THORLABS KDC101 User manual

KDC101
DC Servo Motor Driver
APT User Guide
Original Instructions

2 HA0363T Rev D Jan 2017
Contents
Chapter 1 Safety ............................................................................................. 4
1.1 Safety Information .................................................................................. 4
1.2 General Warnings .................................................................................. 4
Chapter 2 Introduction and Overview ..........................................................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
3.2.1 Environmental Conditions ................................................................................13
3.2.2 Mounting Options .............................................................................................13
3.2.3 Using the Baseplate .........................................................................................14
3.3 Electrical Installation ............................................................................. 14
3.3.1 Rear Panel .......................................................................................................14
3.3.2 Front Panel ......................................................................................................15
3.4 Connect The Hardware ........................................................................ 16
Chapter 4 Standalone Operation ................................................................ 19
4.1 Introduction ........................................................................................... 19
4.2 Control Panel ........................................................................................ 20
4.2.1 Overview ..........................................................................................................20
4.2.2 Digital Display - Operating Mode ......................................................................20
4.3 Velocity Wheel Operation ..................................................................... 21
4.3.1 Homing .............................................................................................................21
4.3.2 Go to Position ...................................................................................................21
4.3.3 Jogging .............................................................................................................21
4.3.4 Velocity Moves .................................................................................................22
4.4 Settings Menu ...................................................................................... 22
4.4.1 Overview ..........................................................................................................22
4.4.2 Menu Option - Go to position ...........................................................................23
4.4.3 Menu Option - Start homing .............................................................................24
4.4.4 Menu Option - Velocity .....................................................................................24
4.4.5 Menu Option - Joystick Mode ...........................................................................25
4.4.6 Menu Option - Jog Step Size ...........................................................................26
4.4.7 Menu Option - Teach Position ..........................................................................27
4.4.8 Menu Option - Brightness .................................................................................28
4.4.9 Menu Option - Disp.Timeout .............................................................................28
4.4.10 Menu Option - Disable ......................................................................................29
4.4.11 Menu Option - Select Stage .............................................................................29

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K-Cube Brushed DC Servo Motor Driver
Chapter 5 PC Operation - Tutorial ............................................................. 30
5.1 Introduction ...........................................................................................30
5.2 VUsing the APT User Utility ..................................................................30
5.3 Homing Motors .....................................................................................32
5.4 Moving to an Absolute Position ............................................................33
5.5 Changing Motor Parameters ................................................................34
5.6 Jogging .................................................................................................35
5.7 Stopping the Stage ...............................................................................36
5.8 Graphical Control Of Motor Positions (Point and Move) .......................37
5.9 Setting Move Sequences ......................................................................39
5.10 Creating a Simulated Configuration ......................................................42
5.11 Stage/Axis Tab .....................................................................................45
Chapter 6 Software Reference .................................................................... 46
6.1 Introduction ...........................................................................................46
6.2 GUI Panel .............................................................................................46
6.3 Settings Panel ......................................................................................48
6.3.1 Moves/Jogs Tab ............................................................................................... 48
6.3.2 Stage/Axis Tab ................................................................................................. 51
6.3.3 Servo Loop Tab ............................................................................................... 54
6.3.4 Panel/Triggering Tab ....................................................................................... 56
6.3.5 Defaults Tab ..................................................................................................... 61
6.3.6 Rotation StagesTab ......................................................................................... 62
Appendices
Appendix A Rear Panel Connector Pinout Detail ...................................... 63
Appendix B Preventive Maintenance ......................................................... 64
Appendix C Specifications and Associated Products .............................. 65
Appendix D Motor Control Method Summary ........................................... 67
Appendix E DC Motor Operation - Background ........................................ 71
Appendix F Regulatory ................................................................................ 76
Appendix G Thorlabs Worldwide Contacts ............................................... 79

4
Chapter 1 Safety
1.1 Safety Information
For the continuing safety of the operators of this equipment, and the protection of the
equipment itself, the operator should take note of the Warnings, Cautions and Notes
throughout this handbook and, where visible, on the product itself.
The following safety symbols may be used throughout the handbook and on the
equipment itself.
1.2 General Warnings
Shock Warning
Given when there is a risk of injury from electrical shock.
Warning
Given when there is a risk of injury to users.
Caution
Given when there is a risk of damage to the product.
Note
Clarification of an instruction or additional information.
Warnings
If this equipment is used in a manner not specified by the manufacturer, the
protection provided by the equipment may be impaired. In particular,
excessive moisture may impair operation.
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.
Caution
If your PC becomes unresponsive (e.g due to an operating system problem,
entering a sleep state condition, or screen saver operation) for a prolonged
period, this will interrupt communication between the APT Software and the
hardware, and a communications error may be generated. To minimize the
possibility of this happening it is strongly recommended that any such modes
that result in prolonged unresponsiveness be disabled before the APT
software is run. Please consult your system administrator or contact Thorlabs
technical support for more details.

5
Chapter 2 Introduction and Overview
2.1 Introduction
The K-Cube DC Servo Controller (KDC101) is a new very compact single channel
controller/driver for easy manual and automatic control of DC Servo motors. This
driver has been designed to operate with a variety of lower powered DC brushed
motors (up to 15V/2.5W operation) equipped with encoder feedback. The KDC101
has been optimised for 'out of the box' operation with the Thorlabs range of Z8 DC
motor equipped opto-mechanical products, however highly flexible software settings
and closed loop tuning also supports operation with a wide range of third party DC
Servo motors and associated stages/actuators.
Although compact in footprint, this unit offers a fully featured motion control capability
including velocity profile settings, limit switch handling, “on the fly” changes in motor
speed and direction, control over the closed loop PID parameters and, for more
advanced operation, adjustment of settings such as lead screw pitch and gearbox
ratio, allowing support for many different actuator configurations.
For convenience the footprint of this unit has been kept to a minimum, measuring only
60 x 60 x 47mm (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 (velocity control wheel). Table top
operation also allows minimal drive cable lengths for easier cable management..
Fig. 2.1 K-Cube DC Servo 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

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Chapter 2
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
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 by the
software 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 Power Options
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 Brushed DC Servo Motor Driver
2.3 APT PC Software Overview
2.3.1 Introduction
As a member of the APT range of controllers, the K-Cube DC Driver 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 DC 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.
Caution
On start up, wait until the top panel display has stopped flashing before
running the APT software.

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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 customize and automate usage of the K-
Cube DC Driver (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.
Caution
On start up, wait until the top panel POWER led is lit bright green before
running the APT software.

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K-Cube Brushed DC Servo Motor Driver
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 DC
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 KDC101 DC servo 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 DC servo 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 Brushed DC Servo Motor Driver
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.

12
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.
Caution
If your PC becomes unresponsive (e.g due to an operating system problem,
entering a sleep state condition, or screen saver operation) for a prolonged
period, this will interrupt communication between the APT Software and the
hardware, and a communications error may be generated. To minimize the
possibility of this happening it is strongly recommended that any such modes
that result in prolonged unresponsiveness be disabled before the APT
software is run. Please consult your system administrator or contact Thorlabs
technical support for more details.
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 +44 (0)1353
654440 and ask for Technical Support.

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K-Cube Brushed DC Servo Motor Driver
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 DC Driver is shipped with a baseplate, for use when fitting the unit to a
breadboard, optical table or similar surface.
For multiple cube systems, a 3-channel and 6-channel K-Cube Controller Hub
(KCH301 and KCH601). ) are also available - see Section 2.2. for further details. Full
instructions on the fitting and use of the controller hub are contained in the handbook
available at www.thorlabs.com
Warning
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 controls on the top panel.

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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 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 Brushed DC Servo Motor Driver
3.3.2 Front Panel
Fig. 3.3 Front Panel 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 6.3.4.
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
KDC101

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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 DC servo motor actuator to the Controller unit - see Section 3.3.1.
5) Connect the Controller unit to the power supply - see Section 3.3.2.
6) Connect the PSU to the main supply.
7) Switch ‘ON’ the unit using the switch on the front panel.
The unit takes about 5 seconds from power application until warm up is finished,
during which time the following screens are displayed.
Fig. 3.4 Start up display
Caution
During items (3) to (6) the instructions should be followed strictly in the
order stated. Problems may occur if the process is not performed in the
correct sequence. DO NOT connect a motor actuator while the K-Cube is
powered up.
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.
Thorlabs KDC101
SwRev 10002
Stage Connected:
Z812
At 0.0000 mm
Stopped V

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K-Cube Brushed DC Servo Motor Driver
8) WindowsTM should detect the new hardware. Wait while WindowsTM installs the
drivers for the new hardware.
3.5 Stage identification
Most of the stages compatible with the KDC101 controller are fitted with an
identification device. On power-up the KDC101 reads the stage identification and
loads the correct operating parameters associated with the stage. When the controller
is used with APT software, the type of stage is also reported to the GUI. However,
some legacy stages are not fitted with an identification device. For correct operation
these must be selected manually after power up.
If, on power-up, the controller is able to determine the type of the stage connected, it
will load the operating parameters associated with that stage and the OLED display
will show "Stage connected: <type of stage>", as shown in Fig. 3.4. In this scenario,
no further action needs to be taken.
If, however, the stage is not fitted with an ID (e.g. Z825V, CR1-Z7) the user can
manually select the correct stage and persist the setting. To facilitate this, the OLED
display menu contains a menu option called "Select stage". For stages that are not
fitted with an ID resistor, the user needs to use the "Select stage" menu option and
manually identify the stage connected to the controller - see Section 4.4.11. for further
details. This only needs to be done once: on subsequent power-ups the controller will
assume that the stage type has not changed, unless it detects a stage that is fitted
with an ID resistor. To indicate that the stage type is assumed rather than identified,
the OLED power-up display screen will show "Stage persisted: <stage type> (No ID)"
to warn the user that the type of the stage is only assumed and may not be correct..
Fig. 3.5 Start up display - no stage ID
Note
If any problems are encountered during the connection and power up
process, power cycle the unit, which should clear the error.
Thorlabs KDC101
SwRev 020004
Stage persisted:
Z825 <no ID>
At 0.0000 mm
Stopped V

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Chapter 3
3.6 Verifying Software Operation
3.6.1 Initial Setup
1) Ensure power is applied to the unit, then switch the unit ON using the switch on
the front panel.
2) Wait until the power up sequence is complete, then run the APTUser utility and
check that the Graphical User Interface (GUI) panel appears and is active.
Fig. 3.6 Gui panel showing jog and ident buttons
3) Click the ‘Ident’ button. The digital 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.
4) Click the jog buttons on the GUI panel and check that the motor or axis connected
to the DC Driver K-Cube moves. The position display for the associated GUI
should increment and decrement accordingly.
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.

19
Chapter 4 Standalone Operation
4.1 Introduction
The DC Driver K-Cube has been designed specifically to operate with the extensive
range of Thorlabs DC motorised opto-mechanical products. 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, 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 to which it is associated -
see Chapter 3 for more details.
4.2 Control Panel
4.2.1 Overview
Fig. 4.1 Panel Controls and Indicators
MOVE Controls - These controls allow all motor moves to be initiated.
Velocity Wheel - Used to drive the motor at a varying speed in either forward or
reverse directions for full and easy motor control - see Section 4.3.
Digital Display - The display shows the menu options and settings, accessed via
the menu button - see Section 4.4. When the Ident button on the associated GUI
panel is clicked, the display will flash for a short period.
MENU - used to access the settings menu - see Section 4.4. Also used to stop a
move when the stage is in motion.
Brushed Motor Controller
MENU

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Chapter 4
4.2.2 Digital Display - Operating Mode
During normal operation, the digital display shows the current position (in millimeters
or degrees) and the current state of the motor (Stopped or Moving). If the stage being
driven has been homed, the display will also show ‘Homed’.
Fig. 4.2 Digital Display - Normal Operation
For rotation stages, the position display will be restricted to the "Equivalent Angle"
display mode (see Section 6.3.6. for more details), so the position displayed will
always be a positive number between 0 and 360 degrees. If set to Total Angle in the
settings panel, the LED display will still show the equivalent 0 to 360° value but the
GUI screen will show the total rotation.
4.3 Velocity Wheel Operation
The velocity wheel is a sprung potentiometer, such that when released it returns to its
central position. In this central position the motor is stationary. Different types of move
can be initiated by the wheel, depending on its mode setting. The mode can be set
either via the GUI Settings panel, see Section 6.3.4. or via the top panel display menu,
see Section 4.4. The various operating modes are described in Section 4.3.1. to
Section 4.3.3.
4.3.1 Homing
A ‘Home’ move is performed to establish a datum from which subsequent absolute
position moves can be measured (see Section 5.3. and Section E.2.2. for further
information on the home position).
To initiate a ‘Home’ see Section 4.4.3.
4.3.2 Go to Position
In ‘Go To Position’ mode, two preset position values can be specified, such that the
motor moves to position 1 when the wheel is moved down, and to position 2 when it
is moved up. These ‘taught’ positions can be set through the software GUI - see
Section 6.3.4. or via the display menu, see Section 4.4.7.
Brushed Motor Controller
At 0.0000 mm
Stopped V