THORLABS BSC103 User manual

BSC103
Benchtop Stepper Motor Controller
User Guide

2 HA0134T Rev 10 November 23 2010
Contents
Chapter 1 Safety .............................................................................................4
1.1 Safety Information .................................................................................. 4
1.2 General Warnings .................................................................................. 4
Chapter 2 Overview........................................................................................ 5
2.1 Introduction ............................................................................................. 5
2.2 APT PC Software Overview ................................................................... 7
2.2.1 Introduction .........................................................................................................7
2.2.2 APTUser Utility ...................................................................................................8
2.2.3 APT Config Utility ...............................................................................................9
2.2.4 APT Server (ActiveX Controls) .........................................................................10
2.2.5 Software Upgrades ...........................................................................................11
Chapter 3 Getting Started ............................................................................12
3.1 Installing APT Software ........................................................................ 12
3.2 Mechanical Installation ......................................................................... 13
3.2.1 Siting ................................................................................................................13
3.2.2 Environmental Conditions ................................................................................13
3.3 Electrical Installation ............................................................................. 14
3.3.1 Connecting To The Supply ...............................................................................14
3.3.2 Fuses ................................................................................................................14
3.3.3 Rear Panel Connections ..................................................................................15
3.4 Front Panel Controls and Indicators .................................................... 16
3.5 Connecting The Hardware ................................................................... 16
3.6 Select the Stage Type (Using APTConfig) ........................................... 17
3.7 Verifying Software Operation ............................................................... 18
3.7.1 Initial Setup .......................................................................................................18
Chapter 4 Operation - Tutorial ................................................................... 20
4.1 Introduction ........................................................................................... 20
4.2 Using the APT User Utility .................................................................... 20
4.3 Homing Motors ..................................................................................... 21
4.4 Moving to an Absolute Position ............................................................ 22
4.5 Changing Motor Parameters ................................................................ 23
4.6 Jogging ................................................................................................. 24
4.7 Graphical Control Of Motor Positions (Point and Move) ...................... 25
4.8 Setting Move Sequences ..................................................................... 27
4.9 Creating a Simulated Configuration Using APT Config ........................ 30
4.10 Stage/Axis Tab ..................................................................................... 33
Continued......

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Two-, and Three-Channel Stepper Motor Controller
Chapter 5 Software Reference .................................................................... 34
5.1 Introduction ...........................................................................................34
5.2 GUI Panel .............................................................................................34
5.3 Settings Panel ......................................................................................36
5.3.1 Moves/Jogs tab ................................................................................................ 36
5.3.2 Stage/Axis tab .................................................................................................. 39
5.3.3 Advanced Tab .................................................................................................. 42
Appendices
Appendix A Rear Panel Connector Pinout Details .................................... 46
Appendix B Preventive Maintenance ......................................................... 55
Appendix C Specifications and Associated Parts .................................... 56
Appendix D Motor Control Method Summary ........................................... 58
Appendix E Stepper Motor Operation - Background ................................ 62
Appendix F Regulatory ................................................................................ 67
Appendix G Thorlabs Worldwide Contacts ............................................... 71

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.

5
Chapter 2 Overview
2.1 Introduction
The new three channel APT Stepper Motor Controllers feature a card slot
architecture, which also allows it to be offered configured for two or three channels of
operation (BSC102). Furthermore it is perfectly feasable to add a third channel later
by purchasing a single channel driver card (SCC101).
They are designed to drive larger framed 2-phase bipolar stepper motors, with and
without encoder feedback, and can be used in a wide variety of applications. These
high power units deliver up to 48V/50W peak (25W average) drive power per channel
and are compatible with most stepper driven nano-positioning actuators & stages in
the Thorlabs range.
To facilitate connection to third party actuators and motors, Thorlabs offers a breakout
board (please see Appendix C for details). The unit combines the latest high speed
digital signal processors (DSP) with low-noise analog electronics and ActiveX®
software technology for effortless high resolution microstepping (25,600 steps per
revolution for a 200 full step motor) of up to three axes. Additional axes can be driven
by connecting one or more benchtop units via a standard USB hub.The apt stepper
motor controller is supplied with a full suite of software support tools. An intuitive
graphical instrument panel allows immediate control and visualization of the operation
of the stepper controllers, and any other controllers that are installed in the system.
See Chapter 5 for a full description of the apt system software.
Fig. 2.1 APT Three Channel Stepper Motor Controller (BSC103)

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Chapter 2
Stepper motors give excellent low speed performance and positioning stability
compared with DC servo motors. A wide range of 2-phase bipolar stepper motors and
associated actuators are commercially available, each with its own characteristics,
such as step resolution, peak phase current or voltage, and lead screw pitch. For this
reason the apt™ stepper unit operation is fully configurable (parameterized) with key
settings exposed through the associated graphical interface panels.
Motor step resolution, and lead screw pitch can be set for a particular motor/actuator
combination, phase currents can be limited to suitable peak powers as required, and
limit switch configuration is accommodated through a flexible set of limit switch logic
settings. 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 apt™ software incorporates pre-configured settings for
each of the Thorlabs stages and actuators, while still exposing all parameters
individually for use with other stepper 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 for further details). Furthermore, all such settings
and parameters are also accessible through the ActiveX® programmable interfaces
for automated alignment sequences.
The apt™ stepper unit also supports encoder feedback through dedicated quadrature
encoded pulse (QEP) inputs, one for each channel of operation. Through conversion
routines, the apt™ software is able to use this feedback signal to generate encoder
position for access either through the GUI or via programmable interfaces for custom
closed loop algorithms. A “built in” algorithm can be enabled to allow the stepper
system to reach and maintain an encoded position through an iterative move
sequence. Please see the APTServer online helpfile or the handbook supplied with
your linear encoded stage for further details.
In the remainder of this handbook, the Tutorial section (Chapter ) provides a good
initial understanding on using the unit, and the reference sections (Chapter 5) covers
all operating modes and parameters in detail.

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Two-, and Three-Channel Stepper Motor Controller
2.2 APT PC Software Overview
2.2.1 Introduction
As a member of the APT range of controllers, the BSC102 and BSC103 stepper
controllers share many of the associated software benefits. This includes 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 APT software suite supplied with all APT controllers provides a flexible and
powerful PC based control system both for users of the equipment, and software
programmers aiming to automate its operation.
For users, the APTUser (see Section 2.2.2.) and APTConfig (see Section 2.2.3.)
utilities allow full control of all settings and operating modes enabling complete ‘out-
of-box’ operation without the need to develop any further custom software. Both
utilities are built on top of a sophisticated, multi-threaded ActiveX ‘engine’ (called the
APT server) which provides all of the necessary APT system 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. It is this APT
server ‘engine’ that is used by software developers to allow the creation of advanced
automated positioning applications very rapidly and with great ease. The APT server
is described in more detail in Section 2.2.4.
Aside
ActiveX®, a Windows®-based, language-independent technology, allows a user
to quickly develop custom applications that automate the control of APT system
hardware units. Development environments supported by ActiveX® technology
include Visual Basic®, LabView™, Borland C++ Builder, Visual C++, Delphi™,
and many others. ActiveX® technology is also supported by .NET development
environments such as Visual Basic.NET and Visual C#.NET.
ActiveX controls are a specific form of ActiveX technology that provide both a user
interface and a programming interface. An ActiveX control is supplied for each
type of APT hardware unit to provide specific controller functionality to the
software developer. See Section 2.2.4. for further details.

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Chapter 2
2.2.2 APTUser Utility
The APTUser application allows the user to interact with a number of APT hardware
control units connected to the host PC. This program displays multiple graphical
instrument panels to allow multiple APT units to be controlled simultaneously.
All basic operating parameters can be altered and, similarly, all operations (such as
motor moves) can be initiated. Settings and parameter changes can be saved and
loaded to allow multiple operating configurations to be created and easily applied.
For many users, the APTUser application provides all of the functionality necessary
to operate the APT hardware without the need to develop any further custom
software. For those who do need to further customize and automate usage of the
controller (e.g. to implement a positioning algorithm), the APTUser application
illustrates how the various methods and properties of the APT ActiveX server can be
exposed by a client application.
Use of the APT User utility is covered in the PC tutorial (Chapter ) and in the APTUser
online help file, accessed via the F1 key when using the APTUser utility.

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Two-, and Three-Channel Stepper Motor Controller
2.2.3 APT Config Utility
There are many system parameters and configuration settings associated with the
operation of the APT Server. Most can be directly accessed using the various
graphical panels, however there are several system wide settings that can be made
'off-line' before running the APT software. These settings have global effect; such as
switching between simulator and real operating mode, associating mechanical stages
to specific motor actuators and incorporation of calibration data.
The APTConfig utility is provided as a convenient means for making these system
wide settings and adjustments. Full details on using APTConfig are provided in the
online help supplied with the utility.
Use of the APT Config utility is covered in the PC tutorial (Chapter ) and in the
APTConfig online help file, accessed via the F1 key when using the APTConfig utility.

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Chapter 2
2.2.4 APT Server (ActiveX Controls)
ActiveX 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 APT system, ActiveX Controls are deployed to allow direct control over (and
also reflect the status of) the range of electronic controller units, including the BSC103
stepper motor controller. Software applications that use ActiveX Controls are often
referred to as 'client applications'. Based on ActiveX interfacing technology, an
ActiveX Control is a language independent software component. Consequently
ActiveX 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.
Consider the ActiveX Control supplied for a Stepper Motor Drive Card fitted to a
BSC103 APT stepper controller unit (one panel is displayed for each channel (card)
fitted.
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 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

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Two-, and Three-Channel Stepper Motor Controller
making software calls into the same Control. For example, if a client application
instructs the associated stepper 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.
The APT ActiveX Controls collection provides a rich set of graphical user panels and
programmable interfaces allowing users and client application developers to interact
seamlessly with the APT hardware. Each of the APT controllers has an associated
ActiveX Control and these are described fully in system online help or the handbooks
associated with the controllers. Note that the APTUser and APTConfig utilities take
advantage of and are built on top of the powerful functionality provided by the APT
ActiveX Server (as shown in Fig. 2.2).
Fig. 2.2 System Architecture Diagram
Refer to the main APT Software online help file, APTServer.hlp, for a complete
programmers guide and reference material on using the APT ActiveX Controls
collection. Additional software developer support is provided by the APT Support
pages included on the software installation CD supplied with every APT controller.
This CD contains a complete range of tutorial samples and coding hints and tips,
together with handbooks for all the APT controllers.
2.2.5 Software Upgrades
Thorlabs operate a policy of continuous product development and may issue software
upgrades as necessary.
Detailed instructions on installing upgrades are included on the APT Software
CD ROM.

12
Chapter 3 Getting Started
3.1 Installing APT Software
DO NOT CONNECT THE CONTROLLER TO YOUR PC YET
1) Insert the CD into your PC.
2) The CD should run automatically. If your CD does not start, double click the file
‘autorun.exe’, found on the Software CD.
3) A Welcome dialogue screen is displayed. Before installing the software, you are
strongly advised to read the Installation Guide. Click the associated link.
4) Once you are familiar with the installation procedure, click the ‘Install APT
Software’ hyperlink displayed on the Welcome dialogue screen.
5) Follow the on-screen instructions - see the Installation Guide supplied for more
information.
Note
When operating via a PC, direct user interaction with the unit is
accomplished through intuitive graphical user interface panels (GUIs),
which expose all key operating parameters and modes. The user can
select multiple panel views displaying different information about a
particular hardware unit. The multitasking architecture ensures that the
graphical control panels always remain live, showing all current
hardware activity.
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.
Ifyouexperience anyproblems wheninstallingsoftware,contactThorlabs on
[phone] and ask for Technical Support.

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Two-, and Three-Channel Stepper Motor Controller
3.2 Mechanical Installation
3.2.1 Siting
The unit is designed to be mounted free standing on a shelf, benchtop or similar
surface.
3.2.2 Environmental Conditions
Location Indoor use only
Maximum altitude 2000 m
Temperature range 5oC to 40oC
Maximum Humidity Less than 80% RH (non-condensing) at 31°C
To ensure reliable operation the unit should not be exposed to corrosive agents or
excessive moisture, heat or dust.
If the unit has been stored at a low temperature or in an environment of high humidity,
it must be allowed to reach ambient conditions before being powered up.
Caution
When siting the unit, it should be positioned so as not to impede the
operation of the rear panel power supply switch.
Ensure that proper airflow is maintained to the rear of the unit.
Warning
Operation outside the following environmental limits may adversely affect
operator safety.

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Chapter 3
3.3 Electrical Installation
3.3.1 Connecting To The Supply
3.3.2 Fuses
Two T 3A/250V a.c. antisurge ceramic fuses are located on the back panel, one for
the live feed and one for the neutral as follows:
When replacing fuses:
1) Switch off the power and disconnect the power cord before removing the fuse
cover.
2) Always replace broken fuses with a fuse of the same rating and type.
Shock Warning
The unit must be connected only to an earthed fused supply of 110 to 230V.
Use only power supply cables supplied by Thorlabs, other cables may not be
rated to the same current.
The unit is shipped to the UK, Europe and the USA, with the appropriate
power plug already fitted. When shipped to other territories the appropriate
power plug must be fitted by the user. Cable identification is as follows:
Brown-Live
Blue-Neutral
Green/Yellow-Earth/Ground
Fuse Rating Type Fused Line
F1 T 3.15A ceramic; antisurge Live feed
F2 T 3.15A ceramic; antisurge Neutral feed

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Two-, and Three-Channel Stepper Motor Controller
3.3.3 Rear Panel Connections
Fig. 3.1 Rear panel connections
MOTOR DRIVE -(15-Pin D-Type, Female) Provides connection to the actuator.
This connector provides all phase current drive and encoder feedback connections to
drive a range of encoded and non-encoded stepper motors - see Section A.2.
CONTROL I/O - (15-Pin D-Type, Female) The ‘CONTROL I/O’ connector exposes a
number of electrical signals useful for external control. It is possible to configure a
particular controller to respond to trigger inputs, generate trigger outputs or both
respond to and generate a trigger output - see Section 5.3.3. Motor jogging lines can
be used to jog the motor in both forward and reverse directions from a remote handset
(Jogging parameters (e.g. jog distance) are set via the GUI panel - see Section 5.3.1.).
USER I/O - (15-Pin D-Type, Female) The User I/O connector exposes a number of
internal electrical signals. For convenience, a number of logic inputs and outputs are
included, thereby negating the need for extra PC based IO hardware. Using the APT
support software, these user programmable logic lines can be deployed in
applications requireing control of external devices such a relays, light sources and
other auxillairy equipment. - see Section A.3. for further details.
USB - USB port for system communications.
Note
The USB cable length should be no more than 3 metres unless a powered
USB hub is being used.
USB
MOTOR DRIVECONTROL IO MOTOR DRIVECONTROL IO MOTOR DRIVECONTROL IO
85 - 264 VAC
47 - 63Hz 250VA
FUSES F1 and F2
T3.15A ANTISURGE CERAMIC
USER IO
!

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Chapter 3
3.4 Front Panel Controls and Indicators
Fig. 3.2 Front panel controls and indicators
Power LED – Indicates that power is applied to the unit.
CHANNEL ENABLE buttons – Used to enable/disable channel functionality. The
associated LED is lit when the channel is enabled. Disabling the channel allows the
motor actuator to be moved manually.
3.5 Connecting The Hardware
1) Perform the mechanical installation as detailed in Section 3.2.
2) Install the APT Software - see Section 3.1.
3) Connect the stepper motor actuator to the Controller unit - see Section 3.3.3.
4) Connect the Controller unit to the power supply - see Section 3.3.1.
5) Connect the PSU to the main supply and switch ‘ON’.
6) Connect the Controller unit to your PC.
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.
Note
On BSC102 units, the Channel 3 LED is not used. It becomes active if a
third channel is added later by fitting an additional SCC101 card.
Note
The USB cable should be no more than 3 metres in length. Communication
lengths in excess of 3 metres can be achieved by using a powered USB hub).
Power apt
Precision Motion Controller
CHANNEL ENABLE
1
2
3

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Two-, and Three-Channel Stepper Motor Controller
3.6 Select the Stage Type (Using APTConfig)
To ensure that a particular stage is driven properly by the system, a number of
parameters must first be set. These parameters relate to the physical characteristics
of the stage being driven (e.g. min and max positions, leadscrew pitch, homing
direction etc.).
To assist in setting these parameters correctly, it is possible, using the APT Config
utility, to associate a specific stage type and axis with a motor controller channel.
Once this association has been made, the APT server applies automatically, suitable
default parameter values on boot up of the software.
Even if a stage type and axis has been associated with a controller channel, it is still
possible to alter these parameters if required, (e.g. for a custom stage type not
selectable using the APT Config utility).
1) Shut down all applications using the APT server (e.g. APT User or your own
custom application).
2) Run the APT Config utility - Start/All Programs/Thorlabs/APT Config/APT Config.
3) From the 'APT Configuration Utility' window, click the 'Stage' tab.
Fig. 3.3 APT Configuration Utility - Stage Tab
Note
The BSC103 APT stepper controller unit can be fitted with up to three
SCC101 stepper motor drive cards. Each card behaves as a discrete unit
with its own GUI control panel.

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Chapter 3
4) In the ‘Motor’ field, select the serial number of the SCC101 drive card to be
configured.
5) For the SCC101 Cards, the ‘Channel’ field defaults to ‘1’ and the ‘Channel 2’
option is greyed out.
6) In the ‘Stage’ field, select your actuator type from the list displayed (e.g. 25mm
travel DRV113 actuator).
7) Click the 'Add Stage Association' button.
8) The server reads in the stage and controller information on start up.
Shut down the APTConfig utility and proceed to Section 3.7. to verify the software
operation.
See the APT Config utility on line help for further information.
3.7 Verifying Software Operation
3.7.1 Initial Setup
The APT Software should be installed (Section 3.1.) and the stage association
performed (Section 3.6.) before software operation can be verified.
1) Run the APTUser utility and check that the Graphical User Interface (GUI) panel
appears and is active.
Fig. 3.4 Gui panel showing jog and ident buttons
Caution
Thefollowing itemsrelate to the singlechannel SCC101 DriveCards fitted
to the controller, and not the parent 3-channel controller housing.

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Two-, and Three-Channel Stepper Motor Controller
2) Check that the actuator type and serial number associated in Section 3.6. are
displayed in the GUI panel.
3) Click the ‘Ident’ button. The associated channel LED on the front panel of the
controller flashes. This is useful in multi-channel systems for identifying which
channel is associated with which GUI.
4) Click the jog buttons on the GUI panel and check that the motor or axis connected
to the controller moves. The position display for the associated GUI should
increment and decrement accordingly.
Follow the tutorial steps described in Chapter for further verification of operation.
Note
The 'APT Config' utility can be used to set up simulated hardware
configurations and place the APT Server into simulator mode. In this way
it is possible to create any number and type of simulated (virtual)
hardware units in order to emulate a set of real hardware. This is a
particularly useful feature, designed as an aid to application program
development and testing. Any number of 'virtual' control units are
combined to build a model of the real system, which can then be used to
test the application software offline. If using real hardware, ensure that
Simulator Mode is disabled. If using a simulated setup, enable Simulator
Mode and set up a ‘Simulated Configuration’ - see Section 4.9. or the
APTConfig helpfile for detailed instructions.

20
Chapter 4 Operation - Tutorial
4.1 Introduction
The following brief tutorial guides the user through a typical series of moves and
parameter adjustments performed using the PC based APT software. It assumes that
the unit is electrically connected as shown in Section 3.3.3. and that the APT
Software is already installed - see Section 3.1. For illustration purposes, it also
assumes that a DRV113 motor is connected to a ‘Motor’ connector on the rear panel.
4.2 Using the APT User Utility
The APT User.exe application allows the user to interact with any number of APT
hardware control units connected to the PC USB Bus (or simulated via the APTConfig
utility). This program allows multiple graphical instrument panels to be displayed so
that multiple APT 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.
Hardware configurations and parameter settings can be saved to a file, which
simplifies system set up whenever APT User is run up.
Fig. 4.1 Typical APT User Screen