THORLABS ELL14 User manual

ELL14 Motorized SM1 Optic Rotator
ELL14 and ELL14K
Motorized SM1 Optics
Rotator Kit
Operating Manual
Original Instructions

ELL14 Motorized SM1 Optic Rotator
Table of Contents
Chapter 1 Introduction ..............................................................................................................................................................1
Chapter 2 Safety.........................................................................................................................................................................2
Chapter 3 Description................................................................................................................................................................3
Chapter 4 Operation ..................................................................................................................................................................6
4.1.1 Homing................................................................................................................................................6
4.1.2 Position Error Compensation ..............................................................................................................6
4.2.1 Hand-held Controller...........................................................................................................................8
4.2.2 Software Control .................................................................................................................................9
4.2.3 Communications Protocol.................................................................................................................10
4.2.4 Connecting Multiple Devices.............................................................................................................10
4.2.5 Controlling the Rotator Without the Handset.....................................................................................10
Chapter 5 Troubleshooting and FAQ.....................................................................................................................................13
Chapter 6 Specifications.........................................................................................................................................................17
Chapter 7 Regulatory...............................................................................................................................................................18
7.1.1 For Customers in Europe..................................................................................................................18
7.1.2 For Customers in the USA................................................................................................................18
Chapter 8 Thorlabs Worldwide Contacts...............................................................................................................................19

ELL14 Motorized SM1 Optic Rotator Chapter 1: Introduction
Rev. B, Feb 2020 Page 1
Chapter 1 Introduction
The ELL14 is part of the Thorlabs series of resonant piezo motor circuits and bare modules for OEM applications. This SM1-
threaded Optics Rotator can be adapted to 30 and 60 mm cage systems and can also be adapted for post mounting – see
section 3.1 for more details.
The resonant piezo design of these motors offers fast response times and precise positioning and is therefore particularly useful
in scanning applications.
The high-speed digital signal processing (DSP) architecture supports a multi-drop serial communication protocol, and a set of
digital IO lines allows the user to control the movement and state manually by switching the lines high (5V) or low (0V).
The rotator features a central SM1-threaded aperture to accept an optic, and delivers a travel range of 720° rotation. The angular
position is requested and displayed from 0 to 359.99°. If a rotator is driven past the 359.99° rotation point, the display reverts
back to zero and counts up to 359.99° again. Furthermore, the unit will not respond to requests for a move to a position greater
than 359.99° and an error message will be generated. It is designed for closed loop applications requiring rotational positioning
with 44.0 µrad of resolution.
Homing is achievedusing acombination of a reflecting optical sensor (IR) forcoarse (0.5 to 1.0 mm) positioning, then a magnetic
sensor for fine (1.0 µm resolution) positioning. Using the ELLO software, the user can modify the offset value to shift the homing
position (up to a ¼ of turn). Furthermore, coarse homing can be selected in a clockwise (CW) or counter clockwise (CCW)
direction (fine homing is always performed in a CCW direction to guarantee repeatability).
Note
The module must be powered via an external 5V power supply. A suitable PSU is supplied in the kit. For customers
wanting to use a third party PSU, the Connector on the interface board is a DC Jack connector, 6.3mm OD (GND),
2.1mm ID (+5V).
A hand-held controller is supplied with the ELL14K evaluation kit to allow homing and manual jogging and/or positioning. The
unit can also be driven remotely via PC-based software, downloaded from www.thorlabs.com. A compatible USB driver and
source code are included in the software download package.

ELL14 Motorized SM1 Optic Rotator Chapter 2: Safety
Page 2DTN000522-D02
Chapter 2 Safety
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.
Warning: Risk of Electrical Shock
Given when there is a risk of electrical shock.
Warning
Given when there is a risk of injury to the user.
Caution
Given when there is a possibility of damage to the product.
Note
Clarification of an instruction or additional information.
General Warnings and Cautions
Warning
When connecting the stage to a PC, ensure that the PC is switched ON before connecting the stage to the USB port.
Failure to do this could damage the PC.
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.
The equipment is susceptible to damage from electrostatic discharge. When handling the device, anti-static
precautions must be taken and suitable discharge appliances must be worn.
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.
If the device is operated over a prolonged time period, the motor housing may become hot.This does not affect motor
operation but may cause discomfort if contacted by exposed skin.
Do not bend the PCB. A bending load in excess of 500 g applied to the board may cause the PCB to deform, which
will degrade the performance of the controller.
Do not expose the stage to magnetic fields as this could affect the positioning and homing sensor operation. An
external magnetic field close to the sensor should be below +/- 5mT.

ELL14 Motorized SM1 Optic Rotator Chapter 3: Description
Rev. B, Feb 2020 Page 3
Chapter 3 Description
Environmental Conditions
Warning
Operation outside the following environmental limits may adversely affect operator safety.
Location Indoor use only
Maximum altitude 2000 m
Temperature range 15°C to 40°C
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.
Do not expose the stage to magnetic fields as this could affect the positioning and homing sensor operation.
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.
The unit is not designed to be used in explosive environments.
The unit is not designed for continuous operation. Typical lifetime is 3.3 million switching operations, which equates to 100 km
of travel – see Chapter 5 for more details.
Mounting
Warning
The safety of any system incorporating this equipment is the responsibility of the person performing the installation.
Caution
Although the module can tolerate up to 8 kV of air discharge, it must be treated as ESD sensitive device. When
handling the device, anti-static precautions must be taken and suitable discharge appliances must be worn.
When handling the stage, take care not to touch the wires to the motors.
Do not bend the wires over the motor spring as this affects the performance of the unit.
Do not allow the wires to contact other moving parts.
The ribbon cable connector is made of plastic and is not particularly robust. Do not
use force when making
connections. Unnecessary or repeated plugging in and unplugging should be avoided or the connector may fail.

ELL14 Motorized SM1 Optic Rotator Chapter 3: Description
Page 4DTN000522-D02
Figure 1 ELL14 Rotation Stage showing its 3 Possible Mounting Hole Patterns
The rotator is shipped with two SM1 retaining rings, allowing SM1 optics to be fitted. There are several options for mounting the
rotator.
The unit can be mounted directly into a 60 mm cage system using the Ø3.0 mm through holes in the PCB.
Figure 2 ELL14 Mounted in a 60 mm Cage System

ELL14 Motorized SM1 Optic Rotator Chapter 3: Description
Rev. B, Feb 2020 Page 5
When combined with four SR-series posts, the rotator can be fitted to our ER-series cage rods within a 30 mm cage system.
Figure 3 ELL14 Mounted in a 30 mm Cage System
If combined with the SR-series posts and the ELLA1 Adapter, the unit can be mounted on our range of Ø1/2" posts or used with
SM1-threaded components, such as lens tubes.
Figure 4 ELL14 Post Mounting

ELL14 Motorized SM1 Optic Rotator Chapter 4: Operation
Page 6DTN000522-D02
Chapter 4 Operation
Getting Started
Caution
Although the module can tolerate up to 8 kV of air discharge, it must be treated as an ESD sensitive device. When
handling the device, anti-static precautions must be taken and suitable anti-discharge appliances must be worn.
Do not expose the rotator to magnetic fields as this could affect the positioning and homing sensor operation.
When power is applied, do not connect or disconnect the ribbon cable connecting the USB/PSU adapter to the rotator
PCB. Always remove power before making connections.
Warning
If the device is operated over a prolonged time period, the motor housing may become hot.This does not affect motor
operation but may cause discomfort if contacted by exposed skin.
1. Perform the mechanical installation as detailed in Section 3.1
2. Turn on and boot up the host PC.
3. Connect the handset to the stage if required.
Caution
The unit is easily damaged by connections with incorrect polarity. Pin 1 of the connector on the PCB is marked with
an arrow (see Figure 5 and Figure 6) which should be adjacent to the red wire in the connecting cable.
1. Connect the stage to a 5V supply and switch ‘ON’. (A 5 V PSU is supplied with the ELL14K).
Caution
Boot up the PC BEFORE connecting the USB cable. DO NOT connect a powered ELL kit to a PC that is
not powered up and running.
2. Using the USB cable supplied, connect the handset to the PC.
3. If required, and wait for the drivers to be installed.
4. Home the stage. Homing is necessary to align the sensor and establish a datum from which all future moves
are measured.
4.1.1 Homing
Homing is achieved using a combination of a reflecting optical sensor (IR) forcoarse (0.5 to 1.0 mm) positioning, then a magnetic
sensor for fine (1.0 µm resolution) positioning (the magnetic sensor is also used for positioning during subsequent moves). Using
the ELLO software, the user can modify the offset value to shift the homing position (up to a ¼ of turn). Furthermore, coarse
homing can be selected in a clockwise or counter clockwise direction (the switch between coarse to fine homing is always
performed in the same direction to guarantee repeatability).
4.1.2 Position Error Compensation
The rotator has a positioning error compensation algorithm. When moving from one position to another, the rotator detects the
error between the requested and actual positions and will calculate an error compensation value, which is then applied to the
nextmovement. The calculation is applied automatically and is continually updated, but generally the optimum value is calculated
within 2 to 6 motions.

ELL14 Motorized SM1 Optic Rotator Chapter 4: Operation
Rev. B, Feb 2020 Page 7
Controlling the Rotator
The rotator can be controlled in three ways; via the handset, by the Elliptec software running on a PC, or by writing a custom
application using the messages described in the communications protocol document. Homing and Jogging functionality can also
be accessed by applying voltages to the digital lines on Connector J1. The modes of control are described in the following
sections.
Caution
In all modes, the angular position is requested and displayed from 0 to 359.99°. If a rotator is driven past the 359.99°
rotation point, the display reverts back to zero and counts up to 359.99° again. Furthermore, the unit will not respond
to requests for a move to a position greater than 359.99° and an error message will be generated.

ELL14 Motorized SM1 Optic Rotator Chapter 4: Operation
Page 8DTN000522-D02
4.2.1 Hand-held Controller
Caution
On power up the rotator will move while the unit checks the sensors and then searches for the home position.
The hand-held controller supplied with the ELL14K Evaluation Kit features two buttons (marked FW and BW) that allow control
of the rotator position. The handsetalso provides for connection to thehost PC and to the external 5V power supply. The external
PSU connector allows the rotator to be used in the absence of a PC, with control being achieved via the handset buttons.
LED1 (green) is lit when power is applied to the unit. LED2 (red) is lit when the device being driven is in motion.
Figure 5Handset Details
Caution
The rotator must be homed before performing any Jog moves.
1. Home the rotator by pressing the BW button.
2. To jog forward, press and hold JOG and then press FW. The default jog step value is 45 degrees.
The jog step size can be changed in the software GUI, see the help file for details.
3. To jog backward, press and hold JOG and then press BW.

ELL14 Motorized SM1 Optic Rotator Chapter 4: Operation
Rev. B, Feb 2020 Page 9
4.2.2 Software Control
When connected to the host PC, the rotator can be controlled remotely, via the Elliptec software.
1. Download the Elliptec software from the downloads section at www.thorlabs.com. Double click the saved .exe file
and follow the on-screen instructions.
2. Connect the hand-held controller to the rotator unit.
3. Connect the hand-held controller to the 5V Power Supply and switch on.
4. Connect the hand-held controller to the PC USB port and wait for the drivers to be installed.
5. Run the Elliptec software.
6. In the top left of the GUI panel displayed, select the COM port to which the device is connected, and click
‘Connect’. The software will search the comms bus and enumerate the device.
7. Click the Home Offset ‘Get’ button, then click ‘Home’ to home the rotator.
8. The GUI and device are now ready for use. See the help file supplied with the software for more information.

ELL14 Motorized SM1 Optic Rotator Chapter 4: Operation
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4.2.3 Communications Protocol
Custom move applications can be written in languages such as C# and C++.
The communication bus allows multi-drop communication with speeds at 9600 baud, 8 bit data length, 1 stop bit, no parity.
Protocol data is sent in ASCII HEXformat, while module addresses and commands are mnemonic character (no package length
is sent). Modules are addressable (default address is “0”)andaddresses can be changed and/or saved using a set of commands.
Lower case commands are sent by user while upper case commands are replies by the module.
Please refer to the communications protocol manual for more detail about commands and data packet formats.
4.2.4 Connecting Multiple Devices
When a device is first connected to the PC, it is assigned the default address '0'. The software can run multiple devices; however,
beforemorethan onedevice can be recognized, each device must be assigned a unique address. See below for a brief overview;
detailed instructions are contained in the help file supplied with the software.
Connect the first device to the PC USB port, then run the Elliptec software and load the device.
Change the address of the first device.
Connect the next device to the first device.
Change the address of the second device.
Multiple devices can be controlled individually, either via the Elliptec software or by a third party application written using the
messages detailed in the protocol document. Control via the handset is applied to all devices simultaneously.
4.2.5 Controlling the Rotator Without the Handset
Caution
During normal operation each motor is protected with a time out of 2.5 seconds to prevent overheating. Do not override
this protection or drive the motors continuously.
In the absence of the handset, the rotator is controlled via digital lines: forward, backward and mode (J1 pins 7, 6 and 5) by
shorting the corresponding line to ground (pin 1).
When the rotator is moving, the open drain IN MOTION digital line (pin 4) is driven low (active low) to confirm movement. The
IN MOTION line goes high (inactive) when the move is completed or the maximum time-out (2.5 seconds) is reached.
Warnings
Do not exceed the voltage and current ratings stated in Figure 6.
Do not reverse polarity.

ELL14 Motorized SM1 Optic Rotator Chapter 4: Operation
Rev. B, Feb 2020 Page 11
Connector J1 Pin Out
PIN
TYPE
FUNCTION
1
PWR
Ground
2
OUT
ODTX - open drain transmit 3.3V TTL RS232
3
IN
RX receive - 3.3V TTL RS232
4
OUT
In Motion, open drain active low max 5mA
5
IN
JOG/Mode, active low max 5V
6
IN
BW Backward , active low max 5V
7
IN
FW Forward, active low max 5V
8
PWR
VCC +5V +/-10% 800mA
Connector model number MOLEX 90814-0808 Farnell order code 1518211
Mating connector model number MOLEX 90327-0308 Farnell order code 673160
Figure 6 Connector J1 Pin Out Details

ELL14 Motorized SM1 Optic Rotator Chapter 4: Operation
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Frequency Search
Due to load, build tolerances and other mechanical variances, the default resonating frequency of a particular motor may not be
that which delivers best performance. A frequency search can be performed using the Main GUI Settings panel in the ELLO
software, or by using the serial communication line (SEARCHFREQ_MOTORX message), which offers a way to optimize the
operating frequencies for backward and forward movement.
This search can also be performed manually by restoring the factory settings – see Section 4.5.
Periodic Cycling of Devices Over Full Range of Travel
Caution
Periodically, devices should be moved over the full range of travel, from one end to the other. This will help minimize
the buildup of debris on the track and will prevent the motors digging a groove over the most used area of contact.
Typically, a travel cycle should be performed every 10K operations.
Restoring Factory Settings
Factory settings can be restored during the startup (calibration) test as follows:
1. Remove power from the rotator and disconnect the USB cable.
2. Press and hold the BW button (do not release until item 5).
3. POWER UP and reconnect the USB.
4. WAIT for red LED to switch on.
5. Release BW. The unit will reboot and load the default factory values.
Simultaneous Movement of Devices
If more than one device is connected to the comms bus, movement of the devices can be synchronized. This can be achieved
either by using the handset, or by software. See the protocol document for details on how to use the ‘ga’ message to synchronize
moves. If using the handset, synchronized movement is hard wired, so if multiple devices are connected, pressing the FW or
BW buttons will move all devices.

ELL14 Motorized SM1 Optic Rotator Chapter 5: Troubleshooting and FAQ
Rev. B, Feb 2020 Page 13
Chapter 5 Troubleshooting and FAQ
Frequently Asked Questions
Rotator not moving
Check power supply lines ratings (polarity, voltage drop or range, available current) or reduce cable length.
Check module is not in boot loader mode (power cycle the module to exit boot loader). Current consumption must be higher
than 36 mA at 5 V.
Rotator does not complete homing commands
Power cycle the unit.
Perform a frequency search on both motors.
Rotator switching time increased / max load decreased
Check power supply voltage provided on J1 connector, increase voltage within specified limits if voltage drop along cable goes
below 5 V during system operation.
Clean the moving surfaces. To avoid grease contamination, do not touch the moving parts.
Temperature change may affect the rotator performance. Using the software to perform a frequency search will compensate as
needed (required current could reach 1.2 A during frequency search, use an additional 5 V 1 A power supply and a USB
connection).
Integrators should search for optimal frequency on every power up sequence (commands “s1”, “s2” see ELLx protocol
document).
How do I restore the factory (default) settings
Factory settings can be restored during the startup (calibration) test – see Section 4.5.
Motor optimization does not work.
The optimization may fail if the device is damaged, if the load is heavily unbalanced or changed in position during the
optimization, or if the power supply is not stable.
Note
Do not run more than one device optimization at the same time on the same bus and power supply.
The current drawn can overload the power supply. Allow 20 minutes of cool down between consecutive optimizations
on the same device.
If the optimization fails, the device will try to reload the previous settings. If this reload fails, perform a frequency search (see
section 4.3) to reload the settings.
The unit is not responding after power up
During the power up sequence, if the user holds down the JOG, BW and FW lines to ground, the module will go into a boot
loader (firmware update) mode.
Power cycle the unit again without pressing the 3 buttons at the same time to exit from the boot loader mode.

ELL14 Motorized SM1 Optic Rotator Chapter 5: Troubleshooting and FAQ
Page 14 DTN000522-D02
The device is not responding during cleaning or optimization
This is normal.
The cleaning and the optimization routines block a device and the associated communication bus for several minutes. When
one of these routines is initiated, the bus is unavailable until the routine is completed, and the device replies busy ‘0GS09’ to all
commands except the stop command ‘0st’ (for a unit at address 0). The stop request can take up to 5 seconds to abort the
operation.
During these routines, the unit may increase in temperature by several degrees. Because of this inherent temperature increase,
consecutive cleaning and optimization routines should be avoided.
After optimization or cleaning, allow a 20 min cool down period before use.
What is the typical product life time?
ELL14 product life time is restricted by the wearing of moving surfaces and the motor contact as motion is started (due to
resonance build up) and performed (due to friction), and is expressed in km travelled. Lifetime will depend on several factors
(e.g. load, number of homing operations, number of frequency searches etc.) and users must take into account all these factors
when considering life time. For example, homing requires more travel than a simple motion, and a frequency search may not
generate any motion at all, but still energizes the motors fully.
The unit is not designed for continuous operation. Users should aim for a duty cycle of less than 40% wherever possible, and
never exceed a duty cycle of 60% for longer than a few seconds. Furthermore, it is good practice to move in the shortest path,
so from position 350° to 5° it is better to move CW 15° (relative move) rather than CCW 345° (absolute move).
A typical lifetime is more than 100 km or 600,600 revolutions.
Handling
The rotator and interface board are robust to general handling. To ensure reliable operation, keep the surface of the plastic track
contacted by the motors free of oils, dirt, and dust. It is not necessary to wear gloves while handling the linear rotator, but avoid
touching the track to keep it free of oils from fingerprints. If it is necessary to clean the track, it may be wiped with isopropyl
alcohol or mineral spirits (white spirit). Do not use acetone, as this solvent will damage the plastic track.

ELL14 Motorized SM1 Optic Rotator Chapter 5: Troubleshooting and FAQ
Rev. B, Feb 2020 Page 15
Notes on Making a Picoflex Cable for Use when Daisy Chaining Devices
The multi-drop communications bus offers the option of connecting the stage to a hybrid network of up to 16 Elliptec resonant
motor products and controlling the connected units with a device such as a microprocessor. When multiple units are connected
to the same interface board, all can be controlled simultaneously using either the software or the buttons on the interface board.
When making a cable to operate multiple devices it is important to observe the correct pin orientation. The following procedure
offers guidance in making such a cable.
1. Gather together the parts required.
a) Ribbon cable 3M 3365/08-100 (Farnell 2064465xxxxx).
b) Female crimped connectors as required - model number MOLEX 90327-0308 (Farnell order code 673160) (Qty 1
female connector above is shipped with each stage unit).
c) Suitable screwdriver and scissors or other cutting tool.
2. Orientate the first connector correctly to mate with the connector on the stage, then arrange the ribbon cable as shown
with the red wire aligned with pin 1 (identified on the pcb by a small triangle). Slide the connector onto the ribbon cable
as shown.

ELL14 Motorized SM1 Optic Rotator Chapter 5: Troubleshooting and FAQ
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3. Using a screwdriver or other suitable tool, push down the crimp of each pin to make connection with the ribbon cable.
4. If other connectors are required they should be fitted at this point. Slide each connector onto the cable, paying attention
to the orientation as shown below, then crimp as detailed in step (3).
5. Fit the terminating connector which will mate with the interface board, taking care to align the cable red wire with pin 1
as detailed in step (2).

ELL14 Motorized SM1 Optic Rotator Chapter 6: Specifications
Rev. B, Feb 2020 Page 17
Chapter 6 Specifications
General Specificationsa
Travel
720° b
Minimum Life Time
100 km (>600,000 revolutions)
Max Speedc
430 °/s
Bidirectional Repeatabilityd
0.05 °
Homing Repeatability
0.25 °
Bidirectional Accuracye
0.4 °
Backlash
0.013 °
Encoder Resolution
143360 Counts/rev
Minimum Incremental Motion
0.002 °
Minimum Motor Holding Torque
(both motors engaged)
0.01 N•m
Axis Wobblef
0.014 °
Max Load
50 g (centered)
Limit Switches
None
Mounting
30mm cage system – 4.0 mm holes and SR adapters
(available separately)
60 mm cage system – 3.0 mm holes through PCB.
Rated Voltage
4.5 to 5.5 V
Typical Current Consumption During Movement
800 mA
Standby Current
0.05 A
Motor Type
Elliptec Resonant Piezo
8-Conductor Ribbon Cable Length (Supplied)
250 mm
8-Conductor Ribbon Cable Length (Maximum)
3 m
Operating Temperature Range
15 to 40 °C (59 to 104 °F)
Dimensions
66.0 x 82.5 x 19.0 mm (2.6” x 3.25” x 0.75”)
Weight (Rotator Only)
Metric 80 g, 0.176 lb
a All values measured with a load of 64 g and a moment of inertia of 6600 g•mm2
bduty cycle of 15 secs running, followed by a 20 sec cooling down period. If the running time is shorter, then so is the required
cool down time.
cSome natural variability in the maximum speed may be experienced. Max speed will increase with usage.
dMaximum difference between clockwise and anticlockwise movement to the same position
eMaximum deviation from true
fMax deviation from center of rotation

ELL14 Motorized SM1 Optic Rotator Chapter 7: Regulatory
Page 18 DTN000522-D02
Chapter 7 Regulatory
Declarations of Conformity
7.1.1 For Customers in Europe
7.1.2 For Customers in the USA
This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant 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 the company could void the user’s authority to operate the equipment.