THORLABS KST101 User manual

KST101
K-Cube Stepper Motor Controller
APT User Guide
Original Instructions

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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 K-Cube Controller Hub ........................................................................... 6
2.3 APT PC Software Overview ................................................................... 7
2.3.1 Introduction .........................................................................................................7
2.3.2 APTUser Utility ...................................................................................................8
2.3.3 APT Config Utility ...............................................................................................9
2.3.4 APT Server (ActiveX Controls) .........................................................................10
2.3.5 Software Upgrades ...........................................................................................11
Chapter 3 Getting Started ............................................................................12
3.1 Install The Software .............................................................................. 12
3.2 Mechanical Installation ......................................................................... 13
3.3 Electrical Installation ............................................................................. 14
3.4 Connect The Hardware ........................................................................ 16
3.5 Use with Legacy Actuators and Stages ................................................ 17
3.6 Verifying Software Operation ............................................................... 18
Chapter 4 Standalone Operation ................................................................20
4.1 Introduction ........................................................................................... 20
4.2 Control Panel ....................................................................................... 21
4.2.1 Digital Display - Operating Mode ......................................................................21
4.3 Velocity Wheel Operation ..................................................................... 22
4.3.1 Homing .............................................................................................................22
4.3.2 Go to Position ...................................................................................................22
4.3.3 Jogging .............................................................................................................22
4.3.4 Velocity Moves .................................................................................................23
4.4 Settings Menu ...................................................................................... 23
4.4.1 Overview ..........................................................................................................23
4.4.2 Menu Option - Go to position ...........................................................................24
4.4.3 Menu Option - Start homing .............................................................................25
4.4.4 Menu Option - Velocity .....................................................................................25
4.4.5 Menu Option - Joystick Mode ...........................................................................26
4.4.6 Menu Option - Jog Step Size ...........................................................................27
4.4.7 Menu Option - Teach Position ..........................................................................28
4.4.8 Menu Option - Brightness .................................................................................29
4.4.9 menu Option - Disp.Level..................................................................................29
4.4.10 Menu Option - Disable ......................................................................................30
4.4.11 Menu Option - Select stage ..............................................................................31
Continued...

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K-Cube Stepper Motor Controller
Chapter 5 PC Operation - Tutorial ............................................................. 32
5.1 Introduction ...........................................................................................32
5.2 Using the APT User Utility ....................................................................32
5.3 Homing Motors .....................................................................................34
5.4 Moving to an Absolute Position ............................................................35
5.5 Changing Motor Parameters ................................................................36
5.6 Jogging .................................................................................................37
5.7 Stopping the Stage ...............................................................................38
5.8 Graphical Control Of Motor Positions (Point and Move) .......................39
5.9 Setting Move Sequences ......................................................................41
5.10 Creating a Simulated Configuration Using APT Config ........................44
5.11 Stage/Axis Tab .....................................................................................47
Chapter 6 Software Reference .................................................................... 48
6.1 Introduction ...........................................................................................48
6.2 GUI Panel .............................................................................................48
6.3 Settings Panel ......................................................................................50
6.3.1 Moves/Jogs Tab ............................................................................................... 50
6.3.2 Stage/Axis Tab ................................................................................................. 55
6.3.3 Panel/Triggering Tab ....................................................................................... 58
6.3.4 Rotation StagesTab ......................................................................................... 63
Appendices
Appendix A Rear Panel Connector Pinout Details .................................... 64
Appendix B Preventive Maintenance ......................................................... 65
Appendix C Specifications .......................................................................... 66
Appendix D Motor Control Method Summary ........................................... 68
Appendix E Stepper Motor Operation - Background ................................ 72
Appendix F Regulatory ................................................................................ 78
Appendix G Thorlabs Worldwide Contacts ............................................... 81

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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.

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Chapter 2 Overview and Setup
2.1 Introduction
The K-Cube Stepper Motor Controller (KST101) is a compact single channel
controller for easy manual and automated control of small 2-phase bi-polar stepper
motors. This driver has been designed to operate with a variety of lower powered
motors (up to 15V at 12W operation) equipped with or without encoder feedback.
Although targeted at lower power operations this product is fully featured with a highly
flexible and powerful DSP controller that provides a unique high resolution
microstepping capability for such a compact unit. The KST101 is optimised for 'out of
the box' operation with the Thorlabs range of ZST stepper motor actuators, however
its highly flexible parameter set also supports operation a wide range of stepper
motors and associated stages/actuators.
For convenience 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 motorised device - convenient when manually
adjusting motor positions using the top panel controls (jog buttons and velocity
control slider). Table top operation also allows minimal drive cable lengths for easier
cable management.
Fig. 2.1 K-Cube Stepper Motor Driver
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 very user friendly apt™ software (supplied) allows the user to

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Chapter 2
very quickly get up and running with complex move sequences in a short space of
time – for example all relevant operating parameters are set automatically for
Thorlabs stage/actuator products. Advanced custom motion control applications and
sequences are also possible using the extensive ActiveX® programming environment
also supplied. This programming library is compatible with many development tools
such as LabView, Visual Basic, Visual C++, C++ Builder, LabWindows/CVI, Matlab
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.
2.2 K-Cube Controller Hub
For power, a single way wall plug supply (KPS101) is available for powering a single
K-Cube Driver.
As a further level of convenience when using the new 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 Stepper Motor Controller
2.3 APT PC Software Overview
2.3.1 Introduction
As a member of the APT range of controllers, the Stepper Driver K-Cube shares 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, including the Stepper Driver
K-Cube, 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 2.3.2.) and APTConfig (see Section 2.3.3.)
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 2.3.4.
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 2.3.4. for further details.

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Chapter 2
2.3.2 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 customise and automate usage of the
Stepper Driver K-Cube (e.g. to implement a positioning algorithm), this application
illustrates how the rich functionality provided by the APT ActiveX server is exposed
by a client application.
Use of the APT User utility is covered in the PC tutorial (Chapter 5) and in the
APTUser online help file, accessed via the F1 key when using the APTUser utility.

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K-Cube Stepper Motor Controller
2.3.3 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 5) and in the
APTConfig online help file, accessed via the F1 key when using the APTConfig utility.

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Chapter 2
2.3.4 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 Stepper
Driver K-Cube. 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 the KST101 stepper driver unit.
This Control provides a complete user graphical instrument panel to allow the motor
unit to be manually operated, as well as a complete set of software functions (often
called methods) to allow all parameters to be set and motor operations to be
automated by a client application. The instrument panel reflects the current operating
state of the 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
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.

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K-Cube Stepper Motor Controller
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 for a complete programmers guide
and reference material on using the APT ActiveX Controls collection. This is available
either by pressing the F1 key when running the APT server, or via the Start menu,
Start\Programs\Thorlabs\APT\APT Help.
2.3.5 Software Upgrades
Thorlabs operate a policy of continuous product development and may issue software
upgrades as necessary.

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Chapter 3 Getting Started
3.1 Install The Software
DO NOT CONNECT THE CONTROLLER TO YOUR PC YET
1) Download the software from www.thorlabs.com.
2) Locate the downloaded setup.exe file and move to a suitable file location.
3) Double-click the setup.exe file and follow the on-screen instructions.
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, contactThorlabson
[phone] and ask for Technical Support.

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K-Cube Stepper 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 Stepper Driver is shipped with a baseplate, for use when fitting the unit
to a breadboard, optical table or similar surface - see Section 3.2.3.
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.
Caution
This unit is designed for operation within normal operational limits. It is not
recommended to use this equipment outside the following limits.
Caution
When siting the unit, it should be positioned so as not to impede the
operation of the control panel.
Ensure that proper airflow is maintained to the unit.

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Chapter 3
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
The rear panel of the unit is fitted with a 15 pin D-type connector as shown above,
which is compatible with all new Thorlabs DC servo motor actuators (refer to
Appendix A for details of pin outs).
Caution
DO NOT connect a motor actuator while the K-Cube is powered up.
Only use motor drive cables supplied by Thorlabs, other cables may have
incompatible wiring.

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K-Cube Stepper Motor Controller
3.3.2 Front Panel
Fig. 3.3 Front Panel Power Supply Connections
POWER - A Standard 3.5 mm front panel jack connector for connecting the unit to a
regulated DC power supply of 15 V, 1A.
Thorlabs offers a compact, multi-way power supply unit (TPS008), allowing up to
eight Driver K-Cubes to be powered from a single mains outlet. A single way wall plug
supply (KPS101) for powering a single Driver K-Cube is also available.
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.
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 6.3.3.
Shock Warning
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.
Note
The USB cable length should be no more than 3 metres unless a powered
USB hub is being used.
_
+
TRIG 1 TRIG 2
USB
POWER
DC 15V 1A
+5V TTL +5V TTL
ON
KST101

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Chapter 3
3.4 Connect The Hardware
1) Perform the mechanical installation as detailed in Section 3.2.
2) Install the APT 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 stepper motor actuator to the Controller unit - see Section 3.3.1..
5) Connect the Controller unit to the power supply - see Section 3.3.
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 following screens are displayed.
Fig. 3.4 KST101 start up screens
8) WindowsTM should detect the new hardware. Wait while WindowsTM installs the
drivers for the new hardware.
Caution
During items (3) to (6) the instructions should be followed in the order stated.
Problems may occur if the process is not performed in the correct sequence.
Caution
During item (5) 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.
Note
If any problems are encountered during the connection and power up
process, power cycle the unit, which should clear the error.
Thorlabs KST101
SwRev 10001
Stage Connected:
ZFS25
At +0.0000 mm
Stopped V

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K-Cube Stepper Motor Controller
3.5 Use with Legacy Actuators and Stages
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.).
Later version actuators and stages have an identification eprom fitted such that the
system will recognise the actuator type and install suitable defaults. Older version
devices must be associated manually using the top panel menu - see Section 4.4.11.
Once this association has been made, the APT server applies automatically, suitable
default parameter values on boot up of the software.
Note
If the actuator/stage has been recognised automatically via the eprom,
the start up screens will display ‘Stage connected xxxx’ as shown in Fig.
3.4. If the stage is not fitted with an eprom, the display will show the last
stage type persisted, e.g. Stage persisted: ZST13B

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Chapter 3
3.6 Verifying Software Operation
3.6.1 Initial Setup
The APT Software should be installed (Section 3.1.) and the stage association
performed (Section 3.5.) before software operation can be verified.
1) Ensure power is applied to the unit, then switch the unit ON using the switch on
the front panel.
2) If required, make the stage/actuator association as detailed in Section 4.4.11.
3) Run the APTUser utility and check that the Graphical User Interface (GUI) panel
appears and is active.
Fig. 3.5 Gui panel showing jog and ident buttons
4) Check that the actuator type associated is displayed in the GUI panel.
5) Click the ‘Ident’ button. The top panel display of the Stepper Driver K-Cube
flashes. This is useful in multi-channel systems for identifying which driver unit is
associated with which GUI.
6) Click the jog buttons on the GUI panel and check that the motor or axis connected
to the Stepper Driver K-Cube moves. The position display for the associated GUI
should increment and decrement accordingly.

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K-Cube Stepper Motor Controller
Follow the tutorial steps described in Chapter 4 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 5.8. or the
APTConfig helpfile for detailed instructions.

20
Chapter 4 Standalone Operation
4.1 Introduction
The Stepper Driver K-Cube has been designed specifically to operate with lower
power stepper motors such as the Thorlabs ZST series, however it can also drive a
variety of other stepper motors (15V operation) equipped with or without encoder
feedback.
The unit offers a fully featured motion control capability including velocity profile
settings, limit switch handling, homing sequences and, for more advanced operation,
adjustment of settings such as lead screw pitch and gearbox ratio, allowing support
for many different actuator configurations. These parameters can be set via the APT
Server software - see Chapter 5. Furthermore, when used with the extensive range
of Thorlabs ZST motorised opto-mechanical products, 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.
In conjunction with this chapter, it also may be useful to read the background on
stepper motor operation contained in Appendix E .
4.2 Control Panel
Fig. 4.1 Front 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.
Stepper Motor Controller
MENU