THORLABS K-Cube Piezo Controller User manual

KPZ101
Piezo Driver
Kinesis User Guide
Original Instructions

2 HA0365T Rev Dk Jan 2017
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 Power Options ........................................................................................ 6
2.3 Kinesis PC Software Overview ............................................................... 7
Chapter 3 Getting Started .............................................................................. 9
3.1 Install The Software. ............................................................................... 9
3.2 Mechanical Installation ......................................................................... 10
3.3 Electrical Installation ............................................................................. 11
3.4 Connect The Hardware ........................................................................ 15
Chapter 4 Standalone Operation ................................................................16
4.1 Introduction ........................................................................................... 16
4.2 Control Panel ....................................................................................... 17
4.3 Velocity Wheel Operation ..................................................................... 18
4.4 Settings Menu ...................................................................................... 19
Chapter 5 PC Operation - Tutorial ............................................................. 30
5.1 Introduction ........................................................................................... 30
5.2 Using the Kinesis Software .................................................................. 30
5.3 Introduction to Open and Closed Loop Operation ................................ 31
5.4 Open Loop Operation ........................................................................... 33
5.5 Operation with Other Members of the K-Cube Family ......................... 35
5.6 Closed Loop Operation ........................................................................ 35
5.7 Adjusting the Piezo Position ................................................................. 44
5.8 Load Response .................................................................................... 45
5.9 Setting Move Sequences ..................................................................... 45
5.10 Changing and Saving Parameter Settings ........................................... 45
Chapter 6 Software Reference ....................................................................46
6.1 GUI Panel ............................................................................................. 46
6.2 Settings Panel ...................................................................................... 48
Continued...

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K-Cube Piezo Driver
Appendices
Appendix A Connector Pinout Details ....................................................... 56
Appendix B Preventive Maintenance ......................................................... 57
Appendix C Specifications and Associated Products .............................. 58
Appendix D Piezo Operation - Background ............................................... 60
Appendix E Regulatory ................................................................................ 63
Appendix F Thorlabs Worldwide Contacts ................................................ 67

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.
This product generates, uses and outputs high voltages from the SMC
connector (HV Output) that are hazardous and can cause serious injury. In any
installation that uses the KPZ101 it is the user’s responsibility to ensure
adequate insulation and precuations are taken to avoid shock risk. Cables for
HV Out must be rated for 250 V RMS.
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 and Setup
2.1 Introduction
The K-Cube Piezo Controller (KPZ101) is a compact single channel controller/driver
for easy manual and automatic control of a wide range of piezo stacks and actuators.
This driver is capable of delivering up to 150V of drive voltage at 7.5mA - allowing
operating bandwidths up to 1kHz (see specs). The KPZ101 provides immediate 'out
of the box' operation with the Thorlabs complete range of bare piezo stacks, piezo
equipped actuators and piezo driven mirror mounts.
Furthermore, when operated together with the K-Cube Strain Gauge Reader unit
(KSG101), high precision closed loop operation is possible using the complete range
of feedback equipped piezo actuators available from Thorlabs.
For convenience the footprint of this unit has been kept to a minimum, measuring only
60mm x 60mm x 47mm (2.36” x 2.36 x 1.85”) and with the facility to directly mount to
the optical table close to the device under control. Table top operation also allows
minimal drive cable lengths for easier cable management. All manual controls are
located on the top face of the unit – very convenient when manually adjusting piezo
positions using the digitally encoded adjustment pot and easy to read voltage display
(with brightness adjustment).
Fig. 2.1 K-Cube Piezo Driver (KPZ101)
Although compact in footprint, this unit offers a fully featured piezo control capability.
To support a wide variety of piezo devices the output range can be user selected to
75V, 100V or 150V. The resolution of the digitally encoded adjustment pot is easily
altered to provide very accurate positioning control. Direct hardware control of the
high voltage output can be facilitated using the low voltage input connector.

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Chapter 2
A low voltage output connector allows for easy monitoring of the HV output (using a
scope for example). Open or closed loop operation is a simple button click.
USB connectivity provides easy 'Plug and Play' PC controlled operation - multiple
units can be connected to a single PC via standard USB hub technology or by using
the new K-Cube Controller Hub (see over) for multi-axis motion control applications.
Coupling this with the user friendly Kinesissoftware (supplied) allows the user to get
up and running in a short space of time. Advanced custom motion control applications
and sequences are also possible using the programming environment supplied. This
programming library is compatible with many development tools such as LabView,
Visual Basic, Visual C++, C++ Builder, LabWindows/CVI, Matlab and Delphi.
See Section 2.3. for a full description of the Kinesis system software.
In the remainder of this handbook, the Tutorial section (Chapter 5) provides a good
initial understanding on using the unit, and the reference section (Chapter 6) covers
all operating modes and parameters in detail.
2.2 Power Options
For power, a compact two-way power supply unit (TPS002) is available from Thorlabs
allowing up to 2 K-Cube Piezo Drivers to be powered from a single mains outlet. This
power supply unit is also designed to take up minimal space and can be mounted to
theopticaltableincloseproximitytothedriverunits,connectedviashortpowerleads.
As a further level of convenience when using the K-Cube Controllers Thorlabs also
offers the 3-channel and 6-channel K-Cube Controller Hubs (KCH301 and KCH601).
These products have been designed specifically with multiple K-Cube operation in
mind in order to simplify issues such as cable management, power supply routing,
multiple USB device communications and different optical table mounting scenarios.
The K-Cube Controller Hub comprises a slim base-plate type carrier with electrical
connections located on the upper surface to accept the K-Cubes.
Internally the Controller Hub contains a fully compliant USB 2.0 hub circuit to provide
communications for all K-Cubes – a single USB connection to the Controller Hub is
all that is required for PC control. The Controller Hub also provides power distribution
for the K-Cubes, requiring only a single power connection.

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K-Cube Piezo Driver
2.3 Kinesis PC Software Overview
2.3.1 Introduction
The K-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 necessary 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. 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 server is described in more detail
in the following section.
2.3.2 Kinesis Server
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 Piezo
K-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.
Consider the control supplied for the KPZ101 Piezo driver unit.
This Control provides a complete user graphical instrument panel to allow the piezo
unit to be manually operated, as well as a complete set of software functions to allow
all parameters to be set and 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 piezo drive voltage). Updates to the panel take place

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Chapter 2
automatically when a user (client) application is making software calls into the same
Control. For example, if a client application instructs the associated Piezo Control to
move an actuator, the progress of that move is reflected automatically by changing
position readouts on the graphical interface, without the need for further programming
intervention.
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. 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.
2.3.3 Software Upgrades
Thorlabs operate a policy of continuous product development and may issue software
upgrades as necessary.

9
Chapter 3 Getting Started
3.1 Install The Software.
DO NOT CONNECT THE CONTROLLER TO YOUR PC YET
1) Go to Services/Downloads at www.thorlabs.com and download the software.
2) Run the .exe file and follow the on-screen instructions.
Note
This section is applicable only if the K-Cube is to be used with a PC. If your
application consists only of local operation via the K-Cube front face, proceed
to Section 3.2.
When operating via a PC, direct user interaction with the Piezo driver 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.
Cautions
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 [phone] and ask for Technical Support.

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Chapter 3
3.2 Mechanical Installation
3.2.1 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.
3.2.2 Mounting Options
The K-Cube Piezo Driver is shipped with a baseplate, for use when fitting the unit to
a breadboard, optical table or similar surface.
For multiple cube systems, a 3-channel and 6-channel K-Cube Controller Hub
(KCH301 and KCH601). ) are also available - see Section 2.2. for further details. Full
instructions on the fitting and use of the controller hub are contained in the handbook
available at www.thorlabs.com
Warning
The safety of any system incorporating this equipment is the
responsibility of the person performing the installation.
Warning
Operation outside the following environmental limits may adversely
affect operator safety.
Cautions
When siting the unit, it should be positioned so as not to impede the
operation of the control panel buttons.
Ensure that proper airflow is maintained to the rear of the unit

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K-Cube Piezo Driver
3.2.3 Using the Baseplate
The baseplate must be bolted to the worksurface before the K-Cube is fitted, as
shown below. The K-cube is then located on two dowels in the baseplate and secured
by two clips.
Fig. 3.1 Using The Baseplate
3.3 Electrical Installation
3.3.1 Rear Panel
Fig. 3.2 Rear Panel Connections
HV OUT (SMC connector) – 0 to 150V, 0 to 7.5mA. Provides the drive signal to the
piezo actuator. The maximum voltage (75V, 100V or 150V) is set via the top panel
(see Section 4.4.3.) or via the APTsoftware ‘Settings’ panel (see Section 6.2.).
EXT IN (SMA connector) – Used to connect an external analogue signal source to
control the operation of the cube. The input voltage range is 0 to +10V and the input
impedance is 12 kΩ.

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Chapter 3
The way the signal driving the EXT IN input controls the unit depends on the operating
mode. In open loop mode, the voltage on the EXT IN input can be used to drive the
high voltage amplifier directly and the output voltage is proportional to the driving
voltage. In closed loop mode, EXT IN can be used as a position feedback input,
designed to be driven by an external position reader (such as the KSG101 Strain
Gauge Reader). These operating modes are detailed in Section 5.3. to Section 5.6.
MONITOR (SMA connector) – This low-voltage (0 to +10V), output can be used to
monitor the signal at the HV OUT high voltage output. In its most common use, it can
be connected directly to an oscilloscope to observe the waveforms or voltage levels
present at the high voltage output.
3.3.2 Supply Voltage and Current Requirements
Caution
In open loop mode, the EXT IN connector drives the HV amplifier circuit
directly. If an external input is used, the output voltage limits (i.e. 75V, 100V or
150V) can be exceeded.
Note
The KPZ101 has two main, selectable output voltage ranges of 0 to 75V or
0 to 150V, to allow driving piezo actuators with different drive
requirements. (In addition, there is a 100V limit for operation under
software control). Regardless of which range is selected, the input and
output voltage range on the EXT IN and MONITOR connectors is always
0 to +10V full scale.
Note
Thorlabs supply a variety of SMA to BNC and SMC to BNC adaptor and
extension cables. Please see our catalog, or visit www.Thorlabs.com for
further details.
Supply Minimum Maximum Max Operating Current
+5V +4.9V +5.1V 350 mA
+15V +14.5V +15.5V 220 mA
-15V -14.5V -15.5V 50 mA

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K-Cube Piezo Driver
3.3.3 Front Panel
Fig. 3.3 Front Panel
POWER - Eight pin connector for connecting the unit to a regulated DC power supply
of the rating detailed in Section 3.3.
USB - USB port for system communications.
ON - Power ON/Standby switch - seeSection 3.3.5.
TRIG 1 and TRIG 2 - SMA connectors for use with external trigger input and output
signals (5V TTL levels). The function is set to trigger IN or OUT via the settings panel
- see Section 6.2.3.
Warning
The unit must be connected only to a DC supply as detailed in Section 3.3.
Connection to a supply of a different rating may cause damage to the unit and
could result in injury to the operator.
Caution
Ensure the power switch on the front panel of the unit is switched off
beforeconnectingpowertotheK-Cube.AlwayspoweruptheK-Cubeunit
by its ON switch. DO NOT connect the K-Cube unit to a 'live' external
power supply. Doing so (i.e. “hot plugging”) carries the risk of
PERMANENT damage to the unit. Similarly, to power down the unit, turn
the power switch off before disconnecting the power supply.
Note
The USB cable length should be no more than 3 metres unless a powered
USB hub is being used.
KPZ101
P
O
W
E
R
+5V TTL +5V TTL
USB

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Chapter 3
3.3.4 Connecting to a Power Supply
1) Using the front panel connector as shown above, connect the unit to a regulated
DC power supply of the rating detailed in Section 3.3.
2) Switch on the Power Supply unit, then switch on the KPZ101.
3) The Version number of the embedded software is displayed for a few seconds.
Thorlabs offers a compact, two-way power supply unit (TPS002), allowing up to two
piezo driver K-Cubes to be powered from a single mains outlet. However, if an
external supply is to be used, see Appendix A.1 for power supply connector pin out
details.
3.3.5 Powering Down The Unit
Warning
The unit must be connected only to a DC supply as detailed in Section 3.3.
Connection to a supply of a different rating may cause damage to the unit and
could result in injury to the operator.
Caution
Ensure the power switch on the front panel of the unit is switched off
before connecting power to the K-Cube. Always power up the K-Cube unit
by its ON switch. DO NOT connect the K-Cube unit to a 'live' external
power supply. Doing so (i.e. “hot plugging”) carries the risk of
PERMANENT damage to the unit. Similarly, to power down the unit, turn
the power switch off before disconnecting the power supply.
Caution
If an external power supply is used, ensure that the 3 supply voltages are
turned on and off simultaneously. Applying the supply voltages with a
large (more than 1 second) time delay between them can result in the
piezo cube showing an incorrect reading.
Warning
The controller may cause drive voltage spikes on power down. In applications
requiring the highest sensitivity, the piezo drive voltage should be set to zero,
and the HV cable disconnected before the unit is powered down.
Always be use the front panel ON switch to power down the unit. When in the
ON position, the unit is fully powered up. When the switch is turned to the
Standby position, the unit initiates a controlled power down sequence, saving
all user-adjustable parameters to non-volatile memory before turning off the
power. For the first few seconds, the shutdown can be cancelled by turning the
switch on again, in which case the unit will save the parameters but will remain
powered up. Ina powered down (Standby) state, the logic circuits are powered
off and the unit will draw only a small quiescent current.

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K-Cube Piezo Driver
3.4 Connect The Hardware
1) Perform the mechanical installation as detailed in Section 3.2.
2) Install the Kinesis Software.
3) Connect the Controller unit to your PC.
(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).
4) Connect the piezo actuator to the Controller unit - see Section 3.3.1.
5) Connect the Controller unit to the power supply - see Section 3.3.2.
6) Connect the PSU to the main supply.
7) Switch ‘ON’ the unit using the switch on the front panel.
The unit takes about 5 seconds from power application until warm up is finished,
during which time the software revision is displayed. WindowsTM should detect the
new hardware. Wait while WindowsTM installs the drivers for the new hardware.
8) The unit starts up with the HV output disabled. This must be enabled before any
further settings can be adjusted - see Section 4.4.2..
Caution
During items (3) to (6) the instructions should be followed strictly in the
order stated. Problems may occur if the process is not performed in the
correct sequence.
Caution
During item (4) ensure the power supply unit is isolated from the mains
before connecting to the K-Cube unit. Always power up the K-Cube unit
by connecting its power supply to the mains. DONOT connect the K-Cube
unit to a 'live' external power supply. Doing so (i.e. “hot plugging”) carries
the risk of PERMANENT damage to the unit. Similarly, to power down the
unit, disconnect the power suply from the mains before disconnecting
the K-Cube unit.
Note
If any problems are encountered during the connection and power up
process, power cycle the unit, which should clear the error.
Thorlabs KPZ101
SwRev 010001
Output inactive
75V N V

16
Chapter 4 Standalone Operation
4.1 Introduction
The Piezo Driver K-Cube has been designed specifically to operate with the extensive
range of Thorlabs piezo-actuated opto-mechanical products. The unit offers a fully
featured open loop control capability, including piezo drive voltage adjustment and
input source selection. These parameters can be set via the Kinesis software - see
Chapter 5. Furthermore, many of these parameters are automatically set to allow “out
of the box” operation with no further “tuning” required.
When the K-Cube Piezo Driver is used in conjunction with the K-Cube Strain Gauge
Reader unit (KSG101), high precision closed loop operation is possible using the
complete range of feedback equipped piezo actuators available from Thorlabs.
The following brief overview explains how the front panel controls can be used to
perform a typical series of piezo moves.
In conjunction with this chapter, it also may be useful to read the background on piezo
operation contained in Appendix D .
Shock Warning
Persons using the KPZ101 controller must understand the hazards associated
with using high voltages and the steps necessary to avoid risk of electrical
shock. If the KPZ101 is used in a manner not specified by Thorlabs, the
protective features provided by the product may be impaired.

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K-Cube Piezo Driver
4.2 Control Panel
Fig. 4.1 Panel Controls and Indicators
MOVE Controls - These controls allow all motor moves to be initiated.
Velocity Wheel - Used to drive the motor at a varying speed in either forward or
reverse directions for full and easy motor control - see Section 4.3.1.
Digital Display - The display shows the menu options and settings, accessed via
the menu button - see Section 4.4. When the Ident button on the associated GUI
panel is clicked, the display will flash for a short period.
MENU - used to access the settings menu - see Section 4.4.
4.2.1 Digital Display - Operating Mode
During normal operation, the top line of the digital display shows the current drive
voltage applied. The bottom line shows various icons which indicate the operating
state of the device, i.e. the hazardous voltage warning arrow, the feedback loop mode
(see Section 4.4.4.), the unlocked symbol to show the output is enabled (see Section
4.4.2.), the maximum drive voltage of the device being driven (see Section 4.4.3.), the
analog input mode (see Section 4.4.5.) and the Joystick mode (see Section 4.4.7.).
Fig. 4.2 Digital Display - Normal Operation
Piezo Controller
MENU
Piezo Controller
Voltage: 0.00V
75V N A

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Chapter 4
4.3 Velocity Wheel Operation
The velocity wheel/joystick is an infinite turn potentiometer, which is used to initiate
different types of move depending on its mode setting. The mode can be set either
via the GUI Settings panel, see Section 6.2.3. or via the top panel display menu, see
Section 4.4.
4.3.1 Voltage Adjust Mode
In voltage mode, the wheel can be used to increase and decrease the drive voltage.
The voltage change is proportional to the deflection of the wheel - see Section 4.4.7.
The rate of change is adjusted in the Joystick Menu parameter - see Section 4.4.8.
4.3.2 Go to Voltage
In ‘Go To Voltage’ mode, two preset voltage values can be specified, such that the
drive voltage is set to voltage 1 when the wheel is moved down, and to voltage 2
when it is moved up. These ‘taught’ voltages can be set through the software GUI -
see Section 6.2.3. or via the display menu, see Section 4.4.7.
This mode of operation is enabled by setting the ‘Wheel Mode’ to ‘Go to voltage’
through the software GUI - see Section 6.2.3. or via the display menu, see Section
4.4.7.
4.3.3 Jog to voltages
The top panel wheel can also be configured to ‘jog’ the drive voltage. This mode of
operation is enabled by setting the ‘Wheel Mode’ parameter to ‘Jog to voltage’
through the software GUI - see Section 6.2.3. or via the display menu, see Section
4.4.7.

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K-Cube Piezo Driver
4.4 Settings Menu
Before the settings menu can be accessed, the drive
output must be enabled as follows..
Press the MENU button
Use the wheel to scroll to the 1 HV output option.
Press the MENU button to enter the option
Use the wheel to scroll to the HV enabled option.
Press the MENU button to save and exit.
Thorlabs KPZ101
SwRev 010001
Output inactive
75V N V
Menu options
Use wheel
Menu options
1 HV output
HV disabled
to change
HV enabled
to change

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Chapter 4
4.4.1 Menu Overview
Press the MENU button
Use the wheel to scroll through the menu options
Press the MENU button to enter a particular option
Enable/disable the drive output - see Section 4.4.2.
Set the max drive voltage - see Section 4.4.3.
Set open loop or closed loop mode - see Section 4.4.4.
Set the analogue input source - see Section 4.4.5.
Set the wheel/joystick mode - see Section 4.4.7.
Set the wheel/joystick parameters - see Section 4.4.8.
Set the teach voltages - see Section 4.4.9.
Disable the wheel - see Section 4.4.10.
Set the display brightness - see Section 4.4.11.
Set the display timeout period - see Section 4.4.12.
Voltage: 0.00V
75V N V
Menu options
Use wheel
Menu options
1 HV output
Menu options
2 Voltage Range
Menu options
3 Feedback mode
Menu options
4 Analogue input
Menu options
5 Joystick mode
Menu options
6 Joystick menu
Menu options
7 Teach voltage
Menu options
8 Wheel lock
Menu options
9 Brightness
Menu options
10 Disp.Timeout
MENU