THORLABS LTS Series User manual

HA0203T
LTS150 and LTS300
Long Travel Stages
User Guide
Original Instructions

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LTS Series Long Travel Stages
Contents
Chaper 1 Overview ..................................................................................................... 1
1.1 Introduction ........................................................................................ 1
1.2 Kinesis Software Overview ............................................................... 1
1.2.1 Introduction ............................................................................................. 1
1.2.2 Kinesis Server ......................................................................................... 2
1.2.3 Software Upgrades ................................................................................. 3
Chaper 2 Safety .......................................................................................................... 4
2.1 Safety Information ............................................................................. 4
2.2 General Warnings .............................................................................. 4
Chaper 3 Mechanical Installation .............................................................................. 5
3.1 Unpacking ........................................................................................... 5
3.1.1 Environmental Conditions ....................................................................... 5
3.2 Mounting to a Work Surface ............................................................. 6
3.2.1 General ................................................................................................... 6
3.2.2 Mounting the Stage to the Work Surface ................................................ 7
3.2.3 Mounting In Multi-Axis Configurations .................................................... 8
3.3 Calibration of Motor Drives ............................................................... 9
3.4 Mounting Equipment .......................................................................... 9
3.5 Transportation .................................................................................... 9
Chaper 4 Software & Electrical Installation ........................................................... 10
4.1 Installing Software ........................................................................... 10
4.2 Electrical Installation ....................................................................... 10
4.2.1 Connecting To The Supply ................................................................... 10
4.3 Connecting The Hardware .............................................................. 11
4.4 Verifying Software Operation ......................................................... 12
4.4.1 Initial Setup ........................................................................................... 12
Chaper 5 Standalone Operation .............................................................................. 13
5.1 Introduction ...................................................................................... 13
5.2 Control Keypad ............................................................................... 13
5.3 Potentiometer Operation ................................................................. 14
5.4 Button Operation ............................................................................. 14
5.4.1 Homing .................................................................................................. 14
5.4.2 Go to Position 14
5.4.3 Teaching ‘Go To Position’ Values ......................................................... 14
5.4.4 Jogging ................................................................................................. 14
5.4.5 Switching Between Button Modes ........................................................ 14
5.5 Stopping the Stage .......................................................................... 15
continued...

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Chaper 6 PC Operation ............................................................................................ 16
6.1 Introduction ...................................................................................... 16
6.2 Using the Kinesis Software ............................................................. 16
6.3 Homing Motors ................................................................................. 17
6.4 Changing Motor Parameters and Moving to an Absolute Position 18
6.5 Stopping the Stage ........................................................................... 18
6.6 Jogging ............................................................................................. 19
6.7 Setting Move Sequences ................................................................. 20
6.8 Changing and Saving Parameter Settings ..................................... 20
Chaper 7 Software Reference 21
7.1 Introduction ...................................................................................... 21
7.2 GUI Panel .......................................................................................... 21
7.2.1 Keyboard Shortcuts .............................................................................. 23
7.3 Settings Panel ................................................................................... 24
7.3.1 Persisting Settings to Hardware ........................................................... 24
7.3.2 Moves/Jogs Tab ................................................................................... 25
7.3.3 Calibration Tab ..................................................................................... 29
7.3.4 Stage/Axis Tab ..................................................................................... 30
7.3.5 Advanced Tab ...................................................................................... 32
Appendices
Appendix A Maintenance ............................................................................ 35
Appendix B Specifications and Accessories ........................................... 36
Appendix C Stepper Motor Operation ........................................................ 38
Appendix D Regulatory ............................................................................... 44
Appendix E Thorlabs Worldwide Contacts ................................................ 46

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LTS Series Long Travel Stages
Chapter 1 Overview
1.1 Introduction
The LTS Series stages are a range of stepper-motor driven long travel stages with
ranges of 150mm and 300mm. They have been designed to be light-weight, compact
and robust with high perfomance over the full travel range. With a load capacity of up
to 15 kg horizontally (4 kg vertically), these stages are highly suited to applications
such as interferometry and M2 measurements and are compatible with our range of
optomech and translation stages. Integrated magnetic limit switches allow homing as
well as overdriving protection in both directions. The stages are inclusive of the drive
electronics which can either be driven via a PC or can be controlled manually via the
buttons and velocity potentiometer on the control key pad.
Fig. 1.1 LTS300 Long Travel Stage
1.2 Kinesis Software Overview
1.2.1 Introduction
The LTS series stages share many of the benefits of the Thorlabs range of motor
controllers. These include USB connectivity (allowing multiple units to be used
together on a single PC), fully featured Graphical User Interface (GUI) panels, and
extensive software function libraries for custom application development.

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Chapter 1 Overview
The Kinesis software suite provides a flexible and powerful PC based control system
both for users of the equipment, and software programmers aiming to automate its
operation.
The User Interface allows full control of all settings and operating modes enabling
complete ‘out-of-box’ operation without the need to develop any further custom
software. It provides all of the necessary system software services such as generation
of GUI panels, communications handling for multiple USB units, and logging of all
system activity to assist in hardware trouble shooting. The Kinesis server is also used
by software developers to allow the creation of advanced automated positioning
applications very rapidly and with great ease.
1.2.2 Kinesis Server
Kinesis controls are re-usable compiled software components that supply both a
graphical user interface and a programmable interface. Many such Controls are
available for Windows applications development, providing a large range of re-usable
functionality. For example, there are Controls available that can be used to
manipulate image files, connect to the internet or simply provide user interface
components such as buttons and list boxes.
With the Kinesis system, .Net Controls are deployed to allow direct control over (and
also reflect the status of) the range of electronic controller units, including the LTS
series stages. Software applications that use .Net Controls are often referred to as
'client applications'. A .Net Control is a language independent software component.
Consequently the controls can be incorporated into a wide range of software
development environments for use by client application developers. Development
environments supported include Visual Basic, Labview, Visual C++, C++ Builder,
HPVEE, Matlab, VB.NET, C#.NET and, via VBA, Microsoft Office applications such as
Excel and Word.
Consider the control supplied for the LTS300 integrated stage & controller.
This Control provides a complete user graphical instrument panel to allow the stage
to be manually operated, as well as a complete set of software functions (often called
methods) to allow all parameters to be set and motor operations to be automated by

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LTS Series Long Travel Stages
a client application. The instrument panel reflects the current operating state of the
controller unit to which it is associated (e.g. such as motor position). Updates to the
panel take place automatically when a user (client) application is making software
calls into the same Control. For example, if a client application instructs the
associated stage to move, the progress of that move is reflected automatically by
changing position readouts on the graphical interface, without the need for further
programming intervention.
The Kinesis Controls collection provides a rich set of graphical user panels and
programmable interfaces allowing users and client application developers to interact
seamlessly with the Kinesis hardware. Each of the Kinesis controllers has an
associated .Net Control and these are described fully in the handbooks associated
with the controllers.
Fig. 1.2 System Architecture Diagram
Refer to the main Kinesis Software online help file, for a complete programmers guide
and reference material on using the Kinesis Controls collection. This is available
either by pressing the F1 key when running the Kinesis server, or via the Start menu,
Start\Programs\Thorlabs\Kinesis\Kinesis Help.
1.2.3 Software Upgrades
Thorlabs operate a policy of continuous product development and may issue software
upgrades as necessary.

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Chapter 2 Safety
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 handbook and, where visible, on the product itself.
The following safety symbols may be used throughout the handbook and on the
equipment itself.
2.2 General Warnings
Warning: Risk of Electrical Shock
Given when there is a risk of injury from electrical shock.
Warning
Given when there is a risk of injury to users.
Caution
Given when there is a risk of damage to the product.
Note
Clarification of an instruction or additional information.
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 may impair operation.
Spillage of fluid, such as sample solutions, should be avoided. If spillage does
occur, clean up immediately using absorbant tissue. Do not allow spilled fluid to
enter the internal mechanism.
The equipment is for indoor use only.
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.

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LTS Series Long Travel Stages
Chapter 3 Mechanical Installation
3.1 Unpacking
3.1.1 Environmental Conditions
Location Indoor use only
Maximum altitude 2000 m
Temperature range 5oC to 40oC
Maximum Humidity Less than 80% RH (non-condensing) at 31°C
To ensure reliable operation the unit should not be exposed to corrosive agents or
excessive moisture, heat or dust.
If the unit has been stored at a low temperature or in an environment of high humidity,
it must be allowed to reach ambient conditions before being powered up.
The unit must not be used in an explosive environment.
Warning
The safety of any system incorporating this equipment is the responsibility of
the person performing the installation.
Caution
Once removed from its packaging, the LTS stage is easily damaged by
mishandling. The unit should only be handled by its base, not by the motor or
any attachments to the moving platform.
Note
Retain the packing in which the unit was shipped, for use in future transportation.
Warning
The safety of any system incorporating this equipment is the responsibility of
the person performing the installation.

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Chapter 3 Mechanical Installation
3.2 Mounting to a Work Surface
3.2.1 General
When mounting the LTS 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 for each model is as follows: LTS150 - 150mm, LTS300 - 300mm.
Caution
When siting the unit, it should be positioned so as not to impede the operation
of the control panel buttons.
Ensure that proper airflow is maintained to the unit.
Caution
Remove power from the unit before bolting or unbolting from the work surface.

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LTS Series Long Travel Stages
3.2.2 Mounting the Stage to the Work Surface
The LTS stage is mounted to the working surface by 1/4-20 (M6) screws (five for
LTS300, three for LTS150), which fit through the base. The mounting holes are
accessed from the top of the stage. Sleeves are fitted in the moving platform to allow
the bolts to pass through from the top surface - see Fig. 3.1.
Fig. 3.1 Mounting Holes

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Chapter 3 Mechanical Installation
3.2.3 Mounting In Multi-Axis Configurations
The LTS series stages can be mounted in XY configurations using the LTSP1 spacer
plate. The LTSP2 and LTSP3 angle brackets allow the LTS150 and LTS300 stages
respectively to be mounted vertically in Z axis configurations.
Please see the documentation supplied with the adapter plates for more details.
Fig. 3.2 Typical XYZ Configuration
Caution
When mounted in a vertical (Z-axis) orientation, the maximum load capacity is
4 kg and the maximum velocity is 3 mm/sec. For safety reasons, the Max Vel
parameter in the software Settings panel should be set to 3 mm/sec - see
Section 7.3.2. for more details.

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LTS Series Long Travel Stages
3.3 Calibration of Motor Drives
Calibration enables the server to correct for any mechanical errors inherent in the
system. Mechanical components, such as the leadscrew and linkages, can be
machined only within a certain tolerance, e.g. the leadscrew may be nominally 1mm
but actually 1.0005mm, giving a 0.5 micron error. In practice, these errors accumulate
from a number of sources, however they are repeatable and therefore, can be
compensated.
During calibration, the total positional error is measured at a large number of points
and these errors are stored as a look up table (LUT). The LUT is saved as a
calibration file, one file for each particular stage. The file is then linked to the
appropriate stage using the Kinesis software. Whenever the stage is moved, the LUT
is consulted to ascertain the precise movement required to achieve the demanded
position.
The use of a calibration file is optional. Without it, the repeatability and resolution of
the stage are unaffected, but no compensations are made to enhance the accuracy.
Calibration files can be downloaded from the support documents section on the
product web page, one file for each serial number.
Details on assigning a calibration file are contained in Section 7.3. Calibration Tab.
3.4 Mounting Equipment and Devices
3.5 Transportation
Caution
Ensure that any devices and components attached to the moving platform are
securely fastened. Incorrectly attached components could come loose when
the stage is operated.
Caution
When attaching accessories, e.g. fiber holders, to the top platform do not use
long bolts that protrude into the unit as this could damage the internal
mechanism. The fixing thread should be no longer than 6 mm (0.24”).
Caution
When packing the unit for shipping, use the original packing. If this is not
available, use a strong box and surround the unit with at least 100 mm of shock
absorbent material.

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Chapter 4 Software & Electrical Installation
Chapter 4 Software & Electrical Installation
4.1 Installing Software
DO NOT CONNECT THE STAGE TO YOUR PC YET
1) Download the software from www.thorlabs.com.
2) Locate the downloaded setup.exe file and move to a suitable file location.
3) Double-click the setup.exe file and follow the on-screen instructions.
4.2 Electrical Installation
4.2.1 Connecting To The Supply
Caution
Some PCs may have been configured to restrict the users ability to load
software, and on these systems the software may not install/run. If you are in
any doubt about your rights to install/run software, please consult your system
administrator before attempting to install.
If you experience any problems when installing software, contact Thorlabs on
[phone] and ask for Technical Support.
Caution
The PSU unit must be connected only to an earthed fused supply of 110 to
230V.
Use only the power supply supplied by Thorlabs, other units may not be rated
to the same current.
The unit is shipped to the UK, Europe and the USA, with the appropriate power
plug already fitted. When shipped to other territories the appropriate power plug
must be fitted by the user. Cable identification is as follows:
Brown: Live Blue: Neutral Green/Yellow: Earth/Ground
When connecting the power and USB cables, ensure they are routed clear of
the moving platform.

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LTS Series Long Travel Stages
4.3 Connecting The Hardware
1) Perform the mechanical installation as detailed in Section 3.
2) Install the Software - see Section 4.1.
3) Using the USB cable provided, connect the stage unit to your PC.
4) Connect the stage to the power supply - see Section 4.2.1.
5) Connect the PSU to the main supply and switch ‘ON’.
6) Wait for the unit to initialize (about 5 sec). Do not press any controls during this
time. The ENABLE LED is lit when the unit is ready for use.
7) WindowsTM should detect the new hardware. Wait while WindowsTM installs the
drivers for the new hardware - see the Getting Started guide for more information.
Fig. 4.1 Power and USB Connectors
Note
The USB cable should be no more than 3 metres in length. Communication lengths
in excess of 3 metres can be achieved by using a powered USB hub).
_
+

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Chapter 4 Software & Electrical Installation
4.4 Verifying Software Operation
4.4.1 Initial Setup
1) Run the Kinesis softwareand check that the Graphical User Interface (GUI) panel
appears and is active.
Fig. 4.2 Gui panel showing jog and ident buttons
2) Click the ‘Ident’ button. The POWER LED on the control keypad flashes. This is
useful in multi-channel systems for identifying which driver unit is associated with
which GUI.
3) Click the jog buttons on the GUI panel and check that the associated stage moves.
The position display for the associated GUI should increment and decrement
accordingly.
Note
If the Kinesis software does not recognise the unit, switch OFF the power but leave the
kinesis software running and the USB connected. Wait around 30 seconds then switch
the power ON. Kinesis should now load the unit.

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LTS Series Long Travel Stages
Chapter 5 Standalone Operation
5.1 Introduction
The LTS series of integrated long travel stages offer a fully featured motion control
capability including velocity profile settings, limit switch handling and homing
sequences. When the unit is connected to the PC, these parameters are
automatically set to allow “out of the box” operation with no further “tuning” required.
However, further adjustment is possible via the kinesis software - see Chapter 6.
The following brief overview explains how the top panel controls can be used to
perform a typical series of motor moves, however it also may be useful to read the
background on stepper motor operation contained in Appendix C.
5.2 Control Keypad
Fig. 5.1 Front Panel Controls and Indicators
MOVE Controls - These controls allow all motor moves to be initiated.
Jog Buttons - Used to jog the motors and make discrete position increments in
either direction - see Section 6.6. for more details on jogging.
Slider Potentiometer - Used to drive the motor at a pre-defined speed in either
forward or reverse directions for full and easy motor control - see Section 5.3.
Active LED - The Active LED will flash when the motor reaches a forward or reverse
limit switch, and is lit when the motor is moving.
Enable Button - Used to enable/disable channel functionality. Disabling the channel
removes the drive power and allows the motor actuator to be operated manually.
Enable LED - When the stage is enabled, this LED is lit. Furthermore, this LED will
flash when the ‘Ident’ button is clicked on the Software GUI panel.
VELOCITY
ACTIVE
MOVE/JOG
ENABLE
LTS Long Travel Stage

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Chapter 5 Standalone Operation
5.3 Potentiometer Operation
The potentiometer slider is sprung such that when released it returns to it’s central
position. In this central position the motor is stationary. As the slider is moved away
from the centre, the motor begins to move. Bidirectional control of the motor is
possible by moving the slider in both directions.
The velocity of this move is set in real world units (mm) in the ‘Potentiometer Control
Settings’ parameter in the ‘Advanced’ settings tab - see Section 7.3.5. and is limited
to a maximum of 20 mm/sec.
5.4 Button Operation
The buttons on the front of the unit can be used to control the motor in a number of
ways, as described below.
5.4.1 Homing
A ‘Home’ move is performed to establish a datum from which subsequent absolute
position moves can be measured (see Section 6.3. and Section C.2.2. for further
information on the home position).
To initiate a ‘Home’ move, press and hold both buttons for 2 seconds.
5.4.2 Go to Position
Each button can be programmed with a different position value, such that the
controller will move the motor to that position when the specific button is pressed.
This mode of operation is enabled by setting the ‘Button Mode’ parameter to ‘Go To
Position’ on the Advanced settings tab - see Section 7.3. for further information.
5.4.3 Teaching ‘Go To Position’ Values
In addition to entering values in the Advanced Tab as described in Section 5.4.2.
above, when operating in Go To Position mode it is possible from the front panel, to
save the current position as the ‘Go To Position’ value.
To save the current position as the ‘Go To Position’ value, press and hold the
required button for 2 seconds.
5.4.4 Jogging
The front panel buttons can also be configured to ‘jog’ the motor. This mode of
operation is enabled by setting the ‘Button Mode’ parameter to ‘Jogging’ on the
‘Advanced’ settings tab - see Section 7.3. Once set to this mode, the jogging
parameters for the buttons are taken from the ‘Jog’ parameters on the ‘Move/Jogs’
settings tab - see Section 7.3.
5.4.5 Switching Between Button Modes
The button mode can only be changed in the Settings panel, see Chapter 7.3.5.

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LTS Series Long Travel Stages
5.5 Stopping the Stage
The drive channel is enabled and disabled by clicking the ‘Enable’ button on the GUI
panel or the top panel of the unit. The green indicator is lit when the drive channel is
enabled. Disabling the channel removes the drive power and allows the stage/
actuator to be positioned manually.
During operation, the stage can be stopped at any time by clicking the ‘Stop’ button
on the GUI panel. Using this button does not remove power to the drive channel.

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Chapter 6 PC Operation
Chapter 6 PC Operation
6.1 Introduction
The following brief tutorial guides the user through a typical series of moves and
parameter adjustments performed using the Kinesis software. It assumes that the unit
is electrically connected as described in Section 4.2. and that the software is already
installed - see Section 4.1.
6.2 Using the Kinesis Software
The Kinesis software application allows the user to interact with any number of
hardware control units connected to the PC USB Bus. This program allows multiple
graphical instrument panels to be displayed so that multiple units can be controlled.
All basic operating parameters can be set through this program, and all basic
operations (such as motor moves) can be initiated. Parameter settings can be saved,
which simplifies system set up whenever the software is run up.
Fig. 6.1 Typical User Screen
1) Run the Kinesis software - Start/All Programs/Thorlabs/Kinesis/Kinesis.
Note
If the Kinesis software does not recognise the unit, switch OFF the power but leave the
kinesis software running and the USB connected. Wait around 30 seconds then switch
the power ON. Kinesis should now load the unit.

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LTS Series Long Travel Stages
6.3 Homing Motors
Homing the motor moves the actuator to the home limit switch and resets the internal
position counter to zero. The limit switch provides a fixed datum that can be found
after the system has been powered up.
Fig. 6.2 Motor Controller Software GUI
1) Click the ‘Home’ button. Notice that the ‘Not Homed’ LED changes to ‘Homed’,
and that the LED flashes to indicate that homing is in progress. The displayed
position counts down to 0, i.e the home position.
2) When homing is complete, the ‘Homed’ LED is lit as shown above.
See Appendix C, Section C.2.2. for background information on the home position.
Note
Homing can also be performed at the unit, by holding down both front panel buttons
for around 2 seconds.