THORLABS MLS203 Series User manual

MLS203-1
Fast XY Scanning Stage
User Guide
Original Instructions

2 HA0263T Rev E May 2017
Contents
Chapter 1 Safety .............................................................................................3
1.1 Safety Information .................................................................................. 3
1.2 General Warnings .................................................................................. 3
Chapter 2 Overview ........................................................................................ 4
2.1 Introduction ............................................................................................. 4
Chapter 3 Installation ..................................................................................... 6
3.1 Unpacking .............................................................................................. 6
3.2 Mounting ................................................................................................. 6
3.2.1 General ............................................................................................................... 6
3.2.2 Fitting the Finger Guards .................................................................................... 7
3.2.3 Mounting to a Microscope ................................................................................... 7
3.3 Electrical Connections ............................................................................ 8
3.4 Dimensions ............................................................................................. 9
3.4.1 MLS203-1 Dimensions ........................................................................................ 9
Chapter 4 Operation ..................................................................................... 10
4.1 General ................................................................................................ 10
4.2 Maintenance ......................................................................................... 12
4.3 Transportation ...................................................................................... 12
Chapter 5 Specification ............................................................................... 13
Chapter 6 Spares and Accessories ............................................................14
6.1 Parts List .............................................................................................. 14
Chapter 7 Regulatory ................................................................................... 15
7.1 Declarations Of Conformity .................................................................. 15
7.1.1 For Customers in Europe ................................................................................. 15
7.1.2 For Customers In The USA .............................................................................. 15
7.2 Waste Electrical and Electronic Equipment (WEEE) Directive ............. 16
7.2.1 Compliance ...................................................................................................... 16
7.2.2 Waste treatment on your own responsibility ..................................................... 17
7.3 Ecological background ........................................................................................ 17

3
Chapter 1 Safety
1.1 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 ha ndbook and on the
equipment itself.
1.2 General Warnings
Shock Warning
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.
Warnings
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.

4
Chapter 2 Overview
2.1 Introduction
The MLS203 uses internally integrated brushless DC servo motors with optical linear
encoders to provide an industry-leading, high-speed, compact scanning stage for
microscopy. This innovative design eliminates the external motor housings that create
mechanical clash points and impede access to the sample. It is ideal as a drop-in
upgrade replacement for the stage on Olympus IX71/IX81, Nikon TE2000/Eclipse Ti
Series inverted microscopes, and Olympus BX51/BX61, Nikon 80i/90i Series upright
microscopes.
The scanning stage can be positioned with a resolution of 0.1 µm and repeatability of
0.25 µm, at speeds up to 250 mm/s. The high-quality construction uses high-rigidity
precision linear bearings, commercial grade limit switches, and powerful brushless
linear DC servo motors. In addition, the number of moving parts has been minimized,
which optimizes the lifetime and reliability of the scanning stage.
Accessory plates are a vailable for the stage to a llow the positioning of stand ard
microscope slides and petri dishes, well plates and custom sample holders.
The MLS203 stages should be driven by the BBD series of brushless DC motor
controllers. These controllers include the Thorlabs apt software suite, which provides
an easy-to-use graphical interface for stand-alone operation as well as programming
support for integrated applications. The controller can also be used with most third
party software packages.

5
MLS203 Series XY Scanning Stage
Fig. 2.1 MLS203 stage with MLS203P1 well plate adapter and 96 hole well plate,
mounted on a microscope

6
Chapter 3 Installation
3.1 Unpacking
3.2 Mounting
3.2.1 General
Note
Retain the packing in which the unit was shipped, for use in future
transportation.
Caution
Once removed from its packaging, the stage can be easily damaged by
mishandling. The unit should only be handled by its base, not by any
attachments to the moving platform.‘
Cautions
The performance of the stage could be affected if the mounting surface is
not flat to within 200µm. Care should be taken when bolting the stage to
the microscope to ensure that the base plate does not warp, which could
cause stiffness to be experienced in the bearing rails. The attachment
brackets for mounting the stage to a particular microscope are supplied
with shims, which should be fitted as necessary - for more details see the
instructions for fitting the attachment brackets.
When mounting the 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 is as follows:
X-axis 110mm (4.3"), Y-axis 75mm (2.95”).
When considering the stage movement in the proximity of other objects
or equipment, ensure that movement of cables connected to the moving
carriage is not impeded.
Whenmountingequipmentto the movingplatform,always usethefixings
supplied with the equipment being fitted. If these are not available, do not
use fixings that protrude more than 2.5 mm below the bottom surface of
the equipment being mounted as this could damage the internal
mechanism of the stage.
Damaging the stage in this way could invalidate the warranty.

7
MLS203 Series XY Scanning Stage
3.2.2 Fitting the Finger Guards
The stages are supplied with finger guards to avoid trapping of body parts or cables
in the mechanism. These should be fitted before the stage is mounted on the
microscope as follows:
1) Offer up the finger guards to the stage as shown below, and secure using the M3
x 16 bolts supplied.
Fig. 3.1 Fitting the finger guards
3.2.3 Mounting To Microscope
The stage can be mounted to select inverted and upright microscopes from Olympus
and Nikon using mounting brackets which are purchased separately. Details on
mounting the stage to a particular microscope are contained in the fitting instructions
for the brackets.
M3 x 16 screw (qty 6)

8 HA0263T Rev E May 2017
Chapter 3
3.3 Electrical Connections
The stage must be driven by a Thorlabs BBD series controller. Connect the motor
leads to the MOTOR DRIVE connectors, and the encoder feedback leads to the
FEEDBACK connectors. Ensure that the motor drive and feedback leads for each
motor are connected to the correct channel.
Fig. 3.2 Electrical connections
Pin out information for the motor drive and encoder feedback connectors on the motor
flying leads is detailed below.
Fig. 3.3 Motor Drive and Feedback Flying Lead Pin Out Details
TRIG OUT
!
1 Motor Phase V
2 GND
3 Thermistor (not used)
4 Motor Phase U
5 Stage ID
6 GND
7 Motor Phase W
8 Enable
1
2 GND
3
4 Enc Index -
5 QB -
6 QA -
7 5 V
8 5 V
9 GND
10 Limit Switch +
11 Limit Switch -
12 Enc Index +
13 QB +
14 QA +
15 x
3
5
8
2
6
4
1
7
87654321
1514131211109
MOTOR DRIVE
ENCODER FEEDBACK

9
MLS203 Series XY Scanning Stage
3.4 Dimensions
3.4.1 MLS203-1 Dimensions
Fig. 3.4 MLS203-1 Dimensions
140.0mm
5.51in
115.0mm
4.53in
79.0mm
3.11in
54.0mm
2.13in
172.0mm
6.77in
72.0mm
2.83in
70.0mm
2.76in
112mm
4.4
APPROX
260.0mm
10.24in
120.0mm
4.72in
191.0mm
7.52in
170.5mm
6.71in
160.3mm
6.31in
214.0mm
8.43in
130.5mm
5.14in
125.0mm
4.92in
120.3mm
4.74in
58.5mm
2.30in
20.5mm
0.81in
M3X0.5 TAPPED HOLE
4 PLACES
M3X0.5 TAPPED HOLE FOR
MOUNTING MLS203P1-5
ACCESSORY PLATES 4 PLACES
OBJECTIVE CENTRE AND
CENTRE OF STAGE TRAVEL
MOUNTING HOLE FOR M5
CAP SCREW 4 PLACES
M3 x 0.5 TAPPED HOLE
6 PLACES
REMOVABLE GUARD
REMOVABLE GUARD
31.1mm
1.22in
10.0mm
0.39in
230.0mm
9.06in
X AXIS MOTOR AND
ENCODER CABLES
Y AXIS MOTOR AND
ENCODER CABLES
25.0mm
0.98in
ACCESSORY PLATE MOUNTING SURFACE
All dimensions in mm [in.]

10
Chapter 4 Operation
4.1 General
The stages are connected to the controller via 2 flying leads terminated in D-type
connectors (FEEDBACK) a nd 2 leads terminated in round 8-Pin DIN Connectors
(MOTOR DRIVE).
For a complete tutorial on using the stage, see the manual supplied with the controller.
Basic steps in controlling the stage are as follows:
1) Make electrical connections as detailed in Section 3.3.
2) Move the moving platfor m a few times over its full range of travel to overcome any
storage resistance, then position the moving platform to be around its central p osition.
3) Power up the controller and wait for 10 secs until the Channel Enable LEDs start
flashing.
4) If a joystick control is being used, press and hold the ‘High/Low’ button for 2
seconds, then release to home the stage. When homing is complete, the green
LED stops flashing.
5) If no joystick is being used, run the APTUser utility and click the ‘Home’ button on
each GUI pa nel. When homing is complete, the Channel Enable LEDs stop
flashing.
Caution
The MLS203 stages is designed to be driven by the Thorlabs BBD20x or
RBD201 Brushless DC Motor Controllers.
Warning
The motor controller must be switched OFF before the stages are
plugged in or unplugged. Failure to switch the controller off may result in
damage to either the controller, the stage, or both.
Warning
3-phase brushless DC motors are commutated electronically, i.e. the
controller drives the coils with a precisely controlled waveform, that
depends on the position of the rotor (or, with linear motors, the position
of the coil housing). On power up, the position of the coil housing is not
known. The controller establishes this by energising the coils and
measuring the resulting movement. This is why on power up, the stage
(motor) may make a slight buzzing noise and move about randomly for a
few seconds. Phase initialization can only take place if the motor can
move unobstructed during this time. Before powering up the BBD
controller at item (2), ensure that the stage movement is unobstructed.

11
MLS203 Series XY Scanning Stage
6) The stage can no w be moved using the jo ystick, GUI pan el, or by setting
commands to move each axis by relative and absolute amounts – see the
handbook supplied with the BBD controller, and the helpfile supplied with the APT
server for more information.
Note
The stage design incorporates several reference markers on the encoder
scale, which are used to calibrate the position counter.
The need for homing comes from the fact that on power up the motor
(stage) is at a random position, so the value of the position counter is
meaningless. Homing involves moving the motor to allow the encoder
readhead to scan through encoder scale's reference markers in search of
the reference marker designated for homing. The position counter is then
reset, and APT will show an absolute value once the homing move
sequence is completed.
Caution
The maximum velocity at which the encoder can operate is approximately
400 mm/sec. Above this speed, encoder pulses may be lost and, as a
result, the position readout becomes incorrect. This renders normal
operation impossible because phase commutation of the motor is also
based on the encoder reading.
When the stage is controlled by the BBD10x controller, the maximum
velocity is limited to safe values. However, if the output is disabled (with
the controller connected and monitoring the position) and the stage is
moved manually at high speeds, it is possible to exceed this limit. If the
BBD10x controller is subsequently used again to move the stage, the
incorrect encoder reading will cause incorrect operation, often resulting
in sudden uncontrolled moves. It is therefore important not to move the
stage excessively quickly when it is moved manually.
The BBD controller has fault monitoring to detect the loss of encoder
pulses. If this fault occurs, an error message will be generated and the
controller must be powered down and re-started so that correct phasing
and commutation can be established.
If this fault occurs when the stage is being controlled via the MJC001
joystick, in the absence of a PC, the red LED on the joystick console is lit,
and all operation is suspended until the controller is shut down and
rebooted.

12 HA0263T Rev E May 2017
Chapter 4
4.2 Maintenance
The product is maintenance free. If any problems occur, the user should contact the
local Thorlabs tech support for more information.
4.3 Transportation
Note
The MOTOR DRIVE connectors for each channel/axis contain an
EEPROM, which stores the factory default settings for the set up
parameters. When the stage is connected, these settings are loaded into
the controller on start up, and are tuned for loads up to the 1.0 kg (2.2 lb)
maximum, at speeds up to 250 mm/s.
However, depending on the load being driven and the speed/duty cycle of
the particular application, it may be necessary to further optimize the
Position PID loop settings.
If problems are encountered (e.g. stability of the closed loop position
control, lost motion or incomplete moves) the position loop PID
parameters shouldbeadjusted totunethe stagefor the givenapplication.
Normally, only minor adjustment of the Proportional, Integral and
Derivative parameters should be necessary, and some trial and error will
be required before the ideal settings for a specific application are
achieved. In cases where further adjustment of the control loop
parameters is required, the following guidelines are provided in order to
assist in the tuning process.
Position PID Settings Summary
Stage overshoots the intended position - reduce the integral term, and
increase the derivative and proportional terms.
Stage fails to attain final position - increase the integral and proportional
terms.
Motion is unstable - reduce the proportional and integral terms, increase
the derivative term.
Stage sounds noisy - reduce the derivative term.
Please see the handbook supplied with the controller, for more
information on changing these settings
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.

13
Chapter 5 Specification
Parameter Value
Travel 110 mm x 75 mm (4.3" x 2.95")
Max Speed 250 mm/s*
Acceleration 2000 mm/s*
Bidirectional Repeatability 0.25 µm
Unidirectional Repeatability 0.25 µm
Backlash N/A (No Leadscrew)
Min Incremental Movement 0.1 µm
Home Location Accuracy 0.25 µm
Max Load 2.2 lbs (1 kg)
*Note
Depending on the application, heavy loads may affect the stage performance
and/or stability.
Absolute On-Axis Accuracy <3 µm
Max Percentage Accuracy X-Axis (110 mm) 0.0027%
Y-Axis (75 mm) 0.004%
Settling Time within 1 µm (600 g load)* 0.1 sec
Settling Time within 0.1 µm (600 g load) * 0.6 sec
Limit Switches X and Y as Standard
Bearing Type High Rigidity Recirculating Precision Linear
Bearing
Motor Type Brushless DC Linear Motor
Dimensions (Mid Travel) 10.24 x 9.06" x 1.22"
(260.0 mm x 230.0 mm x 31.1 mm)
Weight (with cables) 7.0 lbs (3.2 kg)
*Note
The default tuning parameters can be changed to optimise settling times for a
specific load.
Caution
The maximum speed and acceleration values quoted can be safely achieved with
the maximum load and a high duty cycle. However in this case, some heating of
the stage may occur and dimensional stability of the stage may be affected. This
could result in less than optimal repeatability and accuracy. For cases were
repeatability and accuracy are critical it is recommended that the stage
temperature is allowed to reach a steady state before measurements are taken.
Alternatively the load, acceleration and duty cycle should be reduced from the
maximum values. Some trial and error in setting these values may be necessary
before the ideal settings are attained.

14
Chapter 6 Spares and Accessories
6.1 Parts List
We offer a number of options for mounting your biological samples to your stage. The
MLS203P series of microscop e sample platforms has be en designed to provid e
flexible options of sample types: traditional slides, petri dishes or well plates, as well
as uniquely shaped sample holders for biofilms, microfluidic studies and live sample
viewing.
A range of attachment brackets is also available, which allow the stage to be fitted to
specific microscopes from Nikon and Olympus - see ww w.thorlabs.com for more
details.

15
MLS203 Series XY Scanning Stage
Chapter 7 Regulatory
7.1 Declarations Of Conformity
7.1.1 For Customers in Europe
See Section 7.3.
7.1.2 For Customers In The USA
This equipment has been tested an d found to comply with the limits for a Class A
digital device, persua nt to part 15 of the FCC rules. These limits are designed to
provide reasonable protection against harmful interference when the equipment is
operated in a commercial environment. This equipment generates, uses and can
radiate radio frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio communications.
Operation of this equipment in a residential area is likely to cause harmful interference
in which case the user will be required to correct the interference at his own expense.
Changes or modifications not expressly app roved by th e company could void the
user’s authority to operate the equipment.
7.2 Waste Electrical and Electronic Equipment (WEEE) Directive
7.2.1 Compliance
As required by the Waste Electrical and Electronic Equipment (WEEE) Directive of
the European Community and the corresponding national laws, we offer all end users
in the EC the possibility to return "end of life" units without incurring disposal charges.
This offer is valid for electrical and electronic equipment
• sold after August 13th 2005
• marked correspondingly with the crossed out "wheelie bin" logo (see Fig. 1)
• sold to a company or institute within the EC
• currently owned by a company or institute within the EC
• still complete, not disassembled and not contaminated
Fig. 7.1 Crossed out "wheelie bin" symbol

16
As the WEEE directive applies to self contained operational electrical and electronic
products, this "end of life" take back service does not refer to other products, such as
• pure OEM products, that means assemblies to be built into a unit by the user (e. g.
OEM laser driver cards)
• components
• mechanics and optics
• left over parts of units disassembled by the user (PCB's, housings etc.).
If you wish to return a unit for waste recovery, please contact Thorlabs or your nearest
dealer for further information.
7.2.2 Waste treatment on your own responsibility
If you do not return an "end of life" unit to the company, you must hand it to a company
specialized in waste recovery. Do not dispose of the unit in a litter bin or at a public
waste disposal site.
7.2.3 Ecological background
It is well known that WEEE pollutes the environment by rele asing toxic products
during decomposition. The aim of th e European RoHS di rective is to reduce the
content of toxic substances in electronic products in the future.
The intent of th e WEEE directive is to enforce the recycling of WEEE. A controlled
recycling of end of life products will thereby avoid negative impacts on th e
environment

17
MLS203 Series XY Scanning Stage
7.3 CE Certificates

18 HA0263T Rev E May 2017
Chapter 7

19
Appendix H Thorlabs Worldwide Contacts
USA, Canada, and South America
Thorlabs, Inc.
56 Sparta Ave
Newton, NJ 07860
USA
Tel: [phone]
Fax: [phone]
www.thorlabs.com
www.thorlabs.us (West Coast)
email: [email protected]
Support: techsuppo[email protected]
Europe
Thorlabs GmbH
Hans-Böckler-Str. 6
85221 Dachau
Germany
Tel: [phone]
Fax: [phone]
www.thorlabs.de
email: [email protected]
UK and Ireland
Thorlabs Ltd.
1 Saint Thomas Place, Ely
Cambridgeshire CB7 4EX
Great Britain
Tel: [phone]
Fax: [phone]
www.thorlabs.de
email: [email protected]
Support:
[email protected]
France
Thorlabs SAS
109, rue des Côtes
78600 Maisons-Laffitte
France
Tel: [phone]
Fax: [phone]
www.thorlabs.de
email: [email protected]
Scandinavia
Thorlabs Sweden AB
Bergfotsgatan 7
431 35 Mölndal
Sweden
Tel: [phone]
Fax: [phone]
www.thorlabs.de
email: [e-mail]
Japan
Thorlabs Japan Inc.
3-6-3 Kitamachi,
Nerima-ku, Tokyo 179-0081
Japan
Tel: [phone]
Fax: [phone]
www.thorlabs.co.jp
email: [email protected]
China
Thorlabs China
Oasis Middlering Centre
3 Building 712 Room
915 Zhen Bei Road
Shanghai
China
Tel: [phone]
Fax: [phone]
www.thorlabs.com
email: [email protected]m
Brazil
Thorlabs Vendas de Fotônicos Ltda.
Rua Riachuelo, 171
São Carlos, SP 13560-110
Brazil
Tel: [phone]
Fax: [phone]
www.thorlabs.com
Email: [email protected]

20
Thorlabs Ltd.
Saint Thomas Place, Ely
Cambridgeshire CB7 4EX,
UK
Tel: [phone]
Fax: [phone]
www.thorlabs.com
Thorlabs Inc.
56 Sparta Ave
Newton, NJ07860
USA
Tel: [phone]
Fax: [phone]
www.thorlabs.com