THORLABS PDX1 User manual

PDX1(/M)
Piezo Inertia Drive Stage
with Optical Encoder
User Guide

PDX1 Piezo Inertia Drive Stage with Optical Encoder
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.Pin Diagram .....................................................................................................................5
3.4.Unpacking ........................................................................................................................5
3.5.Accessories .....................................................................................................................6
Chapter 4Installation............................................................................................................................7
4.1.Mounting ..........................................................................................................................7
4.1.1.General..................................................................................................................................7
4.1.2.Attaching Shipping Plate .......................................................................................................9
4.1.3.Setting Up an XY or XYZ Stage Configuration ...................................................................10
4.1.4.Mounting Components to the Stage ...................................................................................13
4.2.Electrical Connections..................................................................................................16
Chapter 5Operation............................................................................................................................17
5.1.General ...........................................................................................................................17
5.2.Maintenance...................................................................................................................18
5.3.Transportation ...............................................................................................................18
Chapter 6Specifications....................................................................................................................19
Chapter 7Frequently Asked Questions...........................................................................................20
Chapter 8Mechanical Drawings........................................................................................................21
Chapter 9Regulatory..........................................................................................................................23
Chapter 10Declarations of Conformity..............................................................................................24
Chapter 11Thorlabs Worldwide Contacts.........................................................................................25

PDX1 Piezo Inertia Drive Stage with Optical Encoder Chapter 1: Warning Symbol Definitions
Rev A, May 26, 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

PDX1 Piezo Inertia Drive Stage with Optical Encoder Chapter 2: Safety
Page 2 CTN015392-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 stage is used in a manner not specified by the manufacturer, the protection provided by the
stage 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 stage is for indoor use only.
The stage 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.

PDX1 Piezo Inertia Drive Stage with Optical Encoder Chapter 2: Safety
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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 stick-slip function of the mechanism uses a very short pulse width.
The stage can work in either open-loop or closed-loop mode depending on the configuration of the
PDXC controller. The stage's speed is adjusted by the step size in open-loop mode, while the speed is
adjusted by the voltage amplitude with constant 20 kHz driving frequency in closed-loop mode, which
ensures the stage operates without audible noise.
In closed-loop mode, the stage's speed is adjusted using a feedback loop between the controller and
the optical encoder. The encoder outputs the stage's actual position to the controller to guarantee
accurate movement as well as very low speed variation.
In open-loop mode, the controller does not use the actual position information to compensate for
positioning errors, so that it does not provide accurate positioning as in closed-loop mode.
For the reasons mentioned above, we recommend using the stage in closed-loop mode and keeping
the stage's speed adjustment range between 2 and 20 mm/s.

PDX1 Piezo Inertia Drive Stage with Optical Encoder Chapter 3: Overview
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Chapter 3 Overview
3.1. Introduction
The PDX1(/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 PDX1(/M) stage has a 20 mm travel range for both open-loop & closed-loop operation. When driven by the
PDXC Piezo Controller, the PDX1(/M) stage offers continuous long-term stepping as well as a periodic position-
and-hold mode with 3N clamping/holding force. The stage can achieve a typical minimal incremental motion of
20 nm in closed-loop mode with a resolution down to 10 nm provided by the optical encoder.
Figure 1 Stage Features
3.2. Included Components
The PDX1(/M) stage is delivered with the following components:
8-32 (M4) Cap Screws, 10 mm Long, 2 Pieces
2-56 (M2) Cap Screws, 4 mm Long, 2 Pieces
M1.4 Cap Screws, 4 mm Long, 3 Pieces
Ø2 mm Dowel Pins, 3 mm Long, 2 Pieces
Shipping Plate, 1 Piece
Moving Platform
Optical Encoder
Stage Base
Drive Cable
Optical Encoder Cable
Optical Scale

PDX1 Piezo Inertia Drive Stage with Optical Encoder Chapter 3: Overview
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3.3. 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.
V
olta
g
e Ran
g
e Name Description
1-7.5 to +12.5 V Encoder_B_N Encoder B-
2-7.5 to +12.5 V Encoder_B_P Encoder B+
30 V GND Di
g
ital Ground
4-7.5 to +12.5 V Encoder_A_N Encoder
A
-
5-7.5 to +12.5 V Encoder_A_P Encoder A+
8+5 V +5 V 5 V Power
9-7.5 to +12.5 V Encoder_Z_N Encoder Z-
10 -7.5 to +12.5 V Encoder_Z_P Encoder Z+
11 -10 to +50 V Si
g
Out2 Piezo Output 2
12 0 V PGND Power Ground
13 -10 to +50 V Si
g
Out1 Piezo Output 1
14 5 V TTL EEPROM 1-Wire EEPROM
6,7,15 - - Reserved
Table 1 Female 15-Pin D-SUB Signal Definition
3.4. Unpacking
NOTE
Unpack the stage with care, checking the contents for signs of damage. If there is any sign of damage
or missing parts, contact Thorlabs immediately. Please do not touch the optical scale when
unpacking the stage. If necessary, clean the scale using N-heptane or isopropyl alcohol on a dust-free
cloth.
Figure 3 Be careful to not touch the optical scale when unpacking the stage.
Optical Scale

PDX1 Piezo Inertia Drive Stage with Optical Encoder Chapter 3: Overview
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3.5. Accessories
The PD1B(/M) adapter provides a flat surface for mounting the PDX1(/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 on 16 mm spacings 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) Z bracket allows the stages to be mounted in XYZ configurations.
CAUTION
Do not mount an imperial accessory to a metric stage or a metric accessory to an imperial stage.

PDX1 Piezo Inertia Drive Stage with Optical Encoder Chapter 4: Installation
Rev A, May 26, 2021 Page 7
Chapter 4 Installation
4.1. Mounting
4.1.1. General
Mount the PDX1(/M) stage on an even surface. The recommended flatness of the surface is ≤5 μm.
For applications with large temperature variation, only mount the PDX1(/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 4 Mounting Holes
CAUTION
Mounting the PDX1(/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 plate 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.
The optical encoder is the key component to guaranteeing accurate position, and it is vulnerable to
damage by external forces or impacts. Please always keep the encoder away from any potential
external forces or impacts during installation or operation of the stage.
The stage will not work properly if the optical encoder is damaged. Please contact Thorlabs
immediately for information in the event of damage.
Direction of Travel
1. #2 (M2) Counterbores for XY Configuration or Base Plate (2 Places)
2. #8 (M4) Counterbores, 1" (25.0 mm) Spacing (2 Places)
1
1
2
2

PDX1 Piezo Inertia Drive Stage with Optical Encoder Chapter 4: Installation
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Thorlabs offers a standard mounting plate, PD1B(/M), to provide a flat surface for mounting the stage and a 1.00"
(25.0 mm) long #8 (M4) counterbored slot for mounting the plate to an optical table or breadboard.
1. First mount the PD1B(/M) plate to a breadboard, table, or base plate using two 8-32 (M4) cap screws and the
counterbored slot. We recommend using washers under the cap screws for improved mounting and to minimize
scratches from tightening the screws directly against the plate.
2. Insert two 8-32 (M4), 10 mm long cap screws through the stage and thread them into the mounting plate.
8 mm long screws could also be used, or alternatively two 2-56 (M2), 4 mm long screws.
Figure 5 Mounting the PDX1(/M) Stage on to the PD1B(/M) Plate
8-32(M4) Cap Screw,
10 mm Long
#8 (M4) Counterbored Slot
1.00" (25.0 mm) Long

PDX1 Piezo Inertia Drive Stage with Optical Encoder Chapter 4: Installation
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4.1.2. Attaching Shipping Plate
A thin shipping plate is included with each stage to provide a convenient means of locking the stage's moving world
(carriage plate) using three M1.4 cap screws (also included).
1. Align the shipping plate included in the package with the mounting holes in the side of the PDX1(/M) stage, as
shown below.
2. Insert the three M1.4, 4 mm long cap screws to lock the shipping plate to the stage.
CAUTION
We recommend using shipping plates to lock the stages when combining them to create a multi-axis
system. Locking each axis prevents stages from colliding with each other or with mounted loads during
construction or transportation.
Never operate a stage with the shipping plate attached as the stage’s motion may damage the stage.
Figure 6 Mounting Shipping Plate to Stage
M1.4 Cap Screw,
4 mm Long
Shipping Plate

PDX1 Piezo Inertia Drive Stage with Optical Encoder Chapter 4: Installation
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Figure 7 Shipping Plate Mount on Multi-Axis System
4.1.3. Setting Up an XY or 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-axis system:
1. Lock both stages using the included shipping plates.
2. Insert two Ø2 mm, 3 mm long dowel pins into the below stage’s two holes in diagonal corners.
3. Rotate the upper stage by 90° relative to the below one and mount the two stages by the alignment of the
two dowel pins.
4. Insert two 2-56 (M2), 4 mm long cap screws through the upper stage to the below one.
Shipping Plate

PDX1 Piezo Inertia Drive Stage with Optical Encoder Chapter 4: Installation
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Figure 8 Setting Up an XY Axis Configuration
To set up an XYZ-axis system, first build the XY-axis system as above and then attach the PD1Z(/M) Z-bracket
adapter plate to mount another PDX1(/M) stage vertically.
1. Lock all stages using the included shipping plates.
2. Insert two Ø2 mm, 3 mm long dowel pins into the lower stage’s two holes on diagonal corners.
3. Align the PD1Z(/M) bracket with the 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.
4. Insert two 2-56 (M2), 4 mm long cap screws through the Z bracket to the stage on the rear corners from
the vertical plane.
2-56 (M2) Cap Screw,
4 mm Long
Ø2 mm Dowel Pin,
3 mm Long

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Figure 9 Setting Up an XYZ Axis Configuration
5. Insert another two Ø2 mm, 3 mm long dowel pins into the vertical plane’s two holes in diagonal corners.
6. 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.
7. Insert two 2-56 (M2), 4 mm long cap screws through the Z stage to the vertical plane, as shown above.
Alternatively, two 8-32 (M4), 10 mm long cap screws can also be used to mount the Z stage to the vertical
plane.
2-56 (M2) Cap Screw,
4 mm Long
Ø2 mm Dowel Pin,
3 mm Long

PDX1 Piezo Inertia Drive Stage with Optical Encoder Chapter 4: Installation
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4.1.4. 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 10 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.
1. 2-56 (M2) Threaded Hole, 3.5 mm Deep (4 Places)
2. 8-32 (M4) Threaded Hole, 3.2 mm Deep, 1" (25.0 mm) Spacing (6 Places)
3. Ø2 mm Dowel Pin Hole, 1.5 mm Deep (6 Places)

PDX1 Piezo Inertia Drive Stage with Optical Encoder Chapter 4: Installation
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Thorlabs offers a thin mounting adapter plate, PD1T(/M), to provide a convenient means of attaching a load to the
PDX1(/M) series stages by a central 8-32 (M4) tapped hole and other 4-40 (M2 & M3) tapped holes. Both imperial
and metric versions have four 4-40 tapped holes spaced for 16 mm cage systems. The following is an example to
show how to mount a PD1T(/M) plate to a PDX1(/M) stage.
1. Insert two Ø2 mm, 3 mm long dowel pins into the moving platform’s two holes 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 11 Mounting PD1T(/M) Adapter on PDX1(/M) Stage
2-56 (M2) Cap Screw,
4 mm Long
Ø2 mm Dowel Pin,
3 mm Long

PDX1 Piezo Inertia Drive Stage with Optical Encoder Chapter 4: Installation
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Thorlabs also offers a thick mounting adapter plate, PD1U(/M), to provide a convenient means of attaching a load
to the PDX1(/M) stages using five #8 (M4) counterbores, as shown below:
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 holes 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.
Figure 12 Mounting PD1U(/M) Adapter on PDX1(/M) Stage
2-56 (M2) Cap Screw,
8 mm Long
Ø2 mm Dowel Pin,
3 mm Long
#8 (M4) counterbores

PDX1 Piezo Inertia Drive Stage with Optical Encoder Chapter 4: Installation
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4.2. Electrical Connections
CAUTION
The PDX1(/M) stage must be driven by a Thorlabs PDXC controller with firmware revision 1.0.0 or
higher.
The stage is shipped with a 1.5 m (5.0 ft) cable that is terminated in a 15-pin D-SUB female connector. Connect the
PDX1(/M) stage to the 15-pin D-SUB male terminal on the front panel of the PDXC controller. For pin-out details,
refer to the PDXC controller manual.
Before driving the PDX1(/M) stage, the configuration of the PDXC controller must be set correctly. The controller
can drive components using SMC and D-SUB connectors. The PDX1(/M) stage only works in D-Sub mode and in
either open- or closed-loop mode. Users can toggle between these two modes using the knob on the front panel of
the controller during controller startup. If no selection is made, after about 3 seconds the controller will automatically
use the last selected mode stored in memory.
CAUTION
The PDXC controller is configured by default to drive PDX1(/M) series stage in D-Sub mode. While the
controller can drive the PDX1(/M) stage in open-loop mode, we recommend using closed-loop mode
to ensure the best position accuracy and speed variation. The controller can also drive the PD1(/M)
stage in open-loop mode via the SMC ports on the front panel.
Please refer to the PDXC controller manual for more details on toggling between open-loop and
closed-loop modes.
Due to the capacitance of the cables, do not use cables longer than 4.5 m in total.