabs standard control and
programming interface, allowing easy integration into the customer’s own automated
motion control applications. These units are cable of being reprogrammed in-field,
allowing the option of upgrading the units with future firmware releases as soon as
new programming interfaces (such as microscopy standard command sets) are
added.
Fig. 2.1 T-Cube Brushless DC Servo Motor driver (TBD001)
6 HA0265T Rev DK Sept 2015
Chapter 2
Operation of the TBD001 brushless DC motor unit is fully configurable
(parameterized) with key settings (e.g. PID settings, min and max position values, and
joystick response) exposed through the associated graphical interface panels.
PID control loop values can be adjusted for a particular application, minimum and
maximum position values can be entered to suit different stages as required, and the
response of the key pad joystick can be adjusted for speed or precision. Moreover,
relative and absolute moves can be initiated with move profiles set using velocity
profile parameters. Similarly, home sequences have a full set of associated
parameters that can be adjusted for a particular stage or actuator. For simplicity of
operation, the Kinesis software incorporates pre-configured settings for each of the
Thorlabs stages and actuators, while still exposing all parameters individually for use
with other DC motor driven systems.
For convenience and ease of use, adjustment of many key parameters is possible
through direct interaction with the graphical panel. For example a move to the next
position can be initiated by clicking directly on the position display and entering a new
value (see the tutorial in Chapter 5 for further details). Furthermore, all such settings
and parameters are also accessible through the ActiveX® programmable interfaces
for automated alignment sequences.
In the remainder of this handbook, the Tutorial section (Chapter 5) provides a good
initial understanding on using the unit, and the reference sections (Chapter 6) covers
all operating modes and parameters in detail.
7
Brushless DC Servo Driver T-Cube
2.2 PC Software Overview
2.2.1 Introduction
The T-Cube range of controllers share many of the benefits. These include 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.
The Kinesis software suite provides a flexible and powerful PC based control system
both for users of the equipment, and software programmers aiming to automate its
operation.
The User Interface allows full control of all settings and operating modes enabling
complete ‘out-of-box’ operation without the need to develop any further custom
software. It provides all of the necessarysystem software services such as generation
of GUI panels, communications handling for multiple USB units, and logging of all
system activity to assist in hardware trouble shooting. The Kinesis server is also used
by software developers to allow the creation of advanced automated positioning
applications very rapidly and with great ease. The Kinesis server is described in more
detail in Section 2.2.2.
2.2.2 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 that can be used to
manipulate image files, connect to the internet or simply provide user interface
components such as buttons and list boxes.
With the Kinesis system, .Net Controls are deployed to allow direct control over (and
also reflect the status of) the range of electronic controller units, including the
Brushless Motor Driver T-Cube. Software applications that use .Net Controls are
often referred to as 'client applications'. A .Net Control is a language independent
software component. Consequently the controls can be incorporated into a wide
range of software development environments for use by client application developers.
Development environments supported include Visual Basic, Labview, Visual C++,
C++ Builder, HPVEE, Matlab, VB.NET, C#.NET
and, via VBA, Microsoft Office
applications such as Excel and Word.
Caution
On start up, wait until the top panel POWER led is lit bright green and the
ENABLE led stops flashing, before running the software.
8 HA0265T Rev DK Sept 2015
Chapter 2
Consider the control supplied for the TBD001 Brushless DC Servo driver unit.
This Control provides a complete user graphical instrument panel to allow the motor
unit to be manually operated, as well as a complete set of software functions (often
called methods) to allow all parameters to be set and motor operations to be
automated by a client application. The instrument panel reflects the current operating
state of the driver 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 DC motor Control to move a motor, the progress of that move is reflected
automatically by changing position readouts on the graphical interface, without the
need for further programming intervention.
9
Brushless DC Servo Driver T-Cube
The Kinesis Controls collection provides a rich set of graphical user panels and
programmable interfaces allowing users and client application developers to interact
seamlessly with the Kinesis hardware. Each of the Kinesis controllers has an
associated .Net Control and these are described 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.
2.2.3 Software Upgrades
Thorlabs operate a policy of continuous product development and may issue software
upgrades as necessary.
10
Chapter 3 Getting Started
3.1 Installing the Software
DO NOT CONNECT THE CONTROLLER TO YOUR PC YET
1) Download the software from www.thorlabs.com.
2) Locate the downloaded setup.exe file and move to a suitable file location.
3) Double-click the setup.exe file and follow the on-screen instructions.
Caution
If your PC becomes unresponsive (e.g due to an operating system problem,
entering a sleep state condition, or screen saver operation) for a prolonged
period, this will interrupt communication between the Software and the
hardware, and a communications error may be generated. To minimize the
possibility of this happening it is strongly recommended that any such modes
that result in prolonged unresponsiveness be disabled before the software is
run. Please consult your system administrator or contact Thorlabs technical
support for more details.
Caution
Some PCs may have been configured to restrict the users ability to load
software, and on these systems the software may not install/run. If you
are in any doubt about your rights 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.
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