THORLABS PDXR1 User manual

PDXR1(/M)
Piezo Inertia Drive Rotation Stage
with Optical Encoder
User Guide

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder
Table of Contents
Chapter 1 Safety.........................................................................................................................1
Chapter 2 Overview....................................................................................................................3
Chapter 3 Installation .................................................................................................................5
3.1.1 Mounting Features.............................................................................................................................................. 5
3.1.2 Mounting on a Base ............................................................................................................................................ 6
3.1.3 Post Mounting..................................................................................................................................................... 7
3.1.4 Setting Up an XY + Rotation Stage Configuration................................................................................................ 8
3.1.5 Mounting Components to the Stage ................................................................................................................... 9
Chapter 4 Operation.................................................................................................................13
Chapter 5 Software reference ...................................................................................................15
5.1.1 GUI Setting in Open-Loop Mode ....................................................................................................................... 15
5.1.2 GUI Setting in Closed-Loop Mode ..................................................................................................................... 15
Chapter 6 Specifications ...........................................................................................................16
Chapter 7 Frequently Asked Questions .....................................................................................17
Chapter 8 Mechanical Drawings................................................................................................18
Chapter 9 Regulatory................................................................................................................20
Chapter 10 Declarations of Conformity .......................................................................................21
Chapter 11 Thorlabs Worldwide Contacts ...................................................................................22

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder Chapter 1: Safety
Rev. A, June 14, 2023 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.
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.

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder Chapter 1: Safety
Page 2 CTN020719-D02
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 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.
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 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 voltage amplitude with constant 20 kHz driving frequency
in both open loop and 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 10 degrees/s to 30 degrees/s.

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder Chapter 2: Overview
Rev. A, June 21, 2023 Page 3
Chapter 2 Overview
Introduction
The PDXR1(/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 PDXR1(/M) stage provides 360° continuous rotation for both open-loop & closed-loop operation and a
rotation speed of up to 30 degrees/s when driven by the PDXC controller. The stage is designed to be mounted on
a mounting base, a post, or an even surface. An SM05-threaded center bore with a Ø9.0 mm clear aperture allows
our SM05-threaded components to be mounted and an optical path to pass directly through the body of the stage.
When driven by the PDXC Piezo Controller, the PDXR1(/M) stage offers continuous long-term stepping as well as
a periodic position-and-hold mode with 25 mN⋅m clamping/holding torque. The stage can achieve a typical
minimal incremental motion of 0.873 µrad in closed-loop mode with a resolution down to 0.4365 µrad provided
by the optical encoder.
Figure 1 Stage Features
Included Components
The PDXR1(/M) stage is delivered with the following components:
•8-32 (M4 x 0.7) Cap Screws, 16 mm Long, 2 Pieces
•8-32 (M4 x 0.7) Cap Screws, 8 mm Long, 2 Pieces
•8-32 (M4 x 0.7) Cap Screws, 5.3 mm Long, 2 Pieces
•2-56 (M2 x 0.4) Cap Screws, 2 mm Long, 2 Pieces
•2-56 (M2 x 0.4) Cap Screws, 6 mm Long, 2 Pieces
•Ø2 mm Dowel Pins, 3 mm Long, 2 Pieces
Stage
Base
Rotary
Platform
Optical
Encoder Cable
Drive Cable

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder Chapter 2: Overview
Page 4 CTN020719-D02
Pin Diagram
Figure 2 and the table below 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 Range
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+
3
0 V
GND
Digital 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
SigOut2
Piezo Output 2
12
0 V
PGND
Power Ground
13
-10 to +50 V
SigOut1
Piezo Output 1
14
5 V TTL
EEPROM
1-Wire EEPROM
6,7,15
-
-
Reserved
Unpacking
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.
Accessories
The MSB34 & MSB7510/M high-density optical breadboards provide a flat surface for mounting the PDXR1 and
PDXR1(/M) stages, respectively.
The PD1T(/M) adapter plate features a central 8-32 (M4 x 0.7) tapped hole. Both imperial and metric versions
have four 4-40 tapped holes on 16 mm spacings for 16 mm cage systems. The PD1T(/M) plate attaches to the
rotation platform of the PDXR1(/M) stage via two 2-56 (M2 x 0.4) threaded holes on opposite diagonals.
The PD1U(/M) adapter plate features four 6-32 and four 8-32 tapped holes (or eight M4 x 0.7 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. PD1U(/M) mount on rotation platform of PDXR1(/M) via 2 pieces of M2(2-56) tapping holes
in diagonal direction of rotation platform.
Caution
Do not mount an imperial accessory to a metric stage or a metric accessory to an imperial stage.

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder Chapter 3: Installation
Rev. A, June 21, 2023 Page 5
Chapter 3 Installation
Mounting
3.1.1 Mounting Features
Take care to securely mount the stage before attaching components to the stage’s rotation platform.
Mount the PDXR1(/M) stage on an even surface. The recommended flatness of the surface is ≤5 μm. For
applications with large temperature variations, only mount the PDXR1(/M) stage on a surface that has the same
or similar thermal expansion properties as the stage.
The stage can be mounted using the two #8 (M4) counterbored holes on opposite corners of the housing or using
two 8-32 (M4 x 0.7) threaded holes on the opposite corners on the underside of the stage. The stage can also be
mounted on a Ø1/2" post using the 8-32 (M4 x 0.7) tapped hole on one side. The max torque for 8-32 (M4 x 0.7)
screws is 0.55 N·m.
Figure 3 Mounting Holes
Caution
Mounting the PDXR1(/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 rotation platform 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.
1. #8 (M4) Counterbore for Stage Mounting, 2" x 2" (50 mm x 50 mm) Spacing (2 Places)
2. 8-32 (M4 x 0.7) Threaded Hole for Stage Mounting, 2" x 2" (50 mm x 50 mm) Spacing (2 Places)
3. 8-32 (M4 x 0.7) Threaded Hole for Stage Mounting

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder Chapter 3: Installation
Page 6 CTN020719-D02
3.1.2 Mounting on a Base
The PDXR1 and PDXR1/M stages can mounted onto the MSB34 & MSB7510/M high-density optical breadboards,
respectively. The breadboard provides a flat surface for mounting the stage and four 1/4" (M6) counterbored
holes for mounting to an optical table or standard breadboard.
1. First mount the MSB34 or MSB7510/M breadboard to a table, larger breadboard, or base plate using 1/4"-20
(M6 x 1.0) cap screws and the four counterbored holes.
2. Insert two 8-32 (M4 x 0.7), 16 mm long cap screws through the stage and thread them into the high-density
breadboard.
Figure 4 Mounting the PDXR1(/M) Stage on the MSB34 or MSB7510/M High-Density Breadboard
8-32 (M4 x 0.7)
Cap Screw,
16 mm Long
1/4" (M6)
Counterbored holes

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder Chapter 3: Installation
Rev. A, June 21, 2023 Page 7
3.1.3 Post Mounting
The stage can be mounted vertically on a Ø1/2" post via the 8-32 (M4 x 0.7) tapped hole on the side opposite
the cable exit.
Figure 5 PDXR1(/M) Stage Mounted on Post
Caution
Due to the increased likelihood of vibration, post mounting is not recommended for heavy or
off-centered loads.
Ø1/2" Post

PDXR1(/M) Piezo Inertia Drive Rotation Stage with Optical Encoder Chapter 3: Installation
Page 8 CTN020719-D02
3.1.4 Setting Up an XY + Rotation Stage Configuration
This section describes how to build an XY + rotation stage using two PDX1(/M) linear stages and a PDXR1(/M)
rotation stage. Note that the PDX1(/M) stages will need to be translated to access the mounting holes, which can
be done using a PDXC controller. See the PDX1(/M) manual for details.
First, build an XY stage using two PDX1(/M) linear stages according to instructions in the PDX1(/M) manual.
Two PDX1(/M) linear stages mounted to rotation platform of PDXR1(/M) to set up an XY + rotation stage
configuration.
Please noted the rotation angle of PDXR1(/M) is limited to avoid entangling the cables of the XY stages.
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 holding torque or 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 rotation platform with excessive force as they may break through the
terminating lip at the base of each threaded hole.
To set up an XY + Rotation system:
•First, build the XY stage as described in the PDX1(/M) manual.
•Insert two Ø2 mm, 3 mm long dowel pins into two of the holes located diagonally from each other in the
PDXR1(/M) stage’s rotating platform.
•Place the XY stage onto the PDXR1(/M) stage, taking care to align the two dowel pins with the
corresponding slots in the base of the XY stage.
•Translate the moving platform of PDX1(/M) for access of 8-32(M4 x 0.7) tapped holes. Insert two 8-32 (M4
x 0.7), 8 mm long cap screws through the XY stage and into the two 8-32 (M4 x 0.7) tapped holes in the
rotation platform of the PDXR1(/M) rotation stage.
Figure 6 Setting Up an XY + Rotation Stage Configuration
8-32 (M4 x 0.7) Cap Screws,
8 mm Long
(2 Places)
Ø2 mm Dowel Pin,
3 mm Long