THORLABS PD2 User manual

PD2(/M)
Piezo Inertia Drive Stage
User Guide

PD2(/M) Piezo Inertia Drive Stage
Table of Contents
Chapter 1 Safety.........................................................................................................................1
Chapter 2 Overview....................................................................................................................3
Chapter 3 Installation .................................................................................................................6
3.1.1 General................................................................................................................................................................ 6
3.1.2 Setting Up an XY & XYZ Stage Configuration....................................................................................................... 9
3.1.3 Mounting Components to the Stage................................................................................................................. 14
3.2.1 General.............................................................................................................................................................. 17
3.2.2 Using PDXC Controller....................................................................................................................................... 17
3.2.3 Using KIM001 or KIM101 Controllers................................................................................................................ 18
Chapter 4 Operation.................................................................................................................19
Chapter 5 Specifications ...........................................................................................................21
Chapter 6 Frequently Asked Questions .....................................................................................22
Chapter 7 Mechanical Drawings................................................................................................23
Chapter 8 Regulatory................................................................................................................25
Chapter 9 Declaration of Conformity.........................................................................................26
Chapter 10 Thorlabs Worldwide Contacts ...................................................................................27

PD2(/M) Piezo Inertia Drive Stage Chapter 1: Safety
Rev A, August 4, 2022 Page 1
Chapter 1 Safety
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.
Caution: Hot Surface
The housing of the stage can get very hot during operation. Avoid touching it directly.
Note
This is a clarification of an instruction or additional information.

PD2(/M) Piezo Inertia Drive Stage Chapter 1: Safety
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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.
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.
General Notes
Note
The slip-stick function of the mechanism uses a very short pulse width.
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.

PD2(/M) Piezo Inertia Drive Stage Chapter 2: Overview
Rev A, August 4, 2022 Page 3
Chapter 2 Overview
Introduction
The PD2(/M) is a miniature stage with an ultra-compact footprint, ideal for motion control applications with
limited space. It 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 PD2(/M) stage has a 5 mm travel range with open-loop operation. When driven by the PDXC Inertial Piezo
Controller, the PD2(/M) stage offers continuous long term stepping as well as periodic position and hold mode
with 1.5 N clamping/holding force. The stage can achieve a typical step size of 0.5 µm using different rise and fall
voltage rates that depend on the load.
Figure 1 Stage Features
Included Components
The PD2(/M) stage is delivered with the following components:
•Quick Start Card
•00-90 (M1.2 x 0.25) Slotted Pan Head Screws, 2mm Long, 6 Pieces
•Ø1 mm Dowel Pin, 3 mm Long, 6 Pieces
Moving Platform
Stage Base
Drive Cable

PD2(/M) Piezo Inertia Drive Stage Chapter 2: Overview
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Pin Diagram
Figure 2 and Table 1 show the pin assignment and the signal definition of the female 15-pin D-Sub connector.
Figure 2 Female 15-Pin D-Sub Port Pin Assignment
Pin No.
Voltage
Name
Description
3
0 V
GND
Digital Ground
12
0 V
PGND
Power Ground
13
125 V Max
SigOut1
Piezo Output 1
14
5 V TTL
EEPROM
1-Wire EEPROM
1,2,4-11,15
-
-
Reserved
Table 1 Female 15-Pin D-Sub Signal Definition
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.

PD2(/M) Piezo Inertia Drive Stage Chapter 2: Overview
Rev A, August 4, 2022 Page 5
Accessories
The PD2T(/M) adapter plate features a central 8-32 (M4 x 0.7) threaded hole in the bottom surface, which
makes it convenient to connect to an optical post with an 8-32 (M4 x 0.7) setscrew. The bottom surface also has
six #00 (M1.2) counterbores for connecting a PD2(/M) stage on its top surface. There are also two 00-90 (M1.2 x
0.25) threaded through holes on the top and bottom surfaces for connection to a PD2(/M) stage. Two additional
00-90 (M1.2 x 0.25) mounting holes on the side of the plate can be used with a custom assembly to create a
“lock plate” that connects to a screw threaded into the 00-90 (M1.2 x 0.25) mounting hole in the side of the
PD2(/M) stage.
The PD2U(/M) adapter plate features a central #8 (M4) counterbore in the top surface, making it convenient for
a breadboard connection. The bottom surface features six #00 (M1.2) counterbores for connecting the PD2(/M)
stage. There are also two 00-90 (M1.2 x 0.25) threaded through holes on the top and bottom surfaces for
connection to a PD2(/M) stage. Two additional 00-90 (M1.2 x 0.25) mounting holes on the side of the plate can
be used with a custom assembly to create a “lock plate” that connects to a screw threaded into the 00-90 (M1.2
x 0.25) mounting hole in the side of the PD2(/M) stage.
The PD2Z(/M) right-angle bracket allows the PD2(/M) stage to be mounted vertically.
The PD2AD D-Sub to SMC adapter cable allows the stage to be driven by a KIM001 or KIM101 controller with an
SMC connection. Details are provided in 3.2.3.
Caution
Do not mount an imperial accessory to a metric stage or a metric accessory to an imperial stage.

PD2(/M) Piezo Inertia Drive Stage Chapter 3: Installation
Page 6 CTN018562-D02
Chapter 3 Installation
Mounting
3.1.1 General
Mount the PD2(/M) stage on an even surface. The recommended flatness of the mounting surface is ≤5 μm.
For applications with large temperature changes, only mount the PD2(/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 00-90 (M1.2 x 0.25) screws near the center with a maximum of 0.03 N·m torque.
Take care to securely mount the stage before attaching components to the stage’s moving platform.
Figure 3 Mounting Holes
Caution
Mounting the PD2(/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.
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.
Travel Direction
1. Counterbore Holes for 00-90 (M1.2 x 0.25) Slotted Pan Head Screw, 10.0 mm Spacing (2 Places)
1
1

PD2(/M) Piezo Inertia Drive Stage Chapter 3: Installation
Rev A, August 4, 2022 Page 7
Thorlabs offers two kinds of adapters, PD2T(/M) and PD2U(/M), to provide an even surface for attaching a
PD2(/M) to an optical post or table, respectively.
Connecting with the PD2T(/M) adapter:
1. Firstly mount the PD2T(/M) to an optical post by its center #8-32 (M4) tapped hole. The length of the #8-
32(M4) screw at the top end of the post should not be too long, and the recommend length is 8~10mm.
2. Align the stage and the adapter plate with two Ø1 mm, 3 mm long dowel pins.
3. Insert two 00-90 (M1.2), 1.2 mm long slotted pan head screws through the stage to PD2T(/M), and fasten
them.
Figure 4 Mounting PD2T(/M) Adapter on A Post
00-90 (M1.2) Slotted Pan Head Screw,
2 mm Long
Ø1 mm Dowel Pin,
3 mm Long
8-32 (M4) Tapped Hole
Optical Post

PD2(/M) Piezo Inertia Drive Stage Chapter 3: Installation
Page 8 CTN018562-D02
Connecting with the PD2U(/M) adapter:
1. First mount the adapter to a breadboard or base plate or table using the center #8 (M4) counterbore. With
limited hole depth, a washer cannot be used.
2. Align the stage and the adapter plate with two Ø1 mm, 3 mm long dowel pins.
3. Insert two 00-90 (M1.2 x 0.25), 1.2 mm long slotted pan head screws through the sides of the stage and
fasten them to the adapter.
Figure 5 Mounting PD2U(/M) Adapter on A Platform
00-90 (M1.2) Slotted Pan Head Screw,
2 mm Long
Ø1 mm Dowel Pin,
3 mm Long
Counterbore for 8-32 (M4)
Cap Screw

PD2(/M) Piezo Inertia Drive Stage Chapter 3: Installation
Rev A, August 4, 2022 Page 9
3.1.2 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-configuration, we recommend using a PD2T(/M) adapter between the two PD2(/M) stages. The
PD2U(/M) adapter can also be used, but the total thickness of the system would be larger than if the PD2T(/M)
were used. Users can also use two stages without an adapter, but the alignment between two stages cannot be
guaranteed due to the lack of matching dowel pin holes.

PD2(/M) Piezo Inertia Drive Stage Chapter 3: Installation
Page 10 CTN018562-D02
To set up the recommended XY configuration with two PD2(/M) stages and one PD2T(/M) adapter:
1. Mount the PD2T(/M) adapter on the lower PD2(/M) stage with screws and dowel pins.
2. Rotate the upper stage by 90° relative to the lower one and align it with the PD2T(/M) adapter using
dowel pins.
3. Insert two 00-90 (M1.2), 2 mm long slotted pan head screws through the upper stage to the PD2T(/M)
adapter.
Figure 6 Setting Up an XY Axis Configuration Using PD2T(/M) Adapter
00-90 (M1.2) Slotted Pan Head Screw,
2 mm Long
Ø1 mm Dowel Pin,
3 mm Long
00-90 (M1.2) Slotted Pan Head Screw,
2 mm Long
Ø1 mm Dowel Pin,
3 mm Long

PD2(/M) Piezo Inertia Drive Stage Chapter 3: Installation
Rev A, August 4, 2022 Page 11
To set up the XY configuration using two PD2(/M) stages and a PD2U(/M) adapter:
1. Mount the PD2U(/M) adapter on the PD2(/M) stage with screws and pins.
2. Rotate the upper stage by 90° relative to the lower one and align it with the PD2U(/M) adapter using
dowel pins.
3. Insert two 00-90 (M1.2), 2 mm long slotted pan head screws through the upper stage to the PD2U(/M)
adapter.
Figure 7 Setting Up an XY Axis Configuration Using PD2U(/M) Adapter
00-90 (M1.2) Slotted Pan
Head Screw,
2 mm Long
Ø1 mm Dowel Pin,
3 mm Long
00-90 (M1.2) Slotted Pan
Head Screw,
2 mm Long
Ø1 mm Dowel Pin,
3 mm Long

PD2(/M) Piezo Inertia Drive Stage Chapter 3: Installation
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To set up the XY configuration using only two PD2(/M) stages connected using two 00-90 (M1.2) screws:
Figure 8 Setting Up an XY Axis Configuration without Adapters
00-90 (M1.2) Slotted Pan
Head Screw,
2 mm Long

PD2(/M) Piezo Inertia Drive Stage Chapter 3: Installation
Rev A, August 4, 2022 Page 13
To set up an XYZ configuration, first build the XY configuration as mentioned above, and then use a PD2Z(/M)
right-angle bracket to mount the third PD2(/M) stage vertically. The XY assembly can be alternatively be
installed with 90 degrees clockwise rotation around the Z axis (from top view of the following figure) under the
PD2Z(/M) adapter. The PD2Z(/M) adapter could also be used along with a PD2T(/M) or PD2U(/M) adapter to
mount a single PD2(/M) stage vertically in a Z configuration.
1. Align the PD2Z(/M) adapter and the XY assembly (below an XY configuration built with a PD2T adapter is
used for example) using two Ø1 mm, 3 mm long dowel pins, and then secure the adapter with two 00-
90 (M1.2) screws on the corners.
2. Align the underside of the vertical PD2(/M) stage and the vertical mounting surface of the PD2Z(/M)
adapter using two Ø1 mm, 3 mm long dowel pins, and then secure the stage with two 00-90 (M1.2)
screws.
Figure 9 Setting Up an XYZ Axis Configuration
00-90 (M1.2) Slotted
Pan Head Screw,
2 mm Long
00-90 (M1.2) Slotted
Pan Head Screw,
2 mm Long
Ø1 mm Dowel Pin,
3 mm Long
Ø1 mm Dowel Pin,
3 mm Long

PD2(/M) Piezo Inertia Drive Stage Chapter 3: Installation
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3.1.3 Mounting Components to the Stage
Caution
Do not exceed the load capacity specified in Chapter 5.
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 10 Mounting Holes on Moving Platform
Attach the load using screws and check that it is secure. Ensure the load’s center of mass is over the platform
before driving the stage.
1. 00-90 (M1.2) Threaded Hole, 1.9 mm Deep (6 Places)
2. Ø1 mm Dowel Pin Hole, 1.5 mm Deep (2 Places)

PD2(/M) Piezo Inertia Drive Stage Chapter 3: Installation
Rev A, August 4, 2022 Page 15
The PD2T(/M) adapter plate provides a central 8-32(M4 x 0.7) threaded hole and two 00-90 (M1.2 x 0.25)
threaded holes for attaching a load to the PD2(/M) stage. The following example shows how to attach the
PD2T(/M) adapter to a PD2(/M) stage.
1. Insert two Ø1 mm, 3 mm long dowel pins into the moving platform’s pin holes.
2. Mount the adapter plate to the stage using the dowel pins.
3. Insert two 00-90 (M1.2 x 0.25), 2 mm long slotted pan head screws through the adapter plate to the stage.
Figure 11 Mounting PD2T(/M) Adapter on Moving Platform of PD2(/M) Stage
00-90 (M1.2) Slotted Pan
Head Screw,
2 mm Long
Ø1 mm Dowel Pin,
3 mm Long

PD2(/M) Piezo Inertia Drive Stage Chapter 3: Installation
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Thorlabs also offers the PD2U(/M) adapter plate with a central #8 (M4) counterbore and two 00-90 (M1.2 x
0.25) threaded holes. The following example shows how to mount the PD2U(/M) adapter to a PD2(/M) stage.
1. Use the central #8 (M4) counterbore to mount the load from the underside prior to attaching to the stage.
2. Insert two Ø1 mm, 3 mm long dowel pins into the pin holes of the stage’s moving platform.
3. Attach the adapter to the stage using the dowel pins.
4. Insert two 00-90 (M1.2 x 0.25), 2 mm long slotted pan head screws through the adapter plate to the stage.
Figure 12 Mounting PD2U(/M) Adapter on Moving Platform of PD2(/M) Stage
00-90 (M1.2) Slotted Pan
Head Screw,
2 mm Long
Ø1 mm Dowel Pin,
3 mm Long