THORLABS MAX200 User manual

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Microscopy Accessories
Motorized X-Y Stages
Model Numbers MAX200
MAX201
MAX202
MAX203

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Contents
Contents
1 For Your Safety ........................................................................................... 2
Safety Information .......................................................................................................... 2
Warnings ........................................................................................................................ 3
2 Overview ..................................................................................................... 4
Introduction .................................................................................................................... 4
3 Operation .................................................................................................... 6
General .......................................................................................................................... 6
Encoder Calibration Check ............................................................................................ 7
Enabling Encoder Support ............................................................................................. 8
Encoder Operation ......................................................................................................... 9
Selecting Encoder Support .................................................................................... 9
Encoder Calibration Table ................................................................................... 10
Position Correction Mode .................................................................................... 13
4 Installation ................................................................................................ 16
Unpacking .................................................................................................................... 16
Mounting ...................................................................................................................... 16
General ................................................................................................................ 16
Mounting To An Olympus IX Frame .................................................................... 17
Mounting To A Nikon TE2000 Microscope ........................................................... 18
Fitting an SCXY100 Piezo Stage ......................................................................... 19
Fitting a 96 Hole Well Plate .................................................................................. 20
Troubleshooting The Encoder ...................................................................................... 21
Cleaning ....................................................................................................................... 21
Transportation .............................................................................................................. 21
Electrical Connections .................................................................................................. 22
Dimensions .................................................................................................................. 23
MAX200 and 201 Dimensions ............................................................................. 23
MAX202 and 203 Dimensions ............................................................................. 24
SmartSignal Electronics Module Dimensions ...................................................... 25
5 Specification ............................................................................................. 26
6 Spares and Accessories .......................................................................... 27
Parts List ...................................................................................................................... 28

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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
Equipotentiality (bonding) terminal
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.
!

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Chapter 1 For Your Safety
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.

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Chapter 2
Overview
2.1 Introduction
The MAX200 series motorized microscopy stages have been designed to assist CCD
based image acquisition and X-Y motor control of specimens, and they use many of
the components and design concepts incorporated into our 20 year history of
precision motion control.
Essentially, the stage consists of a pair of linear stages coupled through an
intermediate moving world. Stepper motors with a high precision lead screw are used
to position each axis independently. The intermediate moving world and the specimen
holder feature a clear aperture of 75mm x 25mm to permit easy viewing of standard
microscope slide specimens.
The MAX200 (standard) and MAX201 (encoded) stages have been designed to be
compatible with our MicroScan series of piezo scanning stages. The MicroScan
family consists of three stages, offering high speed piezo actuated motion in Z, XY
and XYZ axes. The MAX202 (standard) and MAX203 (encoded) have longer travel,
and are compatible with a standard 96 hole well plate. Accessory plates are available
for all stages to allow the positioning of standard microscope slides and Petri dishes.
To drive the MAX200 series, we recommend the APT BSC102 precision 2 channel
controller. This controller operates with both open and closed loop versions of the
MAX200 stages. However, if the stage is to be used in conjunction with a MicroScan
series piezo stage, we offer a hybrid controller BPS103 that contains 2 channels of
stepper motor control AND a channel of piezo electric control. This makes a
particularly convenient and cost effective solution for motorized XY control and piezo
electric Z control.
Note. The MAX201 and MAX203 encoded stages incorporate a linear encoder sensor
and a SmartSignal electronics module, designed by MicroE Systems. When the stage is
driven by a Thorlabs stepper motor actuator, all programmable and diagnostic features
are enabled via the APT server software. If the stage is to be driven by a third party
stepper motor controller, then an RS232 Interface Adapter and additional ‘SmartSignal’
software are required before the encoder functionality can be enabled. These are
available directly from MicroE Systems.
The APT Server includes full support for encoded position feedback. We manufacture
a number of linear encoded equipped stage/actuator combinations with associated
electronics and cabling in order to connect to the APT range of stepper controller units
(both bench top and modular rack variants).
All stages fit the Olympus IX71 microscopes with no additional hardware, mounting
adapters for the Nikon TE2000 may be purchased separately (part number
MAX200A1 – see Section 4.2.3. while the Zeiss Axiovert 200 microscopes are
compatible ONLY with the MAX202 and MAX203 stages.

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Chapter 2 Overview
Fig. 2.1 MAX200 stage with 96 hole well plate and mounted on a microscope

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Chapter 3
Operation
3.1 General
Caution. The MAX200 series stages form part of the Thorlabs Nanopositioning system
and should be driven by one of the Thorlabs BSC10X series Stepper Motor Controllers.
For full compatibility, the controller should have Firmware version 1.0.3 or higher. The
Firmware version is displayed in brackets, in the top right hand corner of the GUI panel
for the Motor ActiveX control.
The stages are connected to the controller via a flying lead terminated in a D-type
connector.
Warning. The stepper motor 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.
For a complete tutorial on using the stage with a stepper motor controller, see the
relevant controller manual. Basic steps in controlling the stage are as follows:
1) Run the APTConfig utility and associate the controller serial number, stage type
and channel number – see the APTConfig helpfile for further details.
2) Move each axis to its home position, to establish a zero datum.
3) Set commands to move each axis by relative and absolute amounts – see the
helpfile supplied with the APT server for more information.
A default configuration for the stage is stored in the APT server – see Table 3.1.
Table 3.1 Standard configurations for motor drives
Parameter Value
Maximum Velocity 10 mm s-1
Minimum Velocity 0 mm s-1
Slope 0.5 mm s-2
Backlash control 1
Backlash distance 0.01 mm
Mode Linear
Microsteps to units 51200
Offset 0.5 mm
Minimum position 0.00 mm
Maximum position X-axis - 50mm
Y-axis - 75mm

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Chapter 3 Operation
3.2 Encoder Calibration Check
Note. This section is applicable only to the MAXY encoded stage.
Note. The MAX201 and MAX203 stages incorporate a linear encoder sensor and a
SmartSignal electronics module, designed by MicroE Systems. When the stage is driven
by a Thorlabs stepper motor controller, all programmable and diagnostic features are
enabled via the APT server software. If the stage is to be used with a third party
controller, then an RS232 Interface Adapter and additional ‘SmartSignal’ software are
required before the encoder functionality can be enabled. These are available directly
from MicroE Systems.
Calibration of the encoder is performed at the factory during manufacture. The
following calibration check should be performed if the SmartSignal electronics module
is replaced, or when the accuracy of the system is in doubt. If the calibration check
cannot be performed satisfactorily, the unit should be returned to the factory for
recalibration.
1) Connect the electronics module to the APT stepper motor controller using the
cable supplied- see Section 4.6.
2) Position the stage at least 6 mm (1/4 in.) away from its mid point.
3) Insert a small diameter, non-metalic shaft (e.g. plastic paper clip) into the hole in
the casing and push the Calibration button - see Fig. 3.1. The Power/Calibration
LED flashes continuously.
4) Move the stage backwards and forwards over its mid point until the Power/
Calibration LED stops flashing.
5) Move the actuator over its complete range of travel. The green ‘Proper Alignment’
LED should remain lit. If the yellow or red LEDs light, see Troubleshooting,
Section 4.3.
Fig. 3.1 Calibration indicators
power/calibration LED
alignment LED
(proper alignment - green
optimal alignment - bright green)
improper alignment LED - red
improved alignment LED - yellow
calibration button

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MAX200 Series Motorized Microscopy Stages
3.3 Enabling Encoder Support
To enable the encoder support within the APT Server, use the APT Config utility to
associate the required motor drive channel with the encoded stage - see the
handbook supplied with the motor controller for more details.
Fig. 3.2 Associating a drive channel with an encoded stage type

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Chapter 3 Operation
3.4 Encoder Operation
3.4.1 Selecting Encoder Support
When an encoded stage type has been associated with a motor channel (see Section
3.3.), encoder feedback support (both GUI and programmable interfaces) is enabled
in the corresponding Motor ActiveX Control.
On the main motor graphical panel an 'Encoder' button is displayed at the bottom left
of the panel.
Fig. 3.3 Motor GUI panel with encoder button
1) Click the 'Encoder' button to display the 'Encoder Control Panel'.
This panel is used to enable/disable encoder position feedback control and to alter
the modes of operation when encoder control is enabled.

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MAX200 Series Motorized Microscopy Stages
Positioning Mode
MicroStep Positioning - By default the software is set to 'Microstep Positioning' mode. In
this mode, all position displays and motor moves are based on positions derived from the
internal microstep counters within the controller (i.e. are not based on the encoder count).
For example, the APT system can control to a resolution of 25600 microsteps per
revolution. For a stage or actuator with a 1 mm pitch lead screw, the controller will
generate 25600 microsteps to move 1 mm. To display position values, the software
converts the microstep count into a 'real world' position by dividing by 25600.
Encoder Positioning - If 'Encoder Positioning' is selected, other controls on the panel
become available.
In this mode, the position displays on the GUI panel, and all motor moves, are based
on positions derived from the encoder system fitted to the stage/actuator. So for
example, the encoders currently fitted to our stages are set to 10000 counts per mm
(i.e. 0.1micron per count). To move 1 mm, the controller will drive out the appropriate
number of microsteps to result in an encoder count change of 10000. To display
position values, the software will convert the encoder count into a 'real world' position
by dividing by 10000.
Note. The positions values returned by the GetPosition and GetPositionEx methods are
derived from the microstep count in 'Microstep Positioning' mode and from the encoder
count in 'Encoder Positioning' mode - see the APT Server helpfile for more details.
3.4.2 Encoder Calibration Table
For a perfect 1mm pitch lead screw, a microstep count of 25600 would equate exactly
to an encoder count of 10000. However, due to lead screw pitch, non-linearity and
other cyclic errors, this is not achievable in the ‘real world’. It is the purpose of the
encoder feedback handling within the APT software to accommodate for this and
achieve the required encoder position (the more accurate position reading).
One way to accommodate for this lead screw non-linearity is for the system to acquire
a look up table of microstep count verses encoder count readings. Using this
'calibration' table the system is then able to adjust the microstep count required (to
drive the motor) to achieve the required encoder count.

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Chapter 3 Operation
Setting Up a Calibration Table
There are various user settings which relate to encoder calibration table acquisition.
1) Click the ‘Settings’ button on the motor GUI, and select the ‘Encoder’ tab.
Fig. 3.4 Motor settings - Encoder tab
2) The upper collection of settings on this panel relate to Calibration Table
functionality (see Section 3.4.3. for details on the lower collection of settings).
Encoder Calibration - Sets the overall encoder calibration factor in counts/mm or
counts/degree. On encoder equipped stages currently available, this factor is
factory set to 10000 (i.e. 10000 counts/mm or 0.1micron per count).
Calibration Sequence Step Size (mm or degrees) - Specifies the stepping
distance to use when a calibration table is acquired. For example, a stepping
distance of 0.2mm instructs the system to stop every 0.2mm, to read the encoder
count during a calibration sequence.
Calibration Sequence Sample Dwell (ms) - In many cases it is good practise to
allow the stage mechanics to settle for a short period (allowing vibrations and
other transients to die down) before sampling the encoder reading.
This parameter specifies the dwell time (in ms) to wait at each position point
visited during an encoder calibration sequence, before reading the encoder count.
Encoder QEP Sense - Specifies the sense of the encoder signals being read by
the controller electronics, i.e. positive or negative. There is one setting applicable
for a particular stage/encoder system and when set should not be altered.
Note. These settings are set to suitable defaults automatically when an encoded stage
type has been associated with the motor channel (using the APT Config utility).

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MAX200 Series Motorized Microscopy Stages
Acquiring a Calibration Table
1) Click the 'Calibrate' button on the Encoder control panel (or call the CalibrateEnc
method).
The 'Encoder Control Panel' closes and the system begins the calibration sequence
by first homing the channel and then moving through a series of user defined
microstep position points taking the encoder reading at each. This process can take
several minutes.
Once a calibration table has been acquired it can be enabled by clicking the 'Use
Calibration Table' checkbox.
Notes:
• The ‘Use Calibration Table’ checkbox is not enabled automatically and must be
enabled in the 'Encoder Control Panel'.
• It is not compulsory to use the calibration data (i.e. checking the 'Use Calibration
Tabel’ checkbox), however this is advisable if best system performance when using
encoder equipped stages is to be obtained.
• The encoder calibration table is used to generate the calibrated positions values
returned by the GetPositionEx method when in 'Encoder Positioning' mode.
• When in encoder positioning mode, the encoder calibration table overrides any other
calibration table associated with the particular motor channel using the APT Config
utility.

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Chapter 3 Operation
3.4.3 Position Correction Mode
In addition to the calibration table, the APT software can be set to invoke further
positioning correction at the end of an encoded move. This can sometimes be
required when there has been thermal drift in the mechanics since the time the
calibration table was acquired. There are two position correction modes available,
'Position (& Correct)' and 'Position (Stop Short & Correct)' selected using the 'Position
Correct Mode' drop down list.
Note. For best performance, the backlash correction distance should be set to zero
(either by calling the SetBLashDist method, or via the Settings panel Move/Jogs tab.
Position (& Correct)
In 'Position (& Correct)' mode, the system first attempts to move to the required
encoder based position (with or without calibration table support), and then adjusts
the motor position, using a series of very small correction steps, until the required
encoder position is achieved.
The various correction stepping parameters that affect this operation are found on the
'Encoder' tab of the settings tabbed dialog accessed using the 'Settings' button on the
main graphical panel.
Note that depending on the nature of the lead screw, the stage/actuator may end up
either side of the required position. The correction moves will be applied in both
forward or reverse directions as required in order to achieve the required encoder
position.
In some applications it is desirable to always 'reach' the required final position from
the same direction (conventionally using positive moves on Our stages). To support
this, the second 'Position (Stop Short & Correct)' correction mode is available.
Position (Stop Short & Correct)
When this mode is selected the system stops short of the intended position by a user
specified distance and then issues small position correction steps to achieve the
required final encoder position. Again the user adjustable parameters associated with
this operation are found on the 'Encoder' tab of the settings tabbed dialog accessed
using the 'Settings' button on the main graphical panel.

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MAX200 Series Motorized Microscopy Stages
There are various user settings which relate to the position correction modes
discussed above.
1) Click the ‘Settings’ button on the motor GUI, and select the ‘Encoder’ tab.
The lower collection of settings on this panel relate to encoder position
functionality (see Section 3.4.2. for details on the upper collection of settings)..
Fig. 3.5 Motor settings - Encoder tab
There are two encoder positioning correction modes as described previously. The
following parameters are used to adjust the operation of these correction modes.
Consider the following diagram that illustrates the role of each parameter:
Fig. 3.6 Positioning correction mode parameters

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Chapter 3 Operation
Encoder Position Setpoint Window (counts) - When an encoded move is corrected,
the system attempts to 'reach' a required position setpoint (i.e. encoder count). This
parameter specifies a window of acceptability (in encoder counts) that the system
must achieve.
For example, when set to a value of 1, the system must get to within 1 encoder count
either side of the required position. This setting is useful for noisy systems (i.e.
mechanical noise causing jitter on the encoder count) where achieving a precise
encoder count may prove difficult.
For an encoder calibration factor of 10000/mm, a value of 1 for this setting means the
system will position to within +-0.1micron of the required position.
Single Microstepping Window - Specifies a window within which the system attempts
to reach the required position setpoint by single microstep stepping - a very accurate
stepping mode. For example, if this parameter is set to a value of 10, and if the
encoded move initially ends up within 10 counts (1 micron for a calibration factor of
10000) either side of the required position, the system will single microstep to reach
the required position.
If at the end of the initial encoded move, the system detects the encoder position is
outside of this window, then the system steps at whatever multiple of microsteps is
specified by the 'Correction Move Distance' parameter described below, until the
encoder position falls within the Single Microstepping Window and single
microstepping can take place.
Stop Short Distance - When the 'Position (Stop Short & Correct)’ position correction
mode is enabled (described in the Encoder Operation section), this parameter
specifies the distance (in microsteps) to stop short of an encoded move.
Assuming 25600 microsteps per revolution of the stepper motor and a 1mm pitch lead
screw, a value of 250 equates to approximately 10 microns stop short distance.
Correction Move Distance - Specifies the size of correction step (in microsteps) to use
when the system issues correction moves outside of the distance set in the ‘Single
Microstepping Window’ parameter described above.
Assuming 25600 microsteps per revolution of the stepper motor and a 1mm pitch lead
screw, a value of 5 equates to approximately 0.2 micron step size.
Note. These settings are set to suitable defaults automatically when an encoded stage
type has been associated with the motor channel (using the APT Config utility).

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Chapter 4
Installation
4.1 Unpacking
Note. Retain the packing in which the unit was shipped, for use in future transportation.
Caution. Once removed from its packaging, the stage can be easily damaged by
mishandling. The unit should only be handled by its base, not by the motor or any
attachments to the moving platform.
4.2 Mounting
4.2.1 General
When mounting the stage close to other equipment, ensure that the travel of the
moving platform is not obstructed. If equipment mounted on the moving platform is
driven against a solid object, damage to the internal mechanism could occur. The
range of travel is as follows:
MAX200 and MAX201: X-axis 50mm (2"), Y-axis 75mm (3”).
MAX202 and MAX203: X-axis 105mm (4.13"), Y-axis 70mm (3.75”).
Caution. When mounting equipment to the moving platform, always use the fixings
supplied with the equipment being fitted. If these are not available, do not use fixings
that protrude more than 2.5mm below the bottom surface of the equipment being
mounted as this could damage the internal mechanism of the stage.
Damaging the stage in this way could invalidate the warranty.

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Chapter 4 Installation
4.2.2 Mounting To An Olympus IX Frame
The stages are mounted to the working surface by M5 screws through the base plate.
1) Remove the four M5 bolts securing the manual XY specimen stage, fitted as
standard to the microscope. Tilt back the lamp support unit as necessary.
2) Remove the manual XY specimin stage.
3) Fit the two shims (provided) between the stage and the microscope. This ensures
that the objective lens and turret cannot clash when the stage is moved.
4) Using the four M5 pozi pan bolts provided, fit the stage to the microscope. To
access the front mounting holes, turn the motor knob and move the carriage until
the holes are accessible in the base plate.
Fig. 4.1 Accessing the stage mounting holes
Rear mounting holes
Front mounting holes
turn knob to gain access
to front mounting holes

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MAX200 Series Motorized Microscopy Stages
4.2.3 Mounting To A Nikon TE2000 Microscope
Note. Mounting brackets MAX200A1 are required to mount the stage to the working
surface.
1) Remove the four M5 bolts securing the manual XY specimen stage, fitted as
standard to the microscope. Tilt back the lamp support unit as necessary.
2) Remove the manual XY specimin stage.
3) Using the bolts removed at item (1), fit the MAX200A1 mounting brackets to the
microscope. These plates ensure that the objective lens and turret cannot clash
when the stage is moved.
4) Using the four M5 pozi pan bolts provided, fit the MAX200 stage to the MAX200A1
brackets.To access the front mounting holes, turn the motor knob and move the
carriage until the holes are accessible in the base plate.
Fig. 4.2 Accessing the stage mounting holes

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Chapter 4 Installation
4.2.4 Fitting an SCXY, SCZ or SCXYZ Piezo Stage
This section is applicable only to the MAX200 and MAX201 stages
1) Fit the stage to the microscope as detailed in Section 4.2.2. or Section 4.2.3.
Note. During item (2) the stage can be fitted either face up, or face down, to suit the
reach and range of travel of the microscope focussing system.
2) Fit the piezo stage into place and secure using the four M3 hexagon screws
supplied.
Caution. The SCXY, SCZ and SCXYZ100 stages have different heights, and therefore
require different length fixings to secure them. Always use the fixings supplied with the
stage being fitted. If these are not available, do not use fixings that protrude more than
2.5mm into the moving platform as this could damage the internal mechanism of the
stage.
Damaging the stage in this way could invalidate the warranty.
Fig. 4.3 Mounting the SCXY piezo stage.
Mounting bolts for SCXY stage