THORLABS PD1 User manual

PD1(/M)
Piezo Inertia Drive Stage
User Guide

PD1 Piezo Inertia Drive Stage
Table of Contents
Chapter 1Warning Symbol Definitions..............................................................................................1
Chapter 2Safety....................................................................................................................................2
2.1.Safety Information...........................................................................................................2
2.2.General Warnings............................................................................................................ 2
2.3.General Cautions.............................................................................................................3
2.4.General Notes ..................................................................................................................3
Chapter 3Overview...............................................................................................................................4
3.1.Introduction .....................................................................................................................4
3.2.Included Components..................................................................................................... 4
3.3.Unpacking ........................................................................................................................5
3.4.Accessories .....................................................................................................................5
Chapter 4Installation............................................................................................................................6
4.1.Mounting ..........................................................................................................................6
4.1.1.General .................................................................................................................................. 6
4.1.2.Setting Up an XY & XYZ Stage Configuration ...................................................................... 8
4.1.3.Mounting Components to the Stage ................................................................................... 10
4.2.Electrical Connections..................................................................................................13
Chapter 5Operation.............................................................................................................................14
5.1.General ...........................................................................................................................14
5.2.Maintenance...................................................................................................................15
5.3.Transportation ...............................................................................................................15
Chapter 6Specifications.....................................................................................................................16
Chapter 7Frequently Asked Questions............................................................................................17
Chapter 8Mechanical Drawings.........................................................................................................18
Chapter 9Regulatory...........................................................................................................................20
Chapter 10Declaration of Conformity.................................................................................................21
Chapter 11Thorlabs Worldwide Contacts..........................................................................................22

PD1 Piezo Inertia Drive Stage Chapter 1: Warning Symbol Definitions
Rev C, February 9, 2021 Page 1
Chapter 1 Warning Symbol Definitions
Below is a list of warning symbols you may encounter in this manual or on your device.
Symbol Description
Direct Current
Alternating Current
Both Direct and Alternating Current
Earth Ground Terminal
Protective Conductor Terminal
Frame or Chassis Terminal
Equipotentiality
On (Supply)
Off (Supply)
In Position of a Bi-Stable Push Control
Out Position of a Bi-Stable Push Control
Caution: Risk of Electric Shock
Caution: Hot Surface
Caution: Risk of Danger
Warning: Laser Radiation
Caution: Spinning Blades May Cause Harm

PD1 Piezo Inertia Drive Stage Chapter 2: Safety
Page 2 CTN013949-D02
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 manual and, where visible, on the product
itself.
The following safety symbols may be used throughout the manual and on the equipment itself.
SHOCK WARNING
A shock warning is given when there is a risk of injury from electrical shock.
WARNING
A warning is given when there is danger of injury to users.
CAUTION
A caution is given when there is a possibility of damage to the product.
NOTE
This is a clarification of an instruction or additional information.
2.2. General Warnings
WARNING
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 and/or dust 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.
The equipment is not designed for use in an explosive atmosphere.
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.

PD1 Piezo Inertia Drive Stage Chapter 2: Safety
Rev C, February 9, 2021 Page 3
2.3. General Cautions
CAUTION
Dust and debris can reduce the lifetime of the stage. If left running unattended for extended periods of
time, the application should be covered where possible.
If the clamping force onto the moving platform is too high, this can cause reduced stepping
performance and possible stalling of the stage.
The stage’s screws are well adjusted and fixed. Loosening or removing any screws will change the
performance and invalidate the warranty, except where instructed to do so in this manual.
2.4. General Notes
NOTE
The slip-stick function of the mechanism uses a very short pulse width.
Continuous stepping of the stage results in an audible noise at a typical level of 60 to 70 dB.
The step size is defined as the distance moved in one step or pulse. This distance can be increased
by up to about 30% by changing the piezo drive voltage. The actual step size achieved for a given
drive voltage will be dependent on the application. Due to the open loop design, piezo hysteresis,
component variance, and application conditions, the achieved step size of the system may vary by
over 20% and is not normally repeatable.

PD1 Piezo Inertia Drive Stage Chapter 3: Overview
Page 4 CTN013949-D02
Chapter 3 Overview
3.1. Introduction
The PD1(/M) stage features a piezo inertia motor that uses friction and inertia to translate the platform in discrete
cycles. Each cycle consists of a relatively slow piezo expansion step accompanied by a rapid piezo contraction
step. During the expansion step, the moving platform moves in the same direction as the piezo element due to
friction, while the rapid piezo contraction causes the moving platform to slip and remain immobile due to inertia.
Continuous motion is achieved through repetition (“continuous stepping”) of this cycle and reverse travel is achieved
by performing the cycle in reverse.
The PD1(/M) stage has a 20 mm travel range and open loop operation. When driven by the KIM101 Inertial Piezo
Controller, the PD1(/M) stage offers continuous long term stepping as well as periodic position and hold mode with
3 N clamping/holding force. The stage can achieve a typical step size of 1 µm using different rise and fall voltage
rates that depend on the load.
Figure 1 Stage Features
3.2. Included Components
The PD1(/M) stage is delivered with the following components:
 Quick Start Card
 8-32 (M4) Cap Screws, 6 mm Long, 2 Pieces
 2-56 (M2) Cap Screws, 4 mm Long, 2 Pieces
 Ø2 mm Dowel Pin, 3 mm Long, 2 Pieces
 9/64" (3.0 mm) Hex Key
 5/64" (1.5 mm) Hex Key
 1.3 mm Hex Key
Moving Platform
Lock Plate
Stage Base
Drive Cable

PD1 Piezo Inertia Drive Stage Chapter 3: Overview
Rev C, February 9, 2021 Page 5
3.3. Unpacking
NOTE
Unpack the stage with care. Check the contents for signs of damage. If there is any sign of damage or
missing parts, contact Thorlabs immediately. The lock plate and corresponding M1.4 screws are used
to lock the stage during transportation or storage.
Unlock the upper M1.4 screw indicated by the note card using the included 1.3 mm hex key and remove the note
card before first use. Leave the M1.4 screw loosened during use.
Figure 2 Loosen the lock screw and remove the note card before use.
3.4. Accessories
The PD1B(/M) adapter provides a flat surface for mounting the PD1(/M) stage.
The PD1T(/M) adapter plate features a central 8-32(M4) tapped hole, both imperial and metric versions have four
4-40 tapped holes spaced for 16 mm cage systems.
The PD1U(/M) adapter plate features four 6-32 and four 8-32 tapped holes (or eight M4 tapped holes) in a cross
pattern. The bottom surface features five #8 (M4) counterbores, providing a convenient means of attaching a load
to the stage.
The PD1Z(/M) right-angle bracket allows the stage to be mounted in an XYZ configuration.
The PAA101 1.5 m extension cable and T5026 male adapter can be used to extend the drive cable length to 2.5 m.
CAUTION
Do not mount an imperial accessory to a metric stage or a metric accessory to an imperial stage.

PD1 Piezo Inertia Drive Stage Chapter 4: Installation
Page 6 CTN013949-D02
Chapter 4 Installation
4.1. Mounting
4.1.1. General
Mount the PD1(/M) stage on an even surface. The recommended flatness of the surface is ≤5 μm.
For applications with large temperature changes, only mount the PD1(/M) stage on a surface that has the same or
similar thermal expansion properties as the stage.
The mounting holes are accessible when the moving platform is at the ends of the translation range. The stage can
be mounted using two 2-56 (M2) screws near the corners with a maximum of 0.35 Nꞏm torque. Alternatively, two
8-32 (M4) screws can be used on either end of the stage with up to 0.55 Nꞏm torque.
Take care to mount the stage before attaching components to the stage’s moving platform.
Figure 3 Mounting Holes
CAUTION
Mounting the PD1(/M) stage on an uneven surface can warp the stage, degrading the performance and
possibly damaging the stage.
When mounting close to other equipment, ensure that the travel of the carriage is not obstructed. If
movement is obstructed the stage will stall, which could cause excessive wear and premature failure.
When using the stage in the proximity of other objects or equipment, ensure that movement of cables
connected to the moving carriage is not impeded.
Avoid touching the ceramic bar under the carriage plate.
Direction of Travel
1. Through Hole for 2-56 (M2) Cap Screw (2 Places)
2. Throu
g
h Hole for 8-32
(
M4
)
Ca
p
Screw
,
1"
(
25.0 mm
)
S
p
acin
g
(
2Places
)
2
1
1
2

PD1 Piezo Inertia Drive Stage Chapter 4: Installation
Rev C, February 9, 2021 Page 7
Thorlabs offers a mounting baseplate, PD1B(/M), to provide a flat surface for mounting and 1.00" (25.0 mm) long
#8 (M4) counterbored slot for attaching to table.
1. Firstly mount the PD1B(/M) to a breadboard or base plate or table using two 8-32 (M4) cap screws via 1.00"
(25.0 mm) long #8(M4) counterbored slot. Washers are recommended to be used under the 8-32 (M4) cap
screws to enhance the mounting and reduce damage to the plate by the screws.
2. Insert two 8-32 (M4), 6 mm long cap screws through the stage to the mounting plate. 8 mm long 8-32 (M4)
screws can also be used here. Two 2-56 (M2), 4 mm long screws can also be used to mount the stage to the
mounting plate.
Figure 4 Mounting Adapter PD1U(/M) on Moving Platform
8-32(M4) Cap Screw,
6 mm Long
#8(M4) counterbored slot
1.00"
(
25.0 mm
)
lon
g

PD1 Piezo Inertia Drive Stage Chapter 4: Installation
Page 8 CTN013949-D02
4.1.2. Setting Up an XY & XYZ Stage Configuration
CAUTION
In a multi-axis system, upper stage(s) and any mounting adapters must also be moved and should be
considered as part of the load.
Do not exceed the load capacity for any of the stages in a multi-axis system.
When a stage is mounted vertically, make sure that the installed load is lower than the push/pull force
of the stage.
Screws and locating dowel pins that are inserted too deep into the stage will damage it. Do not thread
screws into the top plate with excessive force as they may break through the terminating lip at the
base of each threaded hole.
To set up an XY system:
1. Insert two Ø2 mm, 3 mm long dowel pins into the lower stage’s two slots in diagonal corners.
2. Rotate the upper stage by 90° relative to the lower one and mount the two stages by the alignment of the
two dowel pins.
3. Insert two 2-56 (M2), 4 mm long cap screws through the upper stage to the lower one.
Figure 5 Setting Up an XY Configuration
2-56 (M2) Cap Screw,
4 mm Long
Ø2 mm Dowel Pin,
3 mm Long

PD1 Piezo Inertia Drive Stage Chapter 4: Installation
Rev C, February 9, 2021 Page 9
To set up an XYZ-axis system, firstly build the XY-axis system as above and then use an adapter plate. Thorlabs
offers a right-angle bracket adapter plate, PD1Z(/M), to mount the PD series stage vertically.
1. Insert two Ø2 mm, 3 mm long dowel pins into the lower stage’s two slots in diagonal corners.
2. Align the PD1Z(/M) bracket with vertical plane to the stage’s side face and parallel to stage’s cable direction
and mount the Z bracket to the stage by the alignment of the two dowel pins.
3. Insert two 2-56 (M2), 4 mm long cap screws through the right-angle bracket to the stage on the rear corners
from the vertical plane.
Figure 6 Setting Up an XYZ Configuration
4. Insert another two Ø2 mm, 3 mm long dowel pins into the vertical plane’s two slots in diagonal corners.
5. Align the Z stage to the vertical plane with its cable vertically and away from the lower stage, mount the Z
stage to the Z bracket by the alignment of the two dowel pins.
2-56 (M2) Cap Screw,
4 mm Long
Ø2 mm Dowel Pin,
3 mm Long

PD1 Piezo Inertia Drive Stage Chapter 4: Installation
Page 10 CTN013949-D02
6. Insert two 2-56 (M2), 4 mm long cap screws through the Z stage to the vertical plane, as shown in Figure
6. Alternatively, two 8-32 (M4), 6mm long cap screws can also be used to mount the Z stage to the vertical
plane.
4.1.3. Mounting Components to the Stage
CAUTION
Do not exceed the load capacity specified in Chapter 6.
The load’s center of mass should be over the platform.
Do not use screws and dowel pins that protrude past the maximum hole depth.
Figure 7 Mounting Holes on Moving Platform
Attach the load using screws and check that it is secure. We recommend aligning the load with a set of dowel pins
opposite each other relative to the center of the stage, as well as ensuring the load’s center of mass is over the
platform before driving the stage.
Thorlabs offers a thin mounting adapter plate, PD1T(/M), to provide a convenient means of attaching load to the
PD series stages by a central 8-32(M4) tapped hole and other 4-40(M2 & M3) tapped holes. Both the imperial and
metric versions have four 4-40 tapped holes spaced for 16 mm cage systems. Following is the example to show
how to mount PD1T(/M) to a PD1(/M) stage.
1. 2-56 (M2) Threaded Hole, 3 mm Deep (4 Places)
2. 8-32 (M4) Threaded Hole, 3 mm Deep, 1" (25.0 mm) Spacing (6 Places)
3. Ø2 mm Dowel Pin Hole
,
1.5 mm Dee
p
(
6 Places
)

PD1 Piezo Inertia Drive Stage Chapter 4: Installation
Rev C, February 9, 2021 Page 11
1. Insert two Ø2 mm, 3 mm long dowel pins into the moving platform’s two slots along the travel direction.
2. Mount the adapter plate to the stage by the alignment of the two dowel pins.
3. Insert two 2-56 (M2), 4 mm long cap screws through the adapter plate to the stage.
Figure 8 Mounting Adapter PD1U(/M) on Moving Platform
Thorlabs also offers a thick mounting adapter plate, PD1U(/M), to provide a convenient means of attaching load to
the PD series stages by five #8 (M4) counterbores. As shown in Figure 8:
1. Use the five #8 (M4) counterbores to mount the load from down up. Notice that the load should not cover the
two counterbores for the 2-56(M2) cap srews on the top surface.
2. Insert two Ø2 mm, 3 mm long dowel pins into the moving platform’s two slots along the travel direction.
3. Mount the adapter plate to the stage by the alignment of the two dowel pins.
4. Insert two 2-56 (M2), 8 mm long cap screws through the adapter plate to the stage.
2-56 (M2) Cap Screw,
4 mm Long
Ø2 mm Dowel Pin,
3 mm Long

PD1 Piezo Inertia Drive Stage Chapter 4: Installation
Page 12 CTN013949-D02
Figure 9 Mounting Adapter PD1U(/M) on Moving Platform
2-56 (M2) Cap Screw,
8 mm Long
Ø2 mm Dowel Pin,
3 mm Lon
g
#8 (M4) Counterbores

PD1 Piezo Inertia Drive Stage Chapter 4: Installation
Rev C, February 9, 2021 Page 13
4.2. Electrical Connections
CAUTION
The PD1(/M) stage must be driven by a Thorlabs KIM101 controller with 2019 or newer version and
firmware revision 010004 or higher. Earlier versions of the KIM101 controller or those with older
firmware will not function properly and may cause failure of the stage and/or the controller. The
previous-generation TIM101 controller is not compatible.
The stage is shipped with a 1 m (3.3 ft) cable that is terminated in an SMC connector. Connect the PD1(/M) stage
to one of the MOT (motor) terminals on the rear panel of the KIM101 controller - see the KIM101 controller manual
for pin out details.
Before driving the PD1(/M) stage, the configuration of the KIM101 must be set correctly, since the KIM101 controller
is configured by default to drive our piezo inertia actuators. Using the joystick and menu button, select the “Set
stage” option and change it from “PIA” to “PD(R)”, then restart the KIM101 controller. The display will show “Stage
is PD(R)” and the configuration will be changed to drive the PD1(/M) stage. Alternatively, using Kinesis software
with revision 1.14.18 or higher could also switch the configuration by choosing the stage type. See the KIM101
controller manual for additional front panel configuration details.
CAUTION
The KIM101 controller is configured by default to drive Thorlabs PIA series actuators. The
configuration must be changed to “PD(R)” before using the controller to drive the PD1(/M) stage, or
else the stage may experience degraded performance or damage may be caused to either the
controller, the stage, or both.
Confirm the configuration has been switched to PD(R) stage before using the KIM101 controller with
the PD1(/M) stage.
Thorlabs offers a 1.5 m extension cable (PAA101) and male adapter (T5026) to extend the drive cable
length to 2.5 m, see www.thorlabs.com.
Due to the capacitance of the cables, do not use cables longer than 2.5 m in total.

PD1 Piezo Inertia Drive Stage Chapter 5: Operation
Page 14 CTN013949-D02
Chapter 5 Operation
5.1. General
CAUTION
Confirm the configuration of the KIM101 controller has been switched to “PD(R)” stage.
WARNING
The piezo actuators in this product use high voltages. Voltages up to 125 V may be present at the
SMC connector. This is hazardous and can cause serious injury. Appropriate care should be taken
when using this device. Persons using the device must understand the hazards associated with using
high voltages and the steps necessary to avoid risk of electrical shock.
The piezo controller must be switched OFF before the stage is connected or disconnected. Failure to
switch the controller off may result in damage to either the controller, the stage, or both.
For a complete tutorial on driving the stage, see the manual supplied with the KIM101 controller. Basic steps in
controlling the stage are as follows:
1. Mount the PD1(/M) stage as detailed in Section 4.1.
2. Make electrical connections as detailed in Section 4.2.
NOTE
During operation, the stage makes a high pitch noise and may generate some heat. This is normal
behavior in the performance of the device and does not indicate a fault condition.
3. Run the software and click the ‘zero’ button on the GUI panel. This establishes a datum at the current
position, from which subsequent positional moves can be measured.
4. The stage can now be moved using the controls on the KIM101 unit, the GUI panel, or by sending
commands to move each axis – see the manual supplied with the KIM101 controller, and the help file
supplied with the software for more information.
NOTE
The PD1(/M) stage is an open loop device that has been designed to offer relative positioning which
can be commanded via the number of steps.
CAUTION
If the stage is driven to the end of its travel range, do not drive it further. Instead, stop or reverse the
driving direction to avoid excessive wear at the end stops.
Using a small working range permanently increases the wear in this area. Select another part of the
travel range for the working range if possible to spread the wear evenly and extend stage life.

PD1 Piezo Inertia Drive Stage Chapter 5: Operation
Rev C, February 9, 2021 Page 15
5.2. Maintenance
Periodically perform a maintenance run by driving the stage to travel back and forth across the entire travel range.
The frequency of this will depend on usage. In applications involving continuous use or where a small travel range
is used at a high duty cycle, the maintenance run should be performed often to ensure optimal performance of the
stage.
Due to the stick-slip (friction-inertia) nature of the mechanism, wear of the friction parts occurs during its lifetime.
Periodic maintenance helps to ensure the optimum stepping performance during its lifetime.
NOTE
The PD1(/M) stage is assembled with rust preventative oil. Don’t wipe the stage with organic solvent.
When necessary, clean the surfaces of the stage with a dry, dust-free cloth.
5.3. Transportation
CAUTION
When packing the unit for shipping, use the original packaging and lock the moving platform of the
stage using the lock plate and M1.4 screws. If the original packaging is not available, use a strong box
and surround the unit with at least 20 mm of shock absorbent material.

PD1 Piezo Inertia Drive Stage Chapter 6: Specifications
Page 16 CTN013949-D02
Chapter 6 Specifications
Item # PD1
(
/M
)
Travel Ran
g
e 20 mm
(
0.78"
)
T
y
pical Step Size1 1 μm
Maximum Step Size2<3 μm
Step Size Ad
j
ustabilit
y
2Up to 30%
Maximum Step Frequenc
y
2 kHz
Velocity (Typical Max,
Continuous Steppin
g)
33 mm/s
Average Velocity Variation
Over Travel Ran
g
e3 ±10%
Horizontal Load Capacit
y
3 k
g
(
6.61 lbs
)
V
ertical Load Capacit
y
4100
g
(
3.5 oz
)
Clampin
g
/ Holdin
g
Force 3N
Pitch / Yaw Over Travel Ran
g
e200 μrad
XY Stacked Ortho
g
onalit
y
<5 mrad
Lifetime* >10 Billion Steps
Connector T
y
pe SMC Female
Cable Len
g
th 1 m
(
3.3 ft
)
Cable Included
Piezo Capacitance 170 nF
Max Operatin
g
Volta
g
e125 V
Operatin
g
Temperature 10 to 40 °C
Dimensions 32.5 mm x 32.0 mm x 11.5 mm
(
1.28" x 1.26" x 0.45"
)
Wei
g
ht
(
Includin
g
Cable
)
76
g
(
2.68 oz
)
Note: all specifications are measured using the KIM101 controller and with the stage mounted on a surface with
flatness ≤5 μm.
*When mounted vertically, long term usage (>3 billion steps) may cause creep of the rails, leading to
decreased travel range. To avoid this, return the stage to a horizontal position and run it back and forth over the full
range several times after approximately 1 billion steps in a vertical orientation.
1This can vary by 20% due to component variance, change of direction, and application conditions.
2This is adjusted by changing the piezo drive voltage and frequency - see the KIM101 controller manual for more details.
3Specified at 2 kHz Step Frequency
4This is equivalent to the push/pull force along the axial/travel direction, which is 1 N.

PD1 Piezo Inertia Drive Stage Chapter 7: Frequently Asked Questions
Rev C, February 9, 2021 Page 17
Chapter 7 Frequently Asked Questions
How does a piezo inertia motor work?
A piezo inertia stage uses friction and inertia (“stick” and “slip”) to drive the moving platform. The piezo stack is
driven by a sawtooth voltage waveform. As the voltage is ramped up, the piezo will extend and push the moving
platform (stick). When the voltage is dropped to zero, the piezo returns to its original length. By using different rates
of voltage rise and fall, the moving platform travels more in one direction than the other due to inertia and different
frictional coefficients, resulting in residual linear travel.
What applications can they be used for?
Any ‘set-and-forget’ application, particularly where space is tight. The primary function of the PD1(/M) stage is
relative position and hold. The step size is dependent upon preload, and will differ between stages and applications.
They are not suitable where repeatable step size is required.
What is the lifetime of a typical piezo inertial motor?
The piezo stack of the actuator is rated for a service life of over 10 billion steps. With proper maintenance (see
Section 5.2), the wear performance of the stage’s friction parts should endure for this lifetime, however the speed
variation could change by up to 50% or more over time.
What driver can I use?
The PD1(/M) stage must be driven by a Thorlabs KIM101 controller version must be 2019 or newer (per the S/N
label) with a firmware revision of 010003 or higher (indicated when the controller is powered on). Earlier versions
of the KIM101 controller or those with older firmware will not function properly and may cause failure of the stage
and/or the controller. The previous-generation TIM101 controller is not compatible.
Ensure the controller’s stage mode is set to “PD(R)”.
What is the maximum length of cable?
The stages are shipped with 1 m (3.3 ft) of cable. Thorlabs offer 1.5 m (PAA101) extension cables and male
adapters (T5026) to extend this length to 2.5 m, see www.thorlabs.com. Due to the capacitance of the cables, do
not use cables longer than 2.5 m in total.

PD1 Piezo Inertia Drive Stage Chapter 8: Mechanical Drawings
Page 18 CTN013949-D02
Chapter 8 Mechanical Drawings
Figure 10 PD1 Imperial Stage Drawing