THORLABS ORIC PDXC2 User manual

PDXC2 ORIC®
Compact Piezo Stage
Controller
User Guide

PDXC2 ORIC® Piezo Stage Controller
Table of Contents
Chapter 1 Safety........................................................................................................................... 1
Chapter 2 Overview...................................................................................................................... 2
2.3.1 Front Panel.......................................................................................................................................................... 4
2.3.2 Back Panel ........................................................................................................................................................... 7
Chapter 3 Software....................................................................................................................... 8
3.1.1 Introduction ........................................................................................................................................................ 8
3.1.2 Software and Firmware Upgrades....................................................................................................................... 9
3.2.1 Connect by USB Cable ....................................................................................................................................... 10
3.2.2 Connect by Ethernet Cable................................................................................................................................ 10
3.3.1 Introduction for GUI Panel ................................................................................................................................ 11
3.3.2 Introduction for Settings Panel ......................................................................................................................... 12
3.4.1 Home/Zero........................................................................................................................................................ 14
3.4.2 Changing Motor Parameters and Moving to an Absolute Position................................................................... 14
3.4.3 Stopping the Stage ............................................................................................................................................ 15
3.4.4 Jogging............................................................................................................................................................... 15
3.4.5 Performance Optimize ...................................................................................................................................... 16
3.4.6 Setting Move Sequences................................................................................................................................... 16
3.4.7 Changing and Saving Parameter Settings.......................................................................................................... 16
3.4.8 External Trigging................................................................................................................................................ 16
3.4.9 Using A Joystick Console ................................................................................................................................... 17
3.5.1 Physical Connections......................................................................................................................................... 18
3.5.2 Operation of Scan.............................................................................................................................................. 18
Chapter 4 Maintenance .............................................................................................................. 20
Chapter 5 Troubleshooting ......................................................................................................... 22
Chapter 6 Specifications ............................................................................................................. 23
Chapter 7 Mechanical Drawing................................................................................................... 24
Chapter 8 Regulatory.................................................................................................................. 25

PDXC2 ORIC® Piezo Stage Controller Chapter 2: Overview
Rev A, July 25, 2023 page 3
Chapter 9 Thorlabs Worldwide Contacts..................................................................................... 28

PDXC2 ORIC® Piezo Stage Controller Chapter 1: Safety
Rev A, July 25, 2023 Page 1
Chapter 1 Safety
All statements regarding safety of operation and technical data in this instruction manual will only apply when the
unit is operated correctly in accordance with this user manual.
Warning: Risk of Electric Shock
High voltage inside. To avoid electrical shock, before powering up, make sure that the ground
pin of the power cord is correctly connected to the ground connector in the power socket.
Improper grounding can cause electric shock resulting in severe injury or even death. Do not
operate without the cover installed.
Warning: Risk of Electric Shock
The maximum current output for the piezo stage is 10 A, and the D-Sub connector does not
support hot plugging. Plugging or unplugging the connector while the unit is powered on can
cause damage to the stage and/or controller.
Caution: Do Not Open Housing
The PDXC2 has no user-serviceable parts. Service should only be performed by trained service
personnel.
For all applications, use an IEC320 compatible power cord fitted with a plug appropriate for your particular power
socket. Make sure that the line voltage rating marked on the power adapter agrees with your local power supply.
Warning: Risk of Explosion
This unit must not be operated in explosive environments.
Warning: Components not Water Resistant
This unit should not be used in wet/damp conditions. Additionally, do not obstruct the air
ventilation slots in the housing!

PDXC2 ORIC® Piezo Stage Controller Chapter 2: Overview
Page 2 CTN015391-D02
Chapter 2 Overview
Introduction
The PDXC2 Piezo Stage Controller is designed to control the following ORIC Piezo Inertia Stages:
•PD2(/M) 5 mm Linear Stage
•PDX2(/M) 5 mm Linear Stage with Optical Encoder
•PDX1(/M) 20 mm Linear Stage with Optical Encoder
•PD1(/M)* 20 mm Linear Stage
•PD1V(/M)* 20 mm Linear Stage, Vacuum Compatible
•PD1D(/M)* 20 mm XY Stage
•PD3(/M) 50 mm Linear Stage
•PDR1C(/M)* Rotary Stage
•PDXR1(/M) Rotary Stage with Optical Encoder
It offers one channel of both open- and closed-loop stage control (15-Pin D-SUB output). It also supports remote
PC control via the USB, RS-232 and ethernet ports on the back and front panel, and a USB Joystick device (MCMK3
joystick) can be connected to the front panel for intuitive control. The controller also supports external I/O control,
including analog in and out, and trigger in and out signals. There are several external trigger modes inside to
support either single motion or conjunction motions, such as a raster scan.
*Note: The PD1(/M), PD1V(/M) PDR1C(/M), and PD1D(/M) have SMC connectors that require the PDXC2AD
Female D-Sub to Male SMC Adapter Cable (sold separately) for connection to the PDXC2 controller.
Figure 1 Appearance of PDXC2 Controller
Features
•Low Power Consumption
•Compact Design
•Configurable High Speed Communication Interface: USB2.0, USB HID Joystick, 100M/1000M Adaptive
Ethernet, Digital I/O, Analog I/O
•Wide Frequency Range of Pulse Rate
•High Positioning Resolution up to 10 nm
•Individual Amplitude Control for Forward and Reverse to Adjust Speed of Stages

PDXC2 ORIC® Piezo Stage Controller Chapter 2: Overview
Rev A, July 25, 2023 page 3
Operation Principle
The PDXC2 controller mainly consists of 2 circuits: the control circuit and analog switch circuit. The control circuit
generates charge or discharge pulses to the analog switch circuit, then the analog switch circuit will generate
sawtooth waveforms (Figure 2). The waveforms are then exported to the 15-pin D-SUB connector on the front
panel to drive the different stages.
The stage uses a piezo inertial drive motor, which consists of three main parts: a flexure-coupled piezo actuator,
a friction element, and a slider (as seen in Figure 3). During the "stick" part of a cycle, the piezo slowly expands
under the ramp voltage, pushing the friction element and the slider forward in unison. During the "slip" part, the
drive voltage drops rapidly and the piezo element returns to its starting length, with the friction element "slipping"
backward. The slider does not move due to its inertia and the low coefficient of kinetic friction between the friction
element and the bottom surface of the slider. Figure 2 shows the piezo drive voltage during one "stick-slip" cycle.
Repeating this cycle produces continuous forward travel of the slider. To travel in the reverse direction, the
opposite drive voltage pattern is required, resulting in rapid piezo expansion and slower piezo contraction, or
"slip-stick". During operation, the stage makes a high-pitched noise and may generate some heat. This is normal
behavior in the performance of the device and does not indicate a faulty condition.
Due to several factors that include the application conditions, piezo hysteresis, component variance, and the axial
load, the achieved step size will vary and is not repeatable. To help overcome this variance and accurately control
the stage movement, an external feedback system is added for closed-loop control of the feedback slider position
to controller.
Figure 2 Sawtooth Waveform Figure 3 Stick-Slip Movement Illustration

PDXC2 ORIC® Piezo Stage Controller Chapter 2: Overview
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DB15 port for connecting
to stages with encoders
like PDX1(/M) or to stages
with a SMC input such as
PD1(/M) using the
PDXC2AD adapter cable.
Stage Connections and Accessories
Figure 4 shows how the stages are connected to the PDXC2 controller. The DB15 connector connects with the
ORIC® Piezoelectric Inertia Drive Stages with Optical Encoders (i.e. PDX1(/M)) or connects with stages which have
a SMC connector (i.e. PD1) through the PDXC2AD DB15 to SMC adapter cable.
Figure 4 Connections Between Stages and PDXC2
The section below lists the connection components and accessories packed along with this controller. The PDXC2
controller is equipped with and powered by the DS12 12 V AC/DC adapter, which is compatible with 100 - 240 VAC,
50 - 60 Hz power sources.
Shipped Connectors
•Ethernet Cable: 2 m, Male Cat5e Connector to Male Cat5e Connector
•I/O Cable: 0.5 m, Female 9-Pin D-Sub Connector to 4 Male BNC Connectors
•USB Cable: 2 m, Male Type A Connector to Male Type B Connector
•Power Supply Cable: 1.5 m, Male NEMA 5-15-P Connector to Female IEC 320 C13/C14 Connector
•DS12 12 VDC Power Adapter: 1.23 m, M8, 4-pin female connector, input range 100 - 240 VAC, 12 VDC
output
2.3.1 Front Panel
Figure 5 PDXC2 Front Panel
DB15 port for connecting
to stage with encoder like
PDX1(/M) or connecting to
stage without encoder like
PD1 through PDXC2AD.
DB15 port for connecting
to stage with encoder like
PDX1(/M) or connecting to
stage without encoder like
PD1 through PDXC2AD.
F1
F2
F3
F4
1

PDXC2 ORIC® Piezo Stage Controller Chapter 2: Overview
Rev A, July 25, 2023 page 5
Connectors
F1 USB (Type A): Connects the HID MCMK3 Joystick to control stage movement by scrolling the wheel back
and forth. When the device is set in open-loop operation, it will move a set number of pulses with each
scroll, while in closed-loop operation it will move at a set step distance with each scroll.
F2 15-Pin D-SUB (DB15): Connect to stages with both open- and closed-loop operation. Please refer to
Figure 6 and Table 1 for pin assignment and signal definition.
F3 RS-232: Connects to a computer for command-line control. Please refer to Figure 7 and Table 2 for pin
assignment and signal definition.
F4 I/O Port: Refer to Figure 8 and Table 3 for pin assignment and signal definition.
Figure 6 15-Pin D-SUB Port Pin Assignment
Pin
Voltage Range
Name
Description
1
-7.5 to +12.5 V
Encoder_B_N
Encoder B-
2
-7.5 to +12.5 V
Encoder_B_P
Encoder B+
3
0 V
GND
Digital Ground
4
-7.5 to +12.5 V
Encoder_A_N
Encoder A-
5
-7.5 to +12.5 V
Encoder_A_P
Encoder A+
6,7
-
-
Reserved
8
+5 V
+5 V
5 V Power
9
-7.5 to +12.5 V
Encoder_Z_N
Encoder Z-
10
-7.5 to +12.5 V
Encoder_Z_P
Encoder Z+
11
-10 to +50 V
SigOut2
Piezo Output 2
12
0 V
PGND
Power Ground
13
-10 to +50 V
SigOut1
Piezo Output 1
14
5 V TTL
EEPROM
1-Wire EEPROM
15
-
-
Reserved
Table 1 15-Pin DUB Signal Definition

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Figure 7 RS-232 Port Pin Assignment
Pin
Voltage Range
Name
Description
1
-
N.C.
Not Connected
2
-15 to + 15 V
TXD
Transmits Data
3
-15 to + 15 V
RXD
Receives Data
4
-
N.C.
Not Connected
5
0 V
GND
Ground Pin
6,7,8,9
-
N.C.
Not Connected
Table 2 RS-232 Signal Definition
Figure 8 I/O Port Pin Assignment
Pin
Voltage Range
Name
Description
1
-10 to +10 V
Analog In
Input as New Target
Position
2
0 V
GND
Ground Pin
3
0 to 5 V
Trigger In
Trigger to Update
New Target Position
4
0 V
GND
Ground Pin
5
-
-
Reserved
6
-10 to +10 V
Analog Out
Output to Reflect the
Actual Position
7
0 to 5 V
Trigger Out
Trigger When Actual
Position is on Target
8
0 V
GND
Ground Pin
9
-
-
Reserved
Table 3 I/O Signal Definition

PDXC2 ORIC® Piezo Stage Controller Chapter 2: Overview
Rev A, July 25, 2023 page 7
2.3.2 Back Panel
Figure 9 PDXC2 back Panel
Connectors
B1 Ethernet (Standard Network Interface): Connect PDXC2 to router/switch through a network cable.
B2 USB (Type B Female): Connects to a computer for software or command-line control.
B3 Power Inlet: Connects to a DS12 power adapter.
B2
1
B1
B3

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Chapter 3 Software
Software Overview
3.1.1 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 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 PDXC2 Compact Piezo Inertial Stage Controller.
Figure 10 Typical User Screen
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 customize
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 associated .Net Control and these are described fully in
the handbooks associated with the controllers.

PDXC2 ORIC® Piezo Stage Controller Chapter 3: Software
Rev A, July 25, 2023 page 9
Figure 11 System Architecture Diagram
Refer to the main Kinesis Software online help file, for a complete programmer’s 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.
3.1.2 Software and Firmware Upgrades
Thorlabs operate a policy of continuous product development and may issue software upgrades as necessary.
The latest Kinesis software can be downloaded from the ‘Software Downloads/Motion Controllers’ section of
www.thorlabs.com. A utility is provided with the Software to assist in firmware upgrades.
The firmware upgrades tool is located at ‘Program Files/Thorlabs/Kinesis/Firmware Update Utility/’. Connect the
PDXC2 to PC by USB-Cable, then open the firmware update tool ‘FirmwareUpdateUtility.exe” and start upgrade
process as below.
1. Click ‘Discover Hardware’ to find the device which is connected to PC.
2. Select the device has been found.
3. Click ‘Flash Firmware’ to start upgrade process. The upgrade process will take about 15 minutes.
4. After firmware upgrades tool displays "Target Device Has Been Reprogrammed", please wait for 20
seconds to ensure the firmware has been updated successfully, then restart the device.
Figure 12 Firmware Upgrade Tool
1
23
4

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Connect PDXC2 to Kinesis Software
3.2.1 Connect by USB Cable
The USB Type-B connector is located at the back panel of the PDXC2 controller. After the PDXC2 has been
connected to PC by USB-Cable, Kinesis software can access the PDXC2 device as in figure 13.
Figure 13 Connect PDXC2 by USB Cable
3.2.2 Connect by Ethernet Cable
The Ethernet connector is located at the back panel of the PDXC2 controller. The PDXC2 will obtain the IP address
through the DHCP server. The Kinesis software can access the PDXC2 device as shown below in figure 14. Scan for
the PDXC2 device first, and then wait about 10-20 seconds, the PDXC2 will be found and can be connected.
Figure 14 Connect PDXC2 by Ethernet Cable
1
2
3
1
2
3
4
5
6

PDXC2 ORIC® Piezo Stage Controller Chapter 3: Software
Rev A, July 25, 2023 page 11
Introduction for Software Panel
This chapter gives an Introduction for the parameters and settings accessed from the software running on a PC.
3.3.1 Introduction for GUI Panel
The following screen shot shows the graphical user interface (GUI) displayed when accessing the controller using
the Kinesis software.
Figure 15 PDXC2 Software GUI
Device Information –Shows the serial number and firmware version of PDXC2.
Position window - shows the position (in steps, millimeters, or degrees) of the motor. The motor must be
'Homed' before the display will show a meaningful value, (i.e. the displayed position is relative to a physical
datum, the limit switch).
Set Move - Opens the settings window, so that position data can be entered. Moves are performed using the
velocity parameters which can be changed in the setting panel.
Base Information Display –Shows the type, serial number, and the jog step parameters of the stage.
Operation Mode –Select the operation mode by clicking on the corresponding item.

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Stop Control - halts the movement of the motor.
Home - sends the motor to its 'Home' position or set the position steps count to zero.
Performance Optimize –Control device to start a performance optimize process.
Abnormal Move Detection –Enable/Disable the function of abnormal move detection.
Jog Controls - used to increment or decrement the motor position.
Status indicator LED - Indicates the status of device. Homed LED indicates whether a home process has
been taken. Error LED indicates whether an error has been generated. The error information is given by moving
the mouse pointer on Error LED. Pulse Params indicates whether a performance optimize operation has been
taken.
Settings - Displays the 'Settings' panel, which allows the operating parameters to be entered for the motor
drive.
Identify - When this button is pressed, the ACTIVE LED on the front panel of the associated hardware unit will
flash for a short period.
3.3.2 Introduction for Settings Panel
When the 'Settings' button on the GUI panel is clicked, the 'Settings' window is displayed. This panel allows
motor operation parameters such as move/jog speed, and PID to be modified. Note that all these parameters

PDXC2 ORIC® Piezo Stage Controller Chapter 3: Software
Rev A, July 25, 2023 page 13
have programmable equivalents (refer to the Kinesis Server helpfile for further details).
Select Persist Setting to the Device - Many of the parameters that can be set for the PDXC2 controller
can be stored (persisted) within the unit itself, such that when the unit is next powered up these settings are
applied automatically. This is particularly important when the driver is being used manually in the absence of a
PC and USB link. The Velocity Profile and Jogging parameters described previously are good examples of settings
that can be altered and then persisted in the driver for use in absence of a PC. To save the settings to hardware,
check the ‘Persist Settings to the Device’ checkbox before clicking the ‘OK button.
Closed Loop Parameters –These parameters are only used for closed loop movement. PID parameters can
be used for jog and Set Move, but reference speed and acceleration are only used for Set Move.
Jog parameters - There are three parts for jog parameters:
1. Mode select for jog operation: There are two modes (single step, continuous) for jog operation; can be
used for open loop or closed loop mode.
2. Open loop jog move parameters: The step size (in steps), step rate, and acceleration can be set; only used
for open loop mode.
3. Closed loop jog move parameters: The step size (in mm), speed, and acceleration can be set; only used
for closed loop mode.

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Amplifier Output –Set the maximum amplitude of the waveform for forward and reverse.
Parameters for I/O Control –Select the operation mode for I/O control and set corresponding parameters
for each mode.
Operation Tutorial
3.4.1 Home/Zero
When operation is in closed loop mode, clicking the Home/Zero button will drive the stage to the zero point of
the encoder and get the zero point. When operation is in open loop mode, clicking the Home/Zero button will not
drive the stage, but the position values will be clear to zero.
Figure 16 Home/Zero Operation
3.4.2 Changing Motor Parameters and Moving to an Absolute Position
Absolute moves are measured in real world units (e.g. millimeters), relative to the Home position. The Speed/Step
Rate settings relate to the maximum value at which a move is performed, and the acceleration at which the motor
speeds up from zero to maximum value. If operation mode is closed loop mode, Set Move will use Closed Loop
Parameters. If operation mode is Open loop mode, Set Move will use Jog parameters. Please refer to section
3.3.2.
Set move operation steps:
1. On the GUI panel, click the Move arrow to show the Settings panel.
Home Operation for Closed Loop Mode
Zero Operation for Open Loop Mode

PDXC2 ORIC® Piezo Stage Controller Chapter 3: Software
Rev A, July 25, 2023 page 15
Figure 17 Move Setting Panel
2. Enter the required absolute position and/or parameter values.
3. To move to the position entered click the arrow.
3.4.3 Stopping the Stage
During operation, the stage can be stopped at any time by clicking the ‘Stop’ button on the GUI panel. The
PDXC2 remains powered after clicking the ‘Stop’ button.
3.4.4 Jogging
During PC operation, the motor actuators are jogged using the GUI panel arrow keys. There are two jogging
modes available for closed loop mode and open loop mode, ‘Single Step’ and ‘Continuous’. In ‘Single Step’
mode, the motor moves by the step size specified in the Step Size parameter. If the jog key is held down, single
step jogging is repeated until the button is released. In ‘Continuous’ mode, the motor actuator will accelerate
and move at the Step Rate/Speed parameter while the button is held down.
Figure 18 Jog Setting Panel
Jog move operation steps:
1. Click Settings Button to set Jog Parameters as required, then click OK button to apply parameters.
Jog Controls arrow.2. Start move by clicking

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3.4.5 Performance Optimize
The PDXC2 controller has a performance optimization function. If the user changes the load on the stage, the
original parameters may not be optimal, which may result in poor stage operation. The performance optimization
function can then be used to try to get a better set of parameters to improve operation.
Performance optimization steps:
1. Click button to start performance optimization.
2. Click OK in the pop-up box.
3. Wait about 1-2 minutes, the performance optimization will finish and LED light up.
3.4.6 Setting Move Sequences
The Kinesis software allows move sequences to be programmed, allowing several positions to be visited without
user intervention. For more details and instructions on setting move sequences, please see the Kinesis Helpfile.
3.4.7 Changing and Saving Parameter Settings
During operation, certain settings (e.g. max speed, jog step size, etc.) can be changed as required. When the
Kinesis Server is running and the stage association made, suitable default settings are loaded, and these values
have been chosen to provide safe performance in the majority of applications. However, for applications where
these settings need to be changed, a new set of ‘Device Start Up settings', must be created which can then be
applied and/or uploaded on subsequent start up. See the Kinesis Helpfile for more details.
3.4.8 External Trigging
In the Setting Panel of the GUI, the user can toggle between manual and trigger mode. When switched to trigger
mode, the I/O port on the front panel is enabled to allow users to remotely control the PDXC2. For the electrical
characteristics and pin distribution of the I/O port, please refer to Table 3.
An I/O cable is also provided to breakout the pins of the I/O port into BNC connectors.
Open loop mode:
PDXC2 only supports analog rising and falling edge modes while operating in open loop mode. The “Analog In” pin
works with the “Trigger In” pin on the I/0 port to define the movement amplitude and type of trigger signal (rising
or falling edge) to initiate motion. When trigger mode is enabled, the output amplitude for driving the stage will
be adjusted based on the input voltage to the “Analog In” pin. For example, a +10 V input voltage gives 100%
forward output amplitude, and a -10 V input voltage gives 100% backward output amplitude. Please note that,
the output amplitude will be decreased when the absolute value of Analog In is decreased; however, the
relationship between the output amplitude and the Analog In is not proportional, and different stages have
different characteristics.
Closed loop mode:
The PDXC2 supports all external trigging modes for closed loop mode, including Analog, Fixed Step, and Fixed
Positions.
Analog In
In this sub-mode, the user can make use of the “Analog In” pin of I/O port to set the Target Position,
use the “Trigger In” pin to initiate a movement towards the target position. The type of trigger edge
to start a movement can also be defined here.