THORLABS APT 600 User manual

a dvanced p ositioning t echnology
APT 600 6-Axis Stage

THORLABS
About the Company
Thorlabs Ltd is an a leading manufacturer of motion control systems, vibration isolation
systems, machine vision products and multi-element optical systems for fiber-optic,
semiconductor and reprographic applications.
We offer customers an in-depth understanding of optical component manufacture,
allowing us to quickly and confidently develop optimal positioning solutions.
As a part of Thorlabs inc., manufacturers of innovative photonics products, we are
committed to providing the service, relationships and attention to detail that make
businesses excel.
Trademarks
Windows is a trademark of Microsoft
Corporation.
Visual Basic is a trademark of Microsoft
Corporation.
LabVIEW is a trademark of National
Instruments Corporation.
THORLABS is a registered trademark of
Thorlabs Inc.
Revision History
Issue No. Date Summary
1 310703 Initial Issue
2 211003 CN 3281

THORLABS 1
Contents
1 Introduction .......................................................................................................3
2 For Your Safety ..................................................................................................5
Safety Information ..................................................................................................................5
3 Getting Started ..................................................................................................7
Description of the APT Stage .................................................................................................7
Component Identification ........................................................................................................8
APT 600 Stage ..............................................................................................................8
Drives and Actuators ...................................................................................................11
4 Operation .........................................................................................................13
Axis Identification ..................................................................................................................13
Micrometer Drives ................................................................................................................14
Adjusting Differential Drives ........................................................................................14
Converting Drive Movement to Axis Movement ..........................................................14
NanoStep Motor Drives ........................................................................................................15
APT Benchtop System ................................................................................................15
Modular Electronics System ........................................................................................15
Default Settings ...........................................................................................................16
Piezo Actuators ....................................................................................................................17
Roll Center ............................................................................................................................17
The Mid Position ...................................................................................................................18
5 Installation .......................................................................................................19
Unpacking .............................................................................................................................19
Attaching to a Work Surface .................................................................................................23
General ........................................................................................................................23
Mounting Stages to the Work surface .........................................................................24
Stacking Stages ...........................................................................................................26
Fitting and Removal of Drives ..............................................................................................27
Fitting a Manual Drive ..................................................................................................27
Fitting a Motor Drive ....................................................................................................28
Configuration of Motor Drives ...............................................................................................29
Mounting Equipment and Accessories ................................................................................30
Mounting Equipment to the Moving Platform ...............................................................30
Mounting Accessories to the Stage .............................................................................31
Transportation ......................................................................................................................32
Dimensions ...........................................................................................................................32
Maintenance .........................................................................................................................37
Cleaning ......................................................................................................................37
6 Specifications and Consumables ..................................................................39
Specifications ........................................................................................................................39
Parts List ...............................................................................................................................40

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THORLABS 3
Chapter 1
Introduction
How to use this Handbook
This handbook contains all the information necessary to install, set up, and operate
the APT 600 Stage. For the continuing safety of the operators of this equipment, and
the protection of the equipment itself, read the Safety Information in Chapter 1 before
using the equipment, and carefully heed all cautionary notes.
If you have any questions or comments about this manual please contact your local
sales or service office or contact the factory at [phone] and ask for
Customer Service.
Alternatively, visit our website at www.thorlabs.com.
The Structure of this Manual
Chapter 1, Introduction, gives an overview of the handbook structure and draws
attention to the importance of the safety information. Chapter 2, For Your Safety,
provides critical information needed for the safe installation and operation of the
equipment. Chapter 3, Getting Started, gives an overview of the APT Stage, together
with a description of the various drives. Chapter 4, Operation, explains how to control
the position of the stage using the different types of drive. Chapter 5, Installation,
provides instructions on siting the equipment, fitting and removing drives, and
dimension details. Finally, Chapter 6 lists the specifications and details the parts list.
If using a piezo actuated version of the stage, or using motor drives, refer also to the
handbooks for the appropriate Thorlabs controllers.

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THORLABS 5
Chapter 2
For Your Safety
2.1 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 on the equipment:
Warning, risk of danger. Refer to the handbook for details on this hazard.
Warning, risk of electric shock. High voltages present
Equipotentiality (bonding) terminal
Earth (ground) terminal
The following safety symbols may be used throughout the handbook:
Warning. An instruction which draws attention to the risk of injury or death.
Caution. An instruction which draws attention to the risks of damage to the product,
process or surroundings.
Note. Clarification of an instruction or additional information.
Only personnel trained in the servicing and maintenance of this equipment should
remove its covers or attempt any repairs or adjustments. If this equipment is used in
a manner not specified by the manufacturer, the protection provided by the equipment
may be impaired.
!

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THORLABS 7
Chapter 3
Getting Started
3.1 Description of the APT Stage
The APT system 6-axis stage is a long travel, compact nanopositioningsystem suited
to the alignment of optical fibres, waveguides, optoelectronic packages and for any
other high resolution alignment or positioning application including general purpose
laboratory tasks. The innovative Guided Alignment Linkage Pin (GALPin) technology
provides extremely low friction and stiction characteristics whilst providing increased
travel ranges within a reduced footprint size.
The stage is accompanied by enhanced stepper motor actuators and differential
micrometers. The DRV601 is a 2-phase stepper motor drive which is capable of
20,000 microsteps per revolution. The DRV602 is a differential micrometer drive with
12mm coarse travel and 100 µm fine differential travel.

8
Getting Started
3.2 Component Identification
3.2.1 APT 600 Stage
The piezo and feedback requirements of each axis of the stage can be configured
individually, as detailed in Table 3.1.
The stage is available in left and right handed versions which relates to the position
of the pitch and yaw pivot points (see Section 5.7.1.). Version types can be identified
by a notch on the top edge of the moving platform. For example, Fig. 3.1. shows a
right handed stage, with the notch on the right hand side when viewed from the front.
Fig. 3.1 APT 600 series six-axis stage (right handed version)
Note. Fig. 3.1 identifies the axis naming convention, and shows positive motion on the
axes of a right handed stage. For a left handed stage, the X, ØY (pitch) and ØZ (yaw)
axes have positive motion in the reverse direction to that shown.
moving
platform
notch identifying
RH version
mounting holes M6
mounting groove
kinematic
mounting points
yaw Øz
pitch Øy
roll Øx
vertical axis z
optica
l
axis x
later
al
axis
y

THORLABS
9
APT 600 6-Axis Stage
Fig. 3.2 APT 600 series six axis stage
piezo block (optional)
protective skirt
actuator
connection
s
cable gland
Y
Ø Z (yaw)
X
Ø X (roll)
Z
Ø Y (pitch)
kinematic
mounting points
mounting groove

10
Getting Started
Table 3.1 Part number configuration
The piezo-actuated models deliver 20 microns of travel, with a flying lead and coaxial
SMC connector for each piezo channel. Position feedback models also have a flying
lead and 9-pin D type connector for each feedback channel.
Example APT 600/ R 222 111
APT 6 axis stage
Right handed
Piezo actuators with feedback on X, Y and Z axes
Piezo actuators on ØX, ØY and ØZ axes
APT system six-axis stage APT 600/ XXX X XXX
Right or left handed Right handed
Left handed R L
X axis configuration No piezo
Piezo
Piezo with feedback
0
1
2
Y axis configuration No piezo
Piezo
Piezo with feedback
0
1
2
Z axis configuration No piezo
Piezo
Piezo with feedback
0
1
2
ØX axis configuration No piezo
Piezo
Piezo with feedback
0
1
2
ØY axis configuration No piezo
Piezo
Piezo with feedback
0
1
2
ØZ axis configuration No piezo
Piezo
Piezo with feedback
0
1
2

THORLABS
11
APT 600 6-Axis Stage
3.2.2 Drives and Actuators
There are two types of drive available for the APT stage, a motorized drive as shown
in Fig. 3.3. and a differential drive as shown in Fig. 3.4.
Note. The DRV 601 stepper motor drive should be used in conjunction with the
BSC 002 stepper motor controller.
Fig. 3.3 DRV 601 stepper motor drives
Fig. 3.4 DRV 602 differential drive

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THORLABS 13
Chapter 4
Operation
4.1 Axis Identification
The axes are identified by symbols as detailed in Fig. 4.1.
Fig. 4.1 Axis identification
Y
Ø Z (yaw)
X
Ø X (roll)
Z
Ø Y (pitch)

14
Operation
4.2 Micrometer Drives
4.2.1 Adjusting Differential Drives
Coarse and fine adjustment is achieved using the same knob. Once the 100 microns
of fine adjustment is exceeded, the drive reverts to coarse adjustment. Position
monitoring is achieved via the cutout in the actuator body. The scale is marked in
0.5mm graduations with scale center marking the mid position of travel.
Fig. 4.2 Adjusting differential drives
4.2.2 Converting Drive Movement to Axis Movement
The internal gearing on all axes is 1:1. Therefore the X, Y and Z axes move 1mm for
1mm of movement on the actuator. On the ØX, ØY and ØZ axes, 1 mm of movement
at the actuator corresponds to 1 degree of stage movement.
Table 4.1
Axis Amount of movement resulting from a 1mm
movement of the micrometer
X (Optical) 1 mm
Y (Lateral) 1 mm
Z (Vertical) 1 mm
ØX (Roll) 1 degree
ØY (Pitch) 1 degree
ØZ (Yaw) 1 degree
1.00 mm
0.50 mm

THORLABS
15
APT 600 6-Axis Stage
4.3 NanoStep Motor Drives
Positioning of the stepper motor drives is achieved via an electronic controller and
associated software server. The DRV 601 can be used with either the APT bench top
system (see Section 4.3.1.) or, if the appropriate wiring adaptors are available, the
modular electronics system (see Section 4.3.2.).
Note. If the motors are driven continuously at the maximum speed of 3mm-1, the stepper
motor drive may become hot and temperatures of 60°C on the external casing are not
uncommon. This is normal under conditions of prolonged operation and should not
affect the performance of the motors. With intermittent use or continuous use at slower
speeds, temperatures are more likely to be around 40°C.
4.3.1 APT Benchtop System
The system consists of a PCwith ActiveX server and a USB bus, a BSC 002 stepper
motor controller, and a BPC 002 piezo controller.
Basic steps in controlling the motor are as follows:
1) Set commands to configure each axis (setting velocities, accelerations etc.) – see
the helpfile MG17Base, Programming Guide.
2) Move each axis to its home position, to establish a zero datum.
1) Set commands to move each axis by relative and absolute amounts – see the
helpfile MG17Base, Programming Guide..
4.3.2 Modular Electronics System
The system consists of a main rack containing the electronic modules, a PC with
ActiveX server and a Controller Area Network (CAN) bus. The DRV 601 is used with
the MST001 stepper motor controller.
Basic steps in controlling the motor are as follows:
1) Set commands to configure each axis (setting velocities, accelerations etc.) – see
the handbook for relevant NanoStep controller.
2) Move each axis to its home position, to establish a zero datum.
3) Set commands to move each axis by relative and absolute amounts – see
Handbook HA0104 ActiveX Drivers.
A default configuration is set at the factory and stored in the non-volatile memory of
the NanoStep controller – see Table 4.2.

16
Operation
4.3.3 Default Settings
Notes.
• The values in Table 4.2 correspond to movements of the top platform, not the drive.
• The velocity and acceleration values may be decreased but not increased.
• If the axis is driven towards the –ve limit switch, at a certain position the platform
stops moving while the drive itself continues to move until the limit switch is reached.
The drive must then be moved positively by a certain distance before the platform
begins to move. This distance is just less than the calibration start.
• The NanoStep modular drives have no +ve limit switch. The drive reaches a
mechanical stop at a position dependent on the axis to which it is attached and the
design is such that occasional driving into the stop will not cause any damage.
However, when creating a program to control the APT Stage, a software limit should
be included on the +ve movement, so that continuous running into the mechanical stop
is avoided. For stand alone systems, avoid using the GPIB command L+n as this
causes the drive to run against the stop indefinitely.
Table 4.2 Standard configurations for motor drives
Configuration Standard value Unit
Maximum velocity 3mm s-1
Initial velocity 1mm s-1
Acceleration 2mm s-2
Backlash correction -0.01 mm
Power reduction 4Fraction
Mode (rotary=1, linear=0) 0
Resolution X, Y and Z axis
Øx, Øy and Øz axis 20000 20000 microsteps/mm microsteps/degree
Zero offset X and Y axis
Z axis
Øx, Øy and Øz axis
3
3
6
mm
mm
degrees
Travel (nominal) X and Y axis
Z axis
Øx, Øy and Øz axis
12
12
6
mm
mm
degrees

THORLABS
17
APT 600 6-Axis Stage
4.4 Piezo Actuators
Piezo actuators are used to give nanometric positioning of the top platform over a
range of 20 microns. They can also modulate the position of the platform at high
frequency.
On a piezo-actuated APT stage, position feedback may be incorporated on the linear
axes to enhance the repeatability and linearity of piezo motion, and to counteract the
effects of hysteresis inherent within piezo actuators.
The piezo-actuated stage should be used together with one of the Thorlabs
piezoelectric controllers – see the handbook for the relevant piezoelectric controller.
Warning. The piezoelectric cables carry 75V. Take care when performing manual
operations in the vicinity of piezo connections, and ensure that the power supply is
removed before making or breaking connections.
4.5 Roll Center
With the stage in mid position on all axes, the roll center is nominally 15 mm from the
faces of the moving world (see Fig. 4.3). If the platform is moved, the roll center also
moves relative to the base, retaining its position relative to the moving platform.
Fiber holders should be mounted on the moving platform such that the tip of the fibre
is held at the roll center.
Fig. 4.3 Roll center position
15.0
15.0
roll center

18
Operation
4.6 The Mid Position
When all the axes are at mid position, the roll center is in its nominal position and the
platform is square and level with the base. In order to minimize cross talk between
axes, it is recommended that this position is used as the nominal position for all
positioning tasks.
For differential drives, the actuator is at mid position when the position marker is
aligned with the scale center - see Fig. 4.2.
In the case of motor drives, the mid position is half the full range of travel, (i.e. 6 mm
for X, Y and Z axes and 3 degrees for Øx, Øy and Øz axes.