THORLABS M30X User manual

M30X(/M) and M30XY(/M) Translation Stages
HA0414T
M30X(/M) and M30XY(/M)
DC Servo Motor Driven
Translation Stages with
Integrated Controller
Kinesis User Guide
Original Instructions

M30X(/M) and M30XY(/M) Translation Stages
HA0414T
Table of Contents
Chapter 1 Introduction and Overview............................................................................................................1
1.1. Introduction........................................................................................................................................ 1
1.2. Kinesis PC Software Overview ...................................................................................................... 2
1.2.1. Introduction ................................................................................................................................ 2
1.2.2. Kinesis Server ........................................................................................................................... 2
1.2.3. Software Upgrades................................................................................................................... 3
Chapter 2 Safety .....................................................................................................................................................4
2.1. Safety Information ........................................................................................................................... 4
2.2. General Warnings ............................................................................................................................ 4
Chapter 3 Installation............................................................................................................................................5
3.1. Installing The Software.................................................................................................................. 5
3.2. Mechanical Installation .................................................................................................................... 5
3.2.1. Environmental Conditions........................................................................................................ 5
3.3. Horizontal Mounting .......................................................................................................................... 6
3.4. Vertical Mounting ............................................................................................................................... 7
3.5. Connector Detail............................................................................................................................... 8
Chapter 4 Operation..............................................................................................................................................9
4.1. Introduction........................................................................................................................................ 9
4.2. Connect The Hardware ..................................................................................................................... 9
4.3. Verifying Software Operation ......................................................................................................... 9
4.3.1. Initial Setup ................................................................................................................................ 9
4.4. Homing Motors ................................................................................................................................. 10
4.5. Changing Motor Parameters and Moving to an Absolute Position ................................. 10
4.6. Jogging............................................................................................................................................... 11
4.7. Setting Move Sequences ............................................................................................................... 11
4.8. Changing and Saving Parameter Settings ............................................................................... 11
4.9. Stage/Axis Tab .................................................................................................................................. 12
Chapter 5 Software Reference........................................................................................................................13
5.1. Introduction...................................................................................................................................... 13
5.2. GUI Panel ............................................................................................................................................ 13
5.3. Settings Panel ................................................................................................................................... 14
5.3.1. Persisting Settings to Hardware............................................................................................ 14
5.3.2. Moves/Jogs Tab...................................................................................................................... 15
5.3.3. Stage/Axis Tab ........................................................................................................................ 17
5.3.4. I/O Tab...................................................................................................................................... 18
5.3.5. Advanced Tab ......................................................................................................................... 21
Chapter 6 Preventive Maintenance............................................................................................................... 22
6.1. Cleaning............................................................................................................................................. 22
Chapter 7 Specifications...................................................................................................................................23
7.1. M30X(/M) and M30XY(/M) Specifications ............................................................................. 23
Chapter 8 Regulatory..........................................................................................................................................24
8.1. Declarations Of Conformity .......................................................................................................... 24
8.1.1. For Customers in Europe....................................................................................................... 24
8.1.2. For Customers in The USA.................................................................................................... 24
Chapter 9 Thorlabs Worldwide Contacts.................................................................................................. 25

M30X(/M) and M30XY(/M) Translation StagesChapter 1: Introduction and Overview
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Chapter 1 Introduction and Overview
1.1. Introduction
M30X(/M) and M30XY(/M) are compact 1- and 2- axes linear stages that use internally integrated brushed DC servo motors
with optical linear encoders. Deployable in a multitude of applications, their innovative design eliminates the external motor
housings that create mechanical clash points and impede access to the device being positioned.
The stages have a travel range of 30 mm on each of their axes, and can be positioned to an accuracy of 8.0 µm with bi-
directional repeatability of ±1.0 µm, at speeds of up to 2.4 mm/s. The high-quality construction uses high-rigidity precision
linear bearings, commercial grade limit switches, and powerful linear DC servo motors. In addition, the number of moving
parts has been minimized, which optimizes their lifetime and reliability. Power is supplied via a single wall socket adapter
(included).
The integrated DC controller allows for USB connectivity and provides easy 'Plug and Play' PC controlled operation - multiple
units can be connected to a single PC via standard USB hub technology for multi-axis motion control applications. Coupling
this with user friendly Kinesis® software (supplied) allows the user to get up and running with complex move sequences
within a short space of time – facilitated by all relevant operating parameters being set automatically by the software.
Advanced custom motion control applications and sequences are also possible using the extensive 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.

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1.2. Kinesis PC Software Overview
1.2.1. Introduction
The M30X(/M) and M30XY(/M) stages share many of the benefits of the Kinesis range of products. These include 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 Kinesis software suite provides a flexible and powerful PC based control system both for users of the equipment, and
software programmers aiming to automate its operation.
The User Interface allows full control of all settings and operating modes enabling complete ‘out-of-box’ operation without the
need to develop any further custom software. It provides all of the necessary 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 Kinesis server ‘engine’ that is used by software developers to allow the creation of advanced
automated positioning applications very rapidly and with great ease. The Kinesis server is described in more detail in
Chapters 4 and 5.
1.2.2. Kinesis Server
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 and stages, including the M30X(/M) and M30XY(/M) Integrated DC Servo-Driven stages. 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#.NET and, via VBA, Microsoft Office applications such as Excel and Word.
Consider the .Net Control supplied for the M30XY stage.
This Control provides a complete user graphical instrument panel to allow the motor unit to be manually operated, as well
asa 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
isassociated (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 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.

M30X(/M) and M30XY(/M) Translation StagesChapter 1: Introduction and Overview
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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 system online help or the handbooks associated with the
controllers.
Figure 1System 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.
1.2.3. Software Upgrades
Thorlabs operate a policy of continuous product development and may issue software upgrades as necessary.

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Chapter 2 Safety
2.1. Safety Information
For the continuing safety of the operators of this equipment, and the protection of the equipment itself, the operator should
take note of the Warnings, Cautions and Notes throughout this handbook and, where visible, on the product itself.
The following safety symbols may be used throughout the handbook and on the equipment itself.
2.2. General Warnings
Warning: Risk of Electrical Shock
Given when there is a risk of injury from electrical shock.
Warning
Given when there is a risk of injury to users.
Caution
Given when there is a risk of damage to the product.
Note
Clarification of an instruction or additional information.
Warning
If this equipment is used in a manner not specified in the handbook, 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
absorbent tissue. Do not allow spilled fluid to enter the internal mechanism.
The equipment is for indoor use only.
When running custom move sequences, or under fault conditions, the stage may move unexpectedly. Operators
should
take care when working inside the moving envelope of the stage.

M30X(/M) and M30XY(/M) Translation StagesChapter 3: Installation
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Chapter 3 Installation
3.1. Installing 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.
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.
he unit must not be used in an explosive environment.
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 Kinesis 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 Kinesis 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 user’s 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 your local
Technical Support.
Warning
Operation outside the following environmental limits may adversely affect operator safety.

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3.3. Horizontal Mounting
Using a 2 mm (5/64") hex key as shown below, move the top platform to gain access to the mounting holes in the base plate,
and secure using M6 or 1/4-20 bolts (not supplied).
Figure 2Horizontal Mounting to the Worksurface
M30X(/M)
M30XY(/M)
Caution
When moving the stage manually using the hex key, move the stage slowly and gently, do not apply excessive torque.
When mounting components, or fitting the stage within an application, do not apply excessive
pressure to the moving
platform.

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3.4. Vertical Mounting
The stages can be mounting in a vertical orientation using the M30A2(/M) adapter plate as shown below. It is recommended
that the M30A1 cable clamp is also used as shown to support the cables.
Figure 3Vertical Mounting
1) Using four M6 (1/4-20) cap screws, fit the bracket to the work surface at the required position.
2) Fit the two alignment pins supplied to the mounting face of the angle bracket.
Caution
When mounting vertically, the stage should be orientated only as shown below. Different orientations may place
stresses
on the internal components, especially when coupled with heavy loads.
M30XY(/M)
M30X(/M)
M30A1
M30A1
M30A2(/M)
M30A2(/M)

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3) Offer the stage up to the mounting face of the angle bracket and ensure that the alignment pins mate
properly into the locating holes in the underside of the stage.
4) Move the stage manually using a 2 mm (5/64") hex key sufficiently to gain access to the mounting holes, then
fit four M6(1/4-20) cap screws to fit the stage to the bracket.
5) Fit the M30A1 cable clamping plate, then secure the cables
3.5. Connector Detail
The side of the unit is fitted with a number of connectors that are common for both M30X and M30XY, as shown in Figure 4.
Figure 4Power and USB Connectors for the X (top) and XY (below) stage versions
I/O 1 and I/O 2 - MMCX jack socket. These connectors can be independently configured for use with an external trigger input
or output signal (5 V TTL levels).
The default state when the port is unconnected is High.
In output mode, the port provides a push-pull drive of 5 V with a maximum current of 8 mA.
An MMCX to BNC cable is supplied. MMCX to SMA (CA3439) adapters are available separately from www.thorlabs.com.
Units are shipped with I/O functionality disabled. The function is set to trigger IN or OUT via the GUI settings panel.
USB – Mini-AB receptacle provides connection to the PC USB port or USB hub. The port is designed to mate with a ‘USB
Mini-B’ type connector.
POWER - 3.5 mm jack socket for connecting the 15 V power supply unit (included).
STATUS LED - Provides an indication of various operating states as follows.
LED Color Meaning
Green
Powered up and stationary
Orange
In motion
Red
Error condition
Flashing
The Ident button on the associated GUI panel has been pressed
If the LED is red, the error could be any of the following:
Motor disconnected / short circuit (wiring fault)
Supply voltage outside tolerance
Excessive motor current or overloaded motor
PWM driver over-temperature
Encoder fault

M30X(/M) and M30XY(/M) Translation StagesChapter 4: Operation
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Chapter 4 Operation
4.1. Introduction
The following brief tutorial guides the user through a typical series of moves and parameter adjustments performed using the
software. It assumes that the unit is electrically connected as described in Section 4.2. and that the Software is already
installed - see Section 3.1.
4.2. Connect The Hardware
1) Perform the mechanical installation as detailed in Section 3.2.
2) Install the Software.
3) Connect the stage unit to your PC.
(Note. The USB cable should be no more than 3 meters long. Communication lengths in excess of this can be achieved
by using a powered USB hub).
4) Connect the stage unit to the power supply provided - see Section 3.5.
5) Connect the PSU to the mains power outlet and switch ON.
The unit takes about 5 seconds from power application until warm up is finished.
6) WindowsTM should detect the new hardware. Wait while WindowsTM installs the drivers for the new hardware.
4.3. Verifying Software Operation
4.3.1. Initial Setup
1) Run the software and check that the Graphical User Interface (GUI) panel appears and is active. For the M30X
versions, only a single stage panel appears (Figure 5a) whereas for the M30XY version, 2 stage panels are shown,
(Figure 5b): the number in the tab (circled) indicates the stage reference (1 = X; 2 = Y). For the remainder of this
manual, reference to only one of these panels is made.
Figure 5GUI Panel for (a) Single Channel M30X and (b) Dual Channel M30XY
2) Check that the correct stage type and serial number are displayed in the GUI panel.
3) Click the ‘Ident’ button. The STATUS LED on the side of the unit flashes - see Section 3.5. This is useful in multi-
channel systems for identifying which driver unit is associated with which GUI.
4) Before any movement can be made, the motors need to be enabled, achieved by clicking on the Enable icon.
5) Click the jog buttons on the GUI panel and check that the associated stage moves. The position display for the
associated GUI should increment and decrement accordingly.
Follow the tutorial steps described in the remainder of Chapter 4 for further verification of operation.
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.
Note
If any problems are encountered during the connection and power up process, power cycle the unit to clear the error.

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4.4. Homing Motors
Homing the motor moves the actuator to the home limit switch and resets the internal position counter to zero. The process can
be achieved after powering up and enabling the motor.
Figure 6M30XY Stage Software GUI
1) Click the ‘Home’ button. Notice that the ‘Not Homed’ LED changes to ‘Homed’, and that the LED flashes to
indicate that homing is in progress. The displayed position is arbitrary until the home position is reached, at which point
the position indicator resets to 0.0000.
2) When homing is complete, the ‘Homed’ LED is lit as shown above.
4.5. 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.
Moves are performed using a trapezoidal velocity profile. The velocity settings relate to the maximum velocities at which
a move is performed, and the acceleration at which the motor speeds up from zero to maximum velocity.
1) On the GUI panel, click the Move arrow to show the Settings panel
Figure 7Move Pop-Up Setting Panel
2) Enter the required absolute position and/or parameter values.
3) To move to the position entered click the arrow
4) Click ‘Apply’ to save the parameter settings and close the window, click Reset to return to the previously saved values.
Note
After homing, shaft relaxation may cause a small position offset to be displayed. This relates only to one or two encoder
counts
and is not significant in terms of ‘real world’ positioning.

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4.6. Jogging
During PC operation, the motor actuators are jogged using the GUI panel arrow keys. There are two jogging modes available,
‘Single Step’ and ‘Continuous’. In ‘Single Step’ mode, the motor moves by the step size specified in the Step Distance
parameter. If the jog key is held down, single step jogging is repeated until the button is released - see Fig. 12. In ‘Continuous’
mode, the motor actuator will accelerate and move at the jog velocity while the button is held down.
1) On the GUI panel, click the arrow next to ‘Jog’ to display the Settings pop up window.
Figure 8Jog pop Up Settings
2) Make parameter changes as required.
3) Click ‘Apply’ to save the settings and close the window, click Reset to return to the previously saved values.
4.7. Setting Move Sequences
The Kinesis software allows move sequences to be programmed, permitting several positions to be visited without
user intervention. For more details and instructions on setting move sequences, please see the Kinesis Helpfile.
4.8. Changing and Saving Parameter Settings
During operation, certain settings (e.g. move velocity, jog step size etc.) can be changed as required. Other settings
(e.g. PID parameter values) cannot be changed so easily. When the Kinesis Server is run up and the stage/actuator
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.
Note
In current versions of software, the ‘Min Vel’ parameter is locked at zero and cannot be adjusted.

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4.9. Stage/Axis Tab
This tab contains a number of parameters which are related to the physical characteristics of the particular stage or actuator
being driven. They need to be set accordingly such that a particular stage is driven properly by the system.
Figure 9Stage/Axis Tab
These parameters were set automatically when the server automatically applied suitable defaults during boot up. These
parameters should not be altered for pre-defined Thorlabs stages and actuators, as it may adversely affect the performance
of the stage.
For third party stage types not available using the software, these stage details must be entered manually. Individual
parameters are described in Section 5.3.

M30X(/M) and M30XY(/M) Translation StagesChapter 5: Software Reference
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Chapter 5 Software Reference
5.1. Introduction
This chapter gives an explanation of the parameters and settings accessed from the Kinesis software running on a PC. For
information on the methods and properties which can be called via a programming interface, see the Helpfile for more details.
5.2. GUI Panel
The following screen shot shows the generic graphical user interface (GUI) displayed when accessing the M30X or
M30XY Stages using the Kinesis software.
Figure 10 M30XY Software GUI
Position window - shows the position (in millimeters or degrees) of the motor.
The motormust be 'Homed' before the display will show a meaningful value, (i.e.
the displayed position is relative to a physical datum, the limit switch).
Move - Opens the settings window, so that position data and velocity
parameterscan be entered - see Section 4.5. Moves are performed using
the current velocity parameters which can be changed in the same panel. The
present settings are displayed below the window.
Velocity Parameters - the present setting for the move velocity parameters and the jog step size.
Thetravel range of the associated stage/actuator is also displayed.
These settings can be adjusted as described previously, or by clicking the Settings button to display
the settings window, see Section 5.3.2.
Jog Controls - used to increment or decrement the motor position.
The controls comprise a bargraph and a set of jog arrows.
Each division of the bar graph represents a different velocity. The velocities are entered in the
settings panel which is displayed by clicking ‘Drive’ or the small down arrow.
When the arrows are clicked, the motor is driven in the selected direction at the jog velocity, one step per click. The step
size and jog velocity parameters can be changed by clicking ‘Jog’ or the small down arrow to display the settings panel.
Homed/Not Homed - lit when the motor has not been 'Homed' since power up. When the home button is
clicked, the caption changes to ‘Homed’ and the LED flashes while the home move is being performed.
The LED is lit green once the move is complete.
Forward/Reverse Limit - lit when a limit switch is activated, i.e. the motor is at its end stop.

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Error - lit when a fault condition occurs.
Enable/Disable - applies and removes power to the motor. With the motor enabled, only the Disable button
is visible, and with the motor disabled only the Enable button is visible.
Identify - when this button is pressed, the ACTIVE LED on the front panel of the associated hardware unit
will flash for a short period.
Settings - Displays the 'Settings' panel, which allows the operating parameters to be entered for the motor
drive -see Section 5.3.
Home - sends the motor to its 'Home' position.
Stop - halts the movement of the motor.
Lower Display - Shows the present state of the motor, e.g. Idle,
Moving,Moving EXT or Homing.
Also shows the part number of the associated actuator or stage.
5.3. 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 velocities, and stage/axis information to be modified. Note that all of these
parameters have programmable equivalents accessible through the functions on this Control (refer to the Kinesis API
helpfile for further details.
5.3.1. Persisting Settings to Hardware
Many of the parameters that can be set for the stage can be stored (persisted) within the unit itself, such that when
the unit is next powered up these settings are applied automatically. To save the settings to hardware, check the
‘Persist Settings to the Device’ checkbox before clicking the ‘OK button.
Caution
The ‘Persist Settings’ functionality is provided to simplify use of the unit in the absence of a PC. When the unit is
connected to a PC and is operated via the Kinesis software, the default settings will be loaded at boot up, even if the
‘Persist Settings’ option has been checked.

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5.3.2. Moves/Jogs Tab
Figure 11 Move/Jog Settings
Position Display
By default, the GUI panel will display position in real world units (mm). If required, the units can be changed to so that the
display shows other positional units (cm, µm, inch). If Use Device Units is checked, then the GUI will display in device units
(i.e. encoder counts).
Units - the positioning units used on the GUI display.
Factor - the scaling factor associated with the selected units.
Decimal Places - the number of decimal places used in the position display.
Jog Parameters
Jogs are initiated by using the ‘Jog’ keys on the GUI panel (see Section 4.6.), or the Velocity Wheel on the top panel of the unit.
Step Size - The distance to move when a jog command is initiated. The step size is specified in real world units (mm or
degrees dependent upon the stage).
Mode - The way in which the motor moves when a jog command is received (i.e. GUI panel button clicked).
There are two jogging modes available, ‘Jog’ and ‘Continuous’. In ‘Jog’ mode, the motor moves by the distance specified in
the Step Size parameter. If the jog key is held down, single step jogging is repeated until the button is released - see Fig. 5.3.
In ‘Continuous’ mode, the motor actuator will accelerate and move at the jog velocity while the button is held down.
Figure 12 Jog Modes

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Jog - the motor moves by the distance specified in the Step Size parameter.
Continuous - the motor continues to move until the jog signal is removed (i.e. jog button is released).
Stop - the way in which the jog motion stops when the demand is removed.
Immediate - the motor stops quickly, in a non-profiled manner
Profiled - the motor stops in a profiled manner using the jog Velocity Profile parameters set above.
Maximum Velocity - the maximum velocity at which to perform a move.
Acceleration - the rate at which the velocity climbs from zero to maximum, and slows from maximum to zero.
Velocity Parameters
Moves can be initiated via the GUI panel by entering a position value after clicking on the position display box (see Section
4.5.), or by calling a software function (see the Kinesis API helpfile). The following settings determine the velocity profile of
such moves, and are specified in real world units, millimeters or degrees.
Maximum Velocity - the maximum velocity at which to perform a move.
Acceleration - the rate at which the velocity climbs from zero to maximum, and slows from maximum to zero.
Backlash
Distance - The system compensates for lead screw backlash during reverse direction moves, by moving passed
the demanded position by a specified amount, and then reversing. This ensures that positions are always
approached in a forward direction. The Backlash Distance is specified in real world units (millimeters or degrees).
To remove backlash correction, this value should be set to zero
Note
Under certain velocity parameter and move distance conditions, the maximum velocity may never be reached (i.e. the
move
comprises an acceleration and deceleration phase only).

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5.3.3. Stage/Axis Tab
Figure 13 Stage/Axis Settings
Homing
When homing, a stage typically moves in the reverse direction, (i.e. towards the reverse limit switch). The following settings
allow support for stages with both Forward and Reverse limits.
Direction - the direction sense to move when homing, either Forward or Reverse.
Limit Switch - The hardware limit switch associated with the home position, set to Forward (Hard), Reverse (Hard) or Ignore.
Zero Offset - the distance offset (in mm or degrees) from the limit switch to the Home position.
Velocity - the maximum velocity at which the motors move when Homing.
Hardware Limit Switches
The operation of the limit switches is inherent in the design of the associated stage or actuator. The following parameters notify
the system to the action of the switches when contact is made. Select Rev Switch or Fwd Switch as required, then select the
relevant operation.
Switch Makes - The switch closes on contact
Switch Breaks - The switch opens on contact
Note
This tab contains a number of parameters which are related to the physical characteristics of the particular stage being driven.
They need to be set accordingly such that a particular stage is driven properly by the system.
The Kinesis software will automatically apply suitable defaults for the parameters on this tab during boot up of the software
and these parameters cannot be altered subsequently as it may adversely affect the performance of the stage. Descriptions
are provided for information only.
For custom stage types not available using the Kinesis software, the stage details must be entered manually - see the
Note
Typically, the following two parameters are set the same, i.e. both Forward or both Reverse.
Note
The minimum velocity and acceleration/deceleration parameters for a home move are taken from the existing move
velocity
profile parameters.

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Ignore/Absent - The switch is missing, or should be ignored.
5.3.4. I/O Tab
Figure 14 Triggering Settings
IO Introduction
The stages have two bidirectional IO ports (IO1 and IO2) that can be used to read an external logic signal or output a logic
level to control external equipment. Either of them can be independently configured as an input or an output and the active
logic state can be selected High or Low to suit the requirements of the application. Electrically, the ports output 5 Volt logic
signals and are designed to be driven from a 5 Volt logic.
For the input, a voltage level less than 1.5 V is recognized as logic Low, and a level greater than 3.5 V is registered as logic High.
As the input contains a weak pull-up, the state of the input with nothing connected will default to a logic High. The weak pull-up
feature allows a passive device, such as a mechanical switch to be connected directly to the input.
When the port is used as an output it provides a push-pull drive of 5 Volts, with the maximum current limited to approximately
8 mA. The current limit prevents damage when the output is accidentally shorted to ground or driven to the opposite logic state
by external circuity.
Warning: do not drive the TRIG ports from any voltage source that can produce an output in excess of the normal 0 to 5 Volt
logic level range. In any case the voltage at the TRIG ports must be limited to -0.25 to +5.25 Volts.
Input Trigger Modes
When configured as an input, the TRIG ports can be used as a general purpose digital input, or for triggering a relative,
absolute or home move. When used for triggering a move, the port is edge sensitive. In other words, it has to see a transition
from the inactive to the active logic state (Low->High or High->Low) for the trigger input to be recognized. For the same reason
a sustained logic level will not trigger repeated moves. The trigger input has to return to its inactive state first in order to start
the next trigger. The mode is set in the Trig 1 Mode and Trig 2 Mode parameters as follows:
Disabled - The trigger IO is disabled
IN - GPI - General purpose logic input (read through status bits using the software messages).
IN - Relative Move - Input trigger for relative move.
IN - Absolute Move - Input trigger for absolute move.
IN - Home - Input trigger for home move.
IN - Stop - Input trigger for stopping a move.
Output Trigger Modes
When the Trigger 1 Mode and Trigger 2 Mode parameters are configured as outputs, the TRIG ports can be used as a general
purpose digital output, or to indicate motion status or to produce a trigger pulse at configurable positions as follows:
OUT GPO - General purpose logic output.
OUT - In Motion - Trigger output active (level) when motor 'in motion'. The output trigger goes high (5V) or low (0V) (as set in
the Trig 1. Polarity and Trig. 2 Polarity parameters) when the stage is in motion.