THORLABS KIM001 User manual

HA0400T
KIM001
1-Channel Inertia Piezo
Motor Controller
Kinesis User Guide
Original Instructions

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KIM001 1-Channel K-Cube Inertia Piezo Motor Controller
Contents
Chapter 1 Introduction ................................................................................................ 1
1.1 Introduction ........................................................................................ 1
1.2 Power Options .................................................................................... 2
1.3 Software Overview ............................................................................. 3
Chapter 2 Safety .......................................................................................................... 5
2.1 Safety Information ............................................................................. 5
2.2 General Warnings .............................................................................. 5
Chapter 3 Installation .................................................................................................. 6
3.1 Install The Software ........................................................................... 6
3.2 Mechanical Installation ...................................................................... 7
3.3 Electrical Installation ......................................................................... 8
3.4 Connect The Hardware .................................................................... 11
3.5 Selecting the Stage Type ................................................................ 12
3.6 Verifying Software Operation ......................................................... 13
3.7 Automatic Temperature Control ..................................................... 13
Chapter 4 Standalone Operation .............................................................................. 14
4.1 Introduction ...................................................................................... 14
4.2 Control Panel Buttons and Indicators ........................................... 15
4.3 Wheel Operation .............................................................................. 15
4.4 Settings Menu .................................................................................. 17
4.5 Using the External Inputs ................................................................ 29
Chapter 5 PC Operation - Tutorial ............................................................................ 30
5.1 Introduction ...................................................................................... 30
5.2 Using the Kinesis Software ............................................................. 30
5.3 Zeroing .............................................................................................. 30
5.4 Moving to a Position ........................................................................ 31
5.5 Changing Motor Parameters ........................................................... 31
5.6 Jogging ............................................................................................. 31
Chapter 6 Software Reference .................................................................................. 33
6.1 Introduction ...................................................................................... 33
6.2 GUI Panel .......................................................................................... 33
6.3 Settings Panel .................................................................................. 34

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Appendices
Appendix A Rear Panel Connector Pinout Details .................................... 43
Appendix B Preventive Maintenance ......................................................... 44
Appendix C Specifications........................................................................... 45
Appendix D Piezo Operation - Background ............................................... 47
Appendix E Regulatory ................................................................................ 50
Appendix F Thorlabs Worldwide Contacts ................................................ 52

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KIM001 1-Channel K-Cube Inertia Piezo Motor Controller
Chapter 1 Introduction
1.1 Introduction
The KIM001 Piezo Inertia Motor Controller is designed to control our series of piezo
inertia-driven actuators and positioning stages. It offers 1 channel of stand-alone
manual control for continuous movement/jogging and also remote PC control via
USB. The product will support multiple external trigger functions, including position
count and motion activity, as well as general purpose I/O.
Although compact in footprint, this unit offers a fully featured control capability
including jog settings, “on the fly” changes in move direction, and, for more advanced
operation, control over the number of steps performed.
The footprint of this unit has been kept to a minimum, measuring only 60 mm x 60 mm
x 47 mm (2.36" x 2.36" x 1.85") and with the facility to directly mount to the optical
table close to the devices being driven - convenient when manually adjusting
positions using the top panel controls. Table top operation also allows minimal drive
cable lengths for easier cable management.
Fig. 1.1 K-Cube Piezo Inertia Motor Controller
USB connectivity provides easy 'Plug and Play' PC controlled operation - multiple
units can be connected to a single PC via standard USB hub technology. Coupling
this with the user friendly Kinesis software (supplied) allows the user to very quickly
get up and running with complex move sequences in a short space of time. Advanced
custom motion control applications and sequences are also possible using the

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Chapter 1 Introduction
extensive .Net programming environment also supplied. This programming library is
compatible with many development tools such as LabView, Visual Basic, Visual C++,
C++ Builder, LabWindows/CVI, and Delphi.
In the remainder of this handbook, operation of the unit is described for both front
panel and PC operation. Tutorial sections (Chapter 4 and Chapter 5) provide a good
initial understanding on using the unit and reference section (Chapter 6) covers all
operating modes and parameters in detail.
1.2 Power Options
For power, a single way wall plug supply (KPS101) is available for powering a single
K-Cube Driver.
Caution
Due to the nature of its design, and its non-linear high frequency switching, the
KIM001 unit is not compatible with the KCH301 and KCH601 hubs. Use only
the KPS101 power supply unit.
Caution
Do not use a power supply with damaged, cracked or split wires. In such cases,
the supply could still power up the cube, but the integrity of the ground return
may be compromised. This could result in a hazardous live voltage being
generated.
Any obvious signs of damage to the power supply lead should result in
immediate replacement of the PSU.

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KIM001 1-Channel K-Cube Inertia Piezo Motor Controller
1.3 Software Overview
1.3.1 Introduction
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. 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, VB.NET, C#.NET and, via VBA,
Microsoft Office applications such as Excel and Word.
Consider the control supplied with the KIM001 Inertial Piezo Driver K-Cube.
All basic operating parameters can be altered and, similarly, all operations (such as
jog 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 GUI application provides all of the functionality necessary to
operate the hardware without the need to develop any further custom software. For
those who do need to further customise and automate usage of the controller, this
application illustrates how the rich functionality provided by the Kinesis server is
exposed by a client application.
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

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Chapter 1 Introduction
associated .Net Control and these are described fully in the handbooks associated
with the controllers
Fig. 1.2 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.
1.3.2 Software Upgrades
Thorlabs operate a policy of continuous product development and may issue software
upgrades as necessary. The latest software can be downloaded from the ‘Services/
Software Downloads/Motion Controllers’ section of www.thorlabs.com. A utility is
provided with the Software to assist in firmware upgrades
Note
When the firmware is updated, the cooling fan may increase in speed while the unit
is reprogrammed.

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KIM001 1-Channel K-Cube Inertia Piezo Motor Controller
Chapter 2 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 throughout the handbook and on the
equipment itself.
2.2 General Warnings
Warning: Risk of Electrical Shock
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.
Warning
If this equipment is used in a manner not specified by the manufacturer, the
protection provided by the equipment may be impaired. In particular, excessive
moisture may impair operation.
This product generates, uses and outputs high voltages from the SMC
connector (MOTOR) that are hazardous and can cause serious injury. In any
installation that uses the KIM001 it is the user’s responsibility to ensure
adequate insulation and precautions are taken to avoid shock risk. Cables for
MOTOR 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 absorbent tissue. Do not allow spilled fluid to
enter the internal mechanism.

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Chapter 3 Installation
Chapter 3 Installation
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 Kinesis
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
Chapter 4.
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.
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
[phone] and ask for Technical Support.

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KIM001 1-Channel K-Cube Inertia Piezo Motor Controller
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 Motor Controller is shipped with a baseplate, for use when fitting
the unit to a breadboard, optical table or similar surface.
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.
Caution
When siting the unit, it should be positioned so as not to impede the operation
of the control panel buttons.
To help minimize the risk of overheating, ensure that proper airflow is
maintained to the front, rear and sides of the unit.

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Chapter 3 Installation
3.2.3 Using the Baseplate
The baseplate is supplied with magnets for quick positioning on an optical
worksurface. For more secure positioning, it can 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 Front Panel Connections
Fig. 3.2 Front Panel
Caution
Ensure that all USB and electrical cables are positively connected and all joints
tightened. Loose connections can cause noise and interference problems due
to transients from the high switching frequencies within the unit
I/O 1 I/O 2
_
+

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KIM001 1-Channel K-Cube Inertia Piezo Motor Controller
POWER - A Standard 3.5 mm front panel jack connector for connecting the unit to a
regulated DC power supply of 15 V, 1A. See Section 1.2. for details on power supply
options.
USB - USB port for system communications.
ON - Power ON/Standby switch. 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. In a powered down (Standby) state, the logic circuits are
powered off and the unit will draw only a small quiescent current. The switch should
always be used to power down the unit.
I/O 1 and I/O 2 - SMA connectors for use with external trigger input and output signals
(5V TTL levels). Units are shipped with I/O functionality disabled. The function is set
to trigger IN or OUT via the GUI settings panel - see Section 6.3.4.
Warning: Risk of Electrical Shock
The unit must be connected only to a DC supply of 15V, 1A regulated.
Connection to a supply of a different rating may cause damage to the unit and
could result in injury to the operator.
Caution
Do not use a power supply with damaged, cracked or split wires. In such cases,
the supply could still power up the cube, but the integrity of the ground return
may be compromised. This could result in a hazardous live voltage being
generated.
Any obvious signs of damage to the power supply lead should result in
immediate replacement of the PSU.
Note
The USB cable length should be no more than 3 metres unless a powered USB hub
is being used.
Caution
Do not connect the piezo unit to a 'live' external power supply. Doing so (i.e. “hot
plugging”) carries the risk of PERMANENT damage to the unit. Always ensure
the power supply unit is isolated from the mains and the front panel switch turn
OFF before connecting to the piezo unit.
Always power up the piezo unit by connecting its power supply to the mains
then switch ON using the front panel switch. Similarly, to power down the unit,
turn the front panel switch OFF, then disconnect the power supply from the
mains before disconnecting the piezo unit.

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Chapter 3 Installation
3.3.2 Rear Panel Connections
Fig. 3.3 Rear Panel Connections
EXT IN - (SMA Connector) Analog input, u sed to control the velocity of the piezo
actuator from an external source. This input allows an external signal to drive the output
to its full scale velocity in either direction. A -10V input gives max velocity in the reverse
direction, whereas +10V input gives max velocity forwards; a 0V input results in no
movement.
See Section 4.6. for information on how to enable control via these analog inputs.
MOTOR - (SMC Connector) Drive connector compatible with all Thorlabs inertial
piezo motor driven positioning stages and actuators (PIA series).
ENCODER - (6-Pin Hi-Rose Connector Female) For future use.
Caution
To avoid overheating the unit, do not turn off the power until the fan has
stopped. This can take several minutes if high frequency stage moves have
been performed.
Caution
When making connections to the MOTOR terminal, take care to ensure proper
alignment of the connectors before tightening. If resistance is felt the pins may
be misaligned and could bend/break if the connection is forced.
The PIA series piezo inertia actuators are shipped with 1.1 m (3.3’) of cable.
Thorlabs offer 1.5m extension cables (PAA101) and male adapters (T5026) to
extend the drive cable length to 2.5m, see www.thorlabs.com.
Due to the capacitance of the cables, do not use cables longer than 2.5 m in
total.
MOTOR ENCODER
EXT IN
+/- 10 V
125 V

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KIM001 1-Channel K-Cube Inertia Piezo Motor Controller
3.3.3 Powering Down The Unit
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.
4) Connect the Piezo motor stage to the Controller unit - see Section 3.3.2.
5) Connect the Controller unit to the power supply - see Section 3.3.1.
6) Connect the PSU to the main supply and switch ‘ON’.
7) Switch ‘ON’ the unit using the switch on the front panel.
8) WindowsTM should detect the new hardware. Wait while WindowsTM installs the
drivers for the new hardware.
Caution
To avoid overheating the unit, do not turn off the power until the fan has
stopped.
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).
Caution
During item (5) 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. 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, disconnect
the power suply from the mains before disconnecting the K-Cube unit.
Caution
During initialization at power up, checks are carried out on any actuators
connected to the controller. If any faults are detected an error message is
indicated on the LCD screen and the unit should be powered down immediately.

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Chapter 3 Installation
The unit takes about 5 seconds from power application until initialization is finished,
during which time the firmware revision and the stage type last selected are
displayed.
Fig. 3.4 KIM001 start up screen
After initialization, the displays shows the device part number (KIM001) and the
position is steps from the zero position.
3.5 Selecting the Stage Type
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/
actuator being driven (e.g. min and max positions, leadscrew pitch, homing direction etc.).
To assist in setting these parameters correctly, it is possible to associate a specific stage
type with the motor controller. Once this association has been made, the server
automatically applies suitable default parameter values on boot up of the software.
The stage type can only be selected from the top panel settings menu - see Section 4.5.11.
for more details.
Note
To ensure correct operation, it is important to select the correct stage and axis type
as described above. Selecting an incompatible stage/axis type could result in
reduced velocity and/or resolution, and in the worst case could cause the stage to
run into the end stops.
Thorlabs KIM001
SwRev 010001
KIM001
Ch1 0
Stage is set to
PIA
After
a few
seconds
Operation
Display

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KIM001 1-Channel K-Cube Inertia Piezo Motor Controller
3.6 Verifying Software Operation
The Kinesis Software should be installed (Section 3.1.) and the controller connected
to the actuators (see Section 3.4.) and the PC, before verifying software operation.
1) Run the Kinesis software and check that the Graphical User Interface (GUI) panel
appears and is active.
Fig. 3.5 GUI panel showing jog and ident buttons
2) Click the ‘Ident’ button. The display on the top panel of the associated controller
flashes. This is useful in multi-channel systems for identifying which channel is
associated with which GUI.
3) Click the channel number to enable the channel. The number is highlighted in
green as shown above. The LED adjacent to the channel number is lit when the
channel is in motion.
4) Click the jog buttons on the GUI panel to move the actuator associated with the
selected channel. The step count display for the associated GUI should increment
and decrement accordingly.
Follow the tutorial described in Chapter 5 for further guidance on basic operation.
3.7 Automatic Temperature Control During High Frequency Operation
Caution
During high frequency operation over a prolonged period of time, the unit can
become quite hot. During this operation, the unit temperature is continually
monitored by an internal sensor circuit. If the heat generated becomes
excessive, the internal circuit may trip and reduce the drive frequency until the
unit has cooled down. In extreme operating conditions the unit may be disabled
and an error message generated on the top panel.

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Chapter 4 Standalone Operation
Chapter 4 Standalone Operation
4.1 Introduction
The K-Cube Piezo Inertia Motor Driver has been designed specifically to operate with
the latest range of Thorlabs piezo inertia motor driven products. The unit offers a fully
featured control capability including max drive voltage settings, step rate and step
acceleration, allowing support for many different actuator configurations. These
parameters can be set via the Kinesis software - see Chapter 6. Furthermore, many
of these parameters are automatically set to allow “out of the box” operation with no
further “tuning” required.
The following brief overview explains how the front panel controls can be used to
perform a typical series of motor moves. It is assumed that the unit has already been
installed and configured for the particular actuator or stage connected - see Chapter
3 for more details.
Warning: Risk of Electrical Shock
Persons using the KIM001 controller must understand the hazards associated
with using high voltages and the steps necessary to avoid risk of electrical
shock. If the KIM001 is used in a manner not specified by Thorlabs, the
protective features provided by the product may be impaired.

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4.2 Control Panel Buttons and Indicators
Fig. 4.1 Panel Controls and Indicators
These controls allow all operations to be initiated.
Wheel - Used to move the piezo motor - see Section 4.4. Also used to move
through the various set up menu options - see Section 4.5.
Digital Display - Under normal operation, the display shows the step count of the
motor, together with the motor channel currently selected. It also shows the menu
options and settings, accessed via the menu button - see Section 4.5. When the
Ident button on the associated GUI panel is clicked, the display text ‘KIM001’ at
the top of the display will flash for a short period.
MENU - used to access the settings menu - see Section 4.5.
4.3 Zeroing
To establish a datum from which subsequent moves can be measured, move the
motor to the required zero position. The position count can then be zeroed in the Zero
Axis option in the Settings Menu - see Section 4.5.3.
The counter can also be zeroed by clicking the ZERO button on the GUI panel (see
Section 5.3.), or by calling the appropriate message in the Kinesis software).
4.4 Wheel Operation
The wheel on top of the unit provides multi-function operation. In normal use the
wheel is used to move the motor, at a velocity that is proportional to its deflection from
the central position. In this central position the piezo inertia motor is stationary. As the
wheel is moved away from the center, the motor begins to move. Directional control
of the motor is achieved by moving the wheel up and down.
Piezo Motor Controller
MENU

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Chapter 4 Standalone Operation
The wheel can be used to control the motor in a number of ways as follows, depending
on the mode selected in the wheel Mode menu option - see Section 4.5.6.
4.4.1 Jog to Count
In ‘Jog to Count’ mode, the wheel can be programmed with two position values, one
for each direction of deflection, such that the controller will move the motor to that
position when the wheel is moved. In this mode, move the wheel up to go to position
1, and down to go to position 2.
These ‘taught’ positions can be set through the Teach Position option in the settings
menu - see Section 4.5.7. or through the software GUI - see Section 6.3.1.
This mode of operation is enabled in the Settings Menu by setting the ‘wheel Mode’
option to ‘Jog to Count’ - see Section 4.5.6. It can also be selected in the wheel Mode
parameter on the Device tab in the GUI Settings panel - see Section 6.3.1. for further
information.
4.4.2 Jogging
The top panel wheel can also be configured to ‘jog’ the motor. This mode of operation
is enabled by setting the wheel Mode menu option to ‘Jogging in Steps - see Section
4.5.6. or by setting the ‘wheel Mode’ parameter to ‘Jog’ on the ‘Device’ settings tab -
see Section 6.3.1.
Once set to this mode, the jogging parameters (step size, step rate etc) are taken from
the ‘Jog Settings’ parameters on the individual Channel settings tabs - see Section 6.3.3.
or from the Jog Step Size option in the panel settings menu.
4.4.3 Velocity Control
When Velocity Control mode is selected, the speed of the motor increases as a function
of deflection. The maximum speed is entered in the ‘Max Step Rate’ parameter in the
‘Device Control Options’ parameters on the Device settings tabs - see Section 6.3.3.
Caution
If the actuator is driven into its physical end stops, the motor may stick and may
not respond to subsequent motion demands. If this is the case, turn the
adjustment knob of the actuator manually to move the device away from its end
stop, then the motor should move normally.

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KIM001 1-Channel K-Cube Inertia Piezo Motor Controller
4.5 Settings Menu
4.5.1 Overview
After the power up sequence is complete, the normal
operating screen is displayed.
Press the MENU button to enter the settings mode.
Use the wheel to scroll through the menu options
Press the MENU button to enter a particular option
Go to position count - see Section 4.5.2.
Zero the selected axis - see Section 4.5.3.
Set the move velocity- see Section 4.5.4.
Set the jog step size- see Section 4.5.5.
Set the wheel mode - see Section 4.5.6.
Teach the go to positions - see Section 4.5.7.
Enable or disable the drive axis - see Section 4.5.8.
Set the display brightness - see Section 4.5.9.
MENU
Wheel
KIM001
Ch1 0
Menu options
Use Wheel
Menu options
1 Goto Pos Count
Menu options
2 Zero Axis
Menu options
3 Set Velocity
Menu options
4 Jog Step Size
Menu options
5 Wheel Mode
Menu options
6 Teach Pos’n
Menu options
7 Enable Output
Menu options
8 Set Brightness