THORLABS TST001 User manual

TST001
T-Cube Stepper Motor Controller
User Guide
Original Instructions

2 HA0141T Rev 7 Oct 2014
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 T-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
3.2.1 Environmental Conditions ................................................................................13
3.2.2 Mounting Options .............................................................................................13
3.2.3 Removing the Baseplate ..................................................................................14
3.3 Electrical Installation ............................................................................. 15
3.3.1 Connecting a Motor ..........................................................................................15
3.3.2 Using The TCH002 Controller Hub ..................................................................15
3.3.3 Connecting To A Standalone Power Supply ...................................................16
3.4 Connect The Hardware ........................................................................ 16
3.5 Select the Stage Type (using APTConfig) ............................................ 17
3.6 Verifying Software Operation ............................................................... 19
3.6.1 Initial Setup .......................................................................................................19
Chapter 4 Standalone Operation ................................................................ 21
4.1 Introduction ........................................................................................... 21
4.2 Front Panel Controls and Indicators .................................................... 22
4.3 Potentiometer Operation ...................................................................... 22
4.4 Button Operation .................................................................................. 23
4.4.1 Homing .............................................................................................................23
4.4.2 Go to Position ...................................................................................................23
4.4.3 Teaching ‘Go To Position’ Values ....................................................................23
4.4.4 Jogging .............................................................................................................23
4.4.5 Switching Between Button Modes ....................................................................23
4.5 Loading Parameter Settings.................................................................. 23
4.6 Increasing the Maximum Speed............................................................ 24
Continued...

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T-Cube Stepper Motor Controller
Chapter 5 PC Operation - Tutorial ............................................................. 25
5.1 Introduction ...........................................................................................25
5.2 Using the APT User Utility ....................................................................25
5.3 Homing Motors .....................................................................................27
5.4 Moving to an Absolute Position ............................................................28
5.5 Changing Motor Parameters ................................................................29
5.6 Jogging .................................................................................................30
5.7 Graphical Control Of Motor Positions (Point and Move) .......................31
5.8 Setting Move Sequences ......................................................................33
5.9 Creating/Loading a Settings file.............................................................36
5.10 Creating a Simulated Configuration Using APT Config ........................39
5.11 Stage/Axis Tab .....................................................................................42
Chapter 6 Software Reference .................................................................... 43
6.1 Introduction ...........................................................................................43
6.2 GUI Panel .............................................................................................43
6.3 Settings Panel ......................................................................................45
6.3.1 Moves/Jogs Tab ............................................................................................... 45
6.3.2 Stage/Axis Tab ................................................................................................. 48
6.3.3 Advanced Tab .................................................................................................. 51
Appendices
Appendix A Rear Panel Connector Pinout Details .................................... 54
Appendix B Preventive Maintenance ......................................................... 55
Appendix C Specifications and Associated Parts .................................... 56
Appendix D Motor Control Method Summary ........................................... 58
Appendix E Regulatory ................................................................................ 67
Appendix F Thorlabs Worldwide Contacts ................................................ 71

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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 T-Cube Stepper Motor Controller (TST001) is a new very 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/5W 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 TST001 is optimised for 'out of
the box' operation with the Thorlabs range of ZST mini stepper motor actuators,
however its highly flexible parameter set also supports operation with a wide range of
third party stepper motors and associated stages/actuators.
For convenience the footprint of this unit has been kept to a minimum, measuring only
60mm x 60mm x 47mm (2.4" x 2.4" x 1.8") 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 T-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 T-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.
For power, a compact multi-way power supply unit (TPS008) is available from
Thorlabs allowing up to 8 T-Cube 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 the optical table in close proximity to the driver units, connected via short power
leads. A single way wall plug supply (TPS001) is also available for powering a single
T-Cube Driver.
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 T-Cube Controller Hub
As a further level of convenience when using the new T-Cube Controllers Thorlabs
also offers the new T-Cube Controller Hub (TCH002). This product has been
designed specifically with multiple T-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 T-Cube Controller Hub comprises a slim base-plate type carrier (375mm x 86mm
x 21.5mm, 14.75” x 3.4” x 0.85”) with electrical connections located on the upper
surface to accept up to six T-Cubes.
Internally the Controller Hub contains a fully compliant USB 2.0 hub circuit to provide
communications for all six T-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 up to six T-Cubes, requiring only a single power connection (from a
separate supply unit TPS006 supplied by Thorlabs).

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T-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 T-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
T-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 T-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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T-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 T-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 APT 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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T-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, APTServer.hlp, 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.
Additional software developer support is provided by the APT Support CD supplied
with every APT controller. This CD contains a complete range of tutorial samples and
coding hints and tips, together with handbooks for all the APT controllers.
2.3.5 Software Upgrades
Thorlabs operate a policy of continuous product development and may issue software
upgrades as necessary.
Detailed instructions on installing upgrades are included on the APT Software
CD ROM.

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Chapter 3 Getting Started
3.1 Install The Software
DO NOT CONNECT THE STAGE 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.
If you experience any problems when installing software, contact Thorlabs on
[phone] and ask for Technical Support.

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T-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 T-Cube Stepper Driver is shipped with a baseplate fitted, ready to be bolted to a
breadboard, optical table or similar surface.
If desired, the baseplate can be removed and the unit can be stood on rubber feet -
see Section 3.2.3.
For multiple cube systems, a USB controller hub (TCH002) is available - see Section
2.2. for further details. Full instructions on the fitting and use of the controller hub are
contained in handbook ha0146T T-Cube Controller Hub, shipped with the product.
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.
Ensure that proper airflow is maintained to the rear of the unit.

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Chapter 3
3.2.3 Removing the Baseplate
The baseplate must be removed before the rubber feet (supplied) can be fitted, or the
unit is connected to the USB controller hub..
Fig. 3.1 Removing The Baseplate
1) Using a hexagon key, remove the bolts securing the unit to the baseplate. Retain
the bolts for future use if the baseplate is refitted.
2) Invert the unit.
3) Remove the backing paper from the rubber feet (supplied) taking care not to touch
the exposed adhesive surface.
4) Position the feet as desired, then press and hold for a few seconds until the
adhesive has bonded.
5) The unit may now be used freestanding, sitting on its rubber feet.
Detail A Detail B
Baseplate removed and rubber feet fittedBaseplate attachment screws

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T-Cube Stepper Motor Controller
3.3 Electrical Installation
3.3.1 Connecting a Motor
Fig. 3.2 Rear Panel Connections
The unit is supplied with a 15 pin D-type connector as shown above, which is
compatible with all Thorlabs stepper motor actuators (refer to Appendix A for
details of pin outs).
3.3.2 Using The TCH002 Controller Hub
The TCH002 USB Controller Hub provides power distribution for up to six T-Cubes,
and requires only a single power connection (from a separate supply unit TPS006
supplied by Thorlabs). Further details are contained in handbook ha0146T, T-Cube
Controller Hub, supplied with the unit.
Shock Warning
DO NOT PLUG A POWERED UP T-CUBE INTO THE TCH002 USB
CONTROLLER HUB. Always ensure that all power is disconnected from
the Stepper Driver T-Cube AND the hub before the T-Cube is plugged into
the hub. Failure to observe this precaution will seriously damage the T-
Cube unit and could result in personal injury.
MOTOR

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Chapter 3
3.3.3 Connecting To A Standalone Power Supply
Fig. 3.3 Front Panel Power Supply Connector
1) Using the front panel connector as shown above, connect 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 T-Cubes to be powered from a single mains outlet. A single way wall plug
supply (TPS001) for powering a single Driver T-Cube is also available.
3.4 Connect The Hardware
1) Perform the mechanical installation as detailed in Section 3.2.
2) Install the APT Software - see Section 3.1.
3) Connect the stepper motor actuator to the Controller unit - see Section 3.3.1.
4) Connect the Controller unit to the power supply - see Section 3.3.3.
5) Connect the PSU to the main supply and switch ‘ON’.
6) Connect the Controller unit to your PC.
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.
Caution
During item (3) ensure the power supply unit is isolated from the mains
before connecting to the T-Cube unit. Always power up the T-Cube unit
by connecting its power supply to the mains. DO NOT connect the T-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 T-Cube unit.
USB
DC 15V 1A
_
+

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T-Cube Stepper Motor Controller
7) WindowsTM should detect the new hardware. Wait while WindowsTM installs the
drivers for the new hardware - see the Getting Started guide for more information.
3.5 Select the Stage Type (using APTConfig)
To ensure that a particular stage is driven properly by the system, a number of
parameters must first be set. These parameters relate to the physical characteristics
of the stage being driven (e.g. min and max positions, leadscrew pitch, homing
direction etc.).
To assist in setting these parameters correctly, it is possible, using the APT Config
utility, to associate a specific stage type and axis with the motor controller. Once this
association has been made, the APT server applies automatically, suitable default
parameter values on boot up of the software.
1) Shut down all applications using the APT software components (e.g. APT User or
your own custom application).
2) Run the APT Config utility - Start/Programs/Thorlabs/APT/APT Config.
Note
The USB cable length should be no more than 3 metres unless a powered
USB hub is being used.
Note
If the APTConfig utility is not used to associate a particular stage, the
software will associate a ZST6 type actuator by default.
Even if a stage type and axis has been associated with the controller, it is
still possible to alter these parameters if required, (e.g. for a custom stage
type not selectable using the APT Config utility) - see Section 6.3.2.

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Chapter 3
3) From the 'APT Configuration Utility' window, click the 'Stage' tab.
Fig. 3.4 APT Configuration Utility - Stage Tab
4) In the ‘Motor’ field, select the serial number of the stepper motor controller to be
configured (this number can be found on the side of the unit).
5) In the ‘Stage’ field, select your actuator type (e.g. ZST12(B)) from the list
displayed.
6) Click the 'Add/Change Stage Association' button. The actuator type and serial
number are added to the list in the main window as shown above.
7) The server reads in the stage and controller information on start up.
Shut down the APTConfig utility and proceed to Section 3.6. to verify the software
operation.
See the APT Config utility on line help for further information.

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T-Cube Stepper Motor Controller
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) 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
2) Check that the actuator type and serial number associated in Section 3.5. are
displayed in the GUI panel.
3) Click the ‘Ident’ button. The LED on the front panel of the Stepper Driver T-Cube
flashes. This is useful in multi-channel systems for identifying which driver unit is
associated with which GUI.
4) Click the jog buttons on the GUI panel and check that the motor or axis connected
to the Stepper Driver T-Cube moves. The position display for the associated GUI
should increment and decrement accordingly.

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Chapter 3
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 5.7. or the
APTConfig helpfile for detailed instructions.