THORLABS PRM1-Z7 Series User manual

Nanopositioning Stages
PRM1-Z7 Series Motorized Rotation Stages
Model Numbers PRM1-Z7
PRM1/M-Z7

THORLABS
About the Company
Thorlabs has been an active member of the Photonics community for over 15 years.
We strive to be the ultimate resource for the photonics community-a place to find the
products you need to enable your experiments, as well as the information you need to get
your application working.
Thorlabs designs, develops, and manufactures building blocks for the photonics industry
including equipment for opto-mechanics, motion control, nano-positioning, alignment,
optical components, laser diodes, tunable lasers and vibration isolation systems. In
addition to core photonics building blocks, we now provide system level solutions
including complete OCT and imaging systems.
Trademarks
THORLABS is a registered trademark of
Thorlabs Inc.
Product Warranty
Opto-Electronics, Control Electronics,
Optics, and Nano-Positioning Product
Lines.
Thorlabs offers a two year warranty on the
above mentioned product lines, provided
normal use and maintenance of the
products and when properly handled and
correctly installed.
Thorlabs shall repair or replace any
defective or nonconforming product as
detailed above. We ask that buyer contact
Thorlabs for a Return Material
Authorization number (RMA #) from our
Customer Service/Returns department in
order to most efficiently process the return
and/or repair.
Products returned for repair that are not
covered under warranty, a Thorlabs
standard repair charge shall be applicable
in addition to all shipping expenses. This
repair charge will be quoted to the
customer before the work is performed.
Revision History
Issue No. Date Summary
1 040907 Initial Issue
2 140508 Reformat
3 130808 Specs Changed

1
Contents
1 For Your Safety ......................................................................................... 2
Safety Information ..........................................................................................................2
Warnings ........................................................................................................................3
Declarations Of Conformity ............................................................................................3
For Customers in Europe .......................................................................................3
For Customers In The USA ....................................................................................3
Waste Electrical and Electronic Equipment (WEEE) Directive .......................................4
Compliance ............................................................................................................4
Waste treatment on your own responsibility ..........................................................5
Ecological background ...........................................................................................5
2 Overview .................................................................................................... 6
Introduction .....................................................................................................................6
3 Installation ................................................................................................. 7
Unpacking ......................................................................................................................7
Mounting .........................................................................................................................7
Connecting The Motor Driver .................................................................................8
Transportation ................................................................................................................8
Dimensions .....................................................................................................................9
PRM1-Z7 Dimensions ............................................................................................9
Operation ...................................................................................................... 10
Introduction ...................................................................................................................10
Associating the Stage Type ..........................................................................................10
Specifications ............................................................................................... 15
Stage Specifications .....................................................................................................15
Motor Specification .......................................................................................................15
Appendices
A Motor Pin Out Details & Associated Products ..................................... 16
Motor Pin Out Details....................................................................................................16
Associated Products......................................................................................................16

2
Chapter 1
For Your 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 on the equipment:
Warning, risk of danger. Refer to the handbook for details on this hazard.
Warning, risk of electric shock. High voltages present
Functional (EMC) earth/ground terminal.
The following safety symbols may be used throughout the handbook:
Warning. An instruction which draws attention to the risk of injury or death.
Caution. An instruction which draws attention to the risks of damage to the product,
process or surroundings.
Note. Clarification of an instruction or additional information.
!

3
PRM1-Z7 Series Motorized Rotation Stages
1.2 Warnings
• The equipment has been designed to operate normally under the following environmental
conditions :-
Location Indoor use only.
Max altitude 2000m
Temperature range 5°C to 40°C
Maximum humidity Less than 75%
• When siting the equipment, care should be taken to ensure that proper airflow is
maintained to the motor.
• If this equipment is used in a manner not specified by the manufacturer, the protection
provided by the equipment may be impaired. Do not operate the instrument outside its
rated supply voltages or environmental range. In particular, excessive moisture may
impair safety.
• Translation stages can be made to move without warning. Ensure that the stages can
move their full travel range without risk of fouling on external objects. All cables should
be routed to avoid the risk of them becoming entangled.
1.3 Declarations Of Conformity
1.3.1 For Customers in Europe
This equipment has been tested and found to comply with the EC Directives
89/336/EEC ‘EMC Directive’ and 73/23/EEC ‘Low Voltage Directive’ as amended by
93/68/EEC.
Compliance was demonstrated by conformance to the following specifications which
have been listed in the Official Journal of the European Communities:
Safety EN61010: 2001 Installation Category II, Polution Degree II.
EMC EN61326: 1997
1.3.2 For Customers In The USA
This equipment has been tested and found to comply with the limits for a Class A
digital device, persuant to part 15 of the FCC rules. These limits are designed to
provide reasonable protection against harmful interference when the equipment is
operated in a commercial environment. This equipment generates, uses and can
radiate radio frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio communications.
Operation of this equipment in a residential area is likely to cause harmful interference
in which case the user will be required to correct the interference at his own expense.
Changes or modifications not expressly approved by Thorlabs Ltd could void the
user’s authority to operate the equipment.

4
Chapter 1 For Your Safety
1.4 Waste Electrical and Electronic Equipment (WEEE) Directive
1.4.1 Compliance
As required by the Waste Electrical and Electronic Equipment (WEEE) Directive of
the European Community and the corresponding national laws, Thorlabs offers all
end users in the EC the possibility to return "end of life" units without incurring
disposal charges.
This offer is valid for Thorlabs electrical and electronic equipment
• sold after August 13th 2005
• marked correspondingly with the crossed out "wheelie bin" logo (see Fig. 1)
• sold to a company or institute within the EC
• currently owned by a company or institute within the EC
• still complete, not disassembled and not contaminated
Fig. 1.1 Crossed out "wheelie bin" symbol
As the WEEE directive applies to self contained operational electrical and electronic
products, this "end of life" take back service does not refer to other Thorlabs products,
such as
• pure OEM products, that means assemblies to be built into a unit by the user (e. g. OEM
laser driver cards)
• components
• mechanics and optics
• left over parts of units disassembled by the user (PCB's, housings etc.).
If you wish to return a Thorlabs unit for waste recovery, please contact Thorlabs or
your nearest dealer for further information.

5
PRM1-Z7 Series Motorized Rotation Stages
1.4.2 Waste treatment on your own responsibility
If you do not return an "end of life" unit to Thorlabs, you must hand it to a company
specialized in waste recovery. Do not dispose of the unit in a litter bin or at a public
waste disposal site.
1.4.3 Ecological background
It is well known that WEEE pollutes the environment by releasing toxic products
during decomposition. The aim of the European RoHS directive is to reduce the
content of toxic substances in electronic products in the future.
The intent of the WEEE directive is to enforce the recycling of WEEE. A controlled
recycling of end of life products will thereby avoid negative impacts on the
environment.

6
Chapter 2
Overview
2.1 Introduction
The PRM1-Z7 is a precision motorized rotation mount for 1" optics.
Rotation is driven via a DC servo motor equipped with high ratio gearbox (256:1) and
rotary encoder for accurate closed loop position control. The TDC001 DC servo
controller is the ideal companion for achieving smooth continuous motion which can
be measured both through the software interfaces and by using the Vernier dial and
1° engraved graduation marks on the rotating plate. The precision DC motor actuator
provides 1 arcsecond resolution over the 360° rotation. This rotation stage is also
equipped with a precision home limit switch to facilitate automated rotation to the zero
datum position, allowing absolute angular positioning thereafter.
The limit switch is designed to allow continuous rotation of the stage over multiple
360° cycles. For complete flexibility the stage can be mounted either vertically on a
post or horizontally using an adapter plate - see Section 3.2
For attachment to other stages or fittings, please contact Tech Support..
Fig. 2.1 Typical PRM1-Z7 stage

7
Chapter 3
Installation
3.1 Unpacking
Note. Retain the packing in which the unit was shipped, for use in future transportation.
Caution. Once removed from its packaging, the stage is easily damaged by
mishandling. The unit should only be handled by its base, not by the motor or any
attachments to the moving platform.
3.2 Mounting
The stage can be mounted to a standard 1/2” post, with an option to mount in a
vertical or an inclined orientation (as shown in Fig. 2.1.). The stage can also be fixed
directly to the worksurface in a horizontal (flat) orientation using the counter-bored
holes in the main body.
The rotating platform features several options for mounting accessories. The central
aperture has a standard SM1 internal thread, for compatibility with a range of optics.
Accessories can also be fixed using the series of threaded mounting holes (see
Fig. 3.3).
Standard ‘tongue and
groove’ accessories can be mounted using the PRM1SP1(/M)
grooved adapter plate, which raises the deck height to 29mm (1.14”).
Adapter plates are available which allow more stable installation and raise the deck
height to 34mm (1.34”) (PRM1SP2), or 62.5mm (2.46”) (PRM1SP3).
Caution. When mounting components, or fitting the stage within an application, do not
apply excessive pressure to the moving platform.
Fig. 3.1 PRM1-Z7 mounted on a PRM1SP2 Adapter Plate

8
Chapter 3 Installation
3.2.1 Connecting The Motor Driver
Caution. It is recommended that the PRM1-Z7 series stages be driven by the Thorlabs
TDC001 DC Servo Motor Driver. If the stage is being driven by any other driver or
controller, consult Section A.1. for motor pin out details and Chapter 5 for details of the
motor specification.
The stage is supplied with 2.8m (9 ft) of cable and is terminated in a 15 pin D-Type
connector. This is compatible with the MOTOR drive terminal of the TDC001 T-Cube
DC driver unit - see Fig. 3.2 below.
Fig. 3.2 TDC001 rear panel
3.3 Transportation
Caution. When packing the unit for shipping, use the original packing. If this is not
available, use a strong box and surround the unit with at least 100 mm of shock
absorbent material.
MOTOR

9
PRM1-Z7 Series Motorized Rotation Stages
3.4 Dimensions
3.4.1 PRM1-Z7 Dimensions
Fig. 3.3 Dimensions
8-32 UNC (M4)
post mounting
8-32 UNC (M4) for
vertical post mounting
8-32 UNC (M4) for
inclined post mounting
3.03 (77.0)
4 x 6-32 UNC (M3)
4 x 8-32 UNC (M4)
1.18 (30.0) typ
1.18 (30.0) typ
0.87 (22.0) typ
SM1 thread thru
4 x 4-40 UNC
for cage mounting
0.07 (1.8)
0.49 (12.5)
1.67 (42.5) 0.49 (12.5)
2 x C-Bore for
1/4-20 UNC (M6) cap screw
4.89 (124.0)
0.9 (23.0)
all dimensions in inches (mm)

10
Chapter 4
Operation
4.1 Introduction
Caution. The PRM1-Z7 series stages form part of the Thorlabs Nanopositioning
system. We recommend they are driven by the Thorlabs TDC001 T-Cube DC Servo
Motor Driver. If the stage is being driven by any other driver or controller, consult the
Section A.1. for motor pin out details.
The stages are connected to the controller via a flying lead terminated in a D-type
connector.
Warning. The controller must be switched OFF before the stages are plugged in or
unplugged. Failure to switch the controller off may result in damage to either the
controller, the stage, or both.
4.2 Associating the Stage Type
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.
Caution.
• By default, the software associates a Z706 type actuator, unless the user has used the
APTConfig utility to associate a particular stage.
• When the PRM1-Z7 stage is associated with the driver, default settings applicable to the
PRM1-Z7 will be loaded. These settings are incompatible with linear type stages and
actuators (e.g. MST25X, Z706). Before the TDC001 unit can be used to drive a stage
other than the PRM1-Z7, it must be associated with the new stage type. If this is not done,
damage could be caused to the motor limit switches.

11
PRM1-Z7 Series Motorized Rotation Stages
Note .
• 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).
To associate the PRM1-Z7 stage with the TDC001 controller, proceed a follows:
Note. For a complete instructions regarding the mechanical and electrical installation,
see the handbook supplied with the stage.
1) Connect the stage to the DC motor driver and power up the unit.
Fig. 4.1 TDC001 Rear Panel
2) Connect the driver to the control PC.
3) Shut down all applications using the APT server (e.g. APT User or your own
custom application).
4) Run the APT Config utility - Start/Programs/Thorlabs/APT Config/APT Config.
MOTOR

12
Chapter 4 Operation
5) From the 'APT Configuration Utility' window, click the 'Stage' tab.
Fig. 4.1 APT Configuration Utility - Stage Tab
6) In the ‘Motor’ field, select the serial number of the TDC001 motor driver to be
configured (this number can be found on the rear panel of the TDC001 unit).
7) Ignore the ‘Channel’ field. For the TDC001 DC motor driver, the ‘Channel’ field
defaults to ‘1’.
8) In the ‘Stage’ field, select the ‘PRM1-Z7 stage from the list displayed.
9) Click the 'Add Stage Association' button. The PRM1-Z7 stage and driver unit serial
number are added to the list in the main window as shown in Fig. 4.1 above.
10)Click ‘Exit’ to sut down the APTConfig utility.

13
PRM1-Z7 Series Motorized Rotation Stages
11)Start the APTUser utility - Start/Programs/Thorlabs/APT User/APT User
The APT server reads in the stage and controller information on boot up and the
settings made above are displayed in the ‘Setting’ window as shown in Fig. 4.2.
Fig. 4.2 APTUser GUI screen
12)Click the ‘Settings’ button to display the ‘Motor Driver Settings’ panel.
Fig. 4.3 Motor Driver Settings Panel

14
Chapter 4 Operation
When the stage was associated with the driver, various default settings applicable to
the PRM1-Z7 stage were loaded. These settings can now be tailored to your
particular application.
13)Click each tab in turn, and make parameter changes as necessary. If in doubt, run
your application with the default settings unchanged until performance data is
available.
14)After the parameter changes have been performed, click the ‘Persist Settings to
Hardware’ box on each tab, then click ‘OK’. This will ensure that the same
parameter settings will be loaded next time the unit is powered up - even in the
absence of a PC.
15)On the GUI panel, click the ‘HOME” button to move the stage to its home position.
This will establish a zero datum from which future moves can be measured.

15
Chapter 5
Specifications
5.1 Stage Specifications
Resolution: 1arcsec
Travel Range: 360° Continuous
Max Velocity: 14°/s
Backlash: <100arcsec
Software Compatibility: APT Server CDM621 V1.1.10
5.2 Motor Specification
Motor Type: DC Servo
Motor Drive Voltage: 12V
Feedback: Hall Effect Encoder
Encoder Counts per Revolution of the Leadscrew: 12,288
Terminal Resistance: 95Ω
Output Power: 0.36W
Efficiency: 68%
No Load Speed: 16,500rpm
No Load Current: 0.004A
Stall Torque: 0.82mNm
Friction Torque: 0.03mNm
Speed Constant: 1419 rpm/V
Back EMF Constant: 0.705 mV/rpm
Torque Constant: 6.73 mNm/A
Current Constant: 0.149 A/mNm
Rotor Inductance: 310µH

16
Appendix A
Motor Pin Out Details & Associated Products
A.1 Motor Connector Pin Out
The Motor cable is terminated in a 15 way D-type connector, which provides
connection to the DC motor controller. The pin functions are detailed in Fig. A.1.
Fig. A.1 Motor Connector Pin Descriptions
A.2 Associated Products
Pin Description Pin Description
1 Ground/Return 9
2 Reverse Limit Switch 10 Vcc
3 Forward Limit Switch 11 Encoder B
412
5 Motor + 13 Encoder A
614
7 Motor - 15 Braid/Screen
8
Product Name Part Number
Grooved Adapter Plate Imperial PRM1SP1
Grooved Adapter Plate Metric PRM1SP1/M
Raiser plate (34mm (1.34”) deck height) PRM1SP2
Raiser plate (62.5mm (2.46”) deck height) PRM1SP3
5
10
11 15
6
1

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ha 0177T Issue 3
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