THORLABS ELL17 User manual

ELL17(K)
Linear Translation Stage
Operating Manual
Original Instructions

Table of Contents
Chapter 1 Introduction........................................................................................................................1
Chapter 2 Safety ..................................................................................................................................2
2.1. General Warnings and Cautions ..........................................................................2
Chapter 3 Description.........................................................................................................................3
3.1. Environmental Conditions ...................................................................................3
3.2. Mounting ..............................................................................................................4
Chapter 4 Operation............................................................................................................................6
4.1. Getting Started .....................................................................................................6
4.1.1. Position Error Compensation ......................................................................................6
4.2. Controlling the Stage ...........................................................................................6
4.2.1. Hand-held Controller...................................................................................................7
4.2.2. Software Control.........................................................................................................8
4.2.3. Communications Protocol ...........................................................................................9
4.2.4. Connecting Multiple Devices.......................................................................................9
4.2.5. Controlling the Stage without the Handset...................................................................9
4.3. Frequency Search .............................................................................................. 11
4.4. Periodic Cycling of Devices Over Full Range of Travel .....................................11
4.5. Restoring Factory Settings ................................................................................11
4.6. Simultaneous Movement of Devices..................................................................11
Chapter 5 Troubleshooting and FAQ.............................................................................................12
5.1. Frequently Asked Questions..............................................................................12
5.2. Notes on Making a Picoflex Cable for Use when Daisy Chaining Devices ........14
Chapter 6 Specifications..................................................................................................................16
Chapter 7 Regulatory........................................................................................................................16
7.1. Declarations of Conformity ................................................................................18
7.1.1. For Customers in Europe..........................................................................................18
7.1.2. For Customers In The USA.......................................................................................18
Chapter 8 Thorlabs Worldwide Contacts......................................................................................19

ELL17(K) Linear Translation Stage Chapter 1: Introduction
Rev C January 2021 Page 1
Chapter 1 Introduction
The ELL17 Linear Translation Stage is part of the Thorlabs series of resonant piezo motor circuits and bare
modules for OEM applications. The resonant piezo design of these motors offers fast response times and
precise positioning, and therefore they are particularly useful in scanning applications.
The high-speed digital signal processing (DSP) architecture supports a multi-drop serial communication
protocol, and a set of digital IO lines allows the user to control the movement and state manually by switching
the lines high (5 V) or low (0 V).
The stage is designed for closed loop applications requiring linear positioning over a 28 mm (1.1") travel range,
with a theoretical resolution of 0.98 µm.
Note
The module must be powered via an external 5V power supply unit (PSU). A suitable PSU is supplied in the kit.
For customers wanting to use a third party PSU, the Connector on the interface board is a DC Jack connector,
6.3mm OD (GND), 2.1mm ID (+5V).
A hand-held controller is supplied with the ELL17K evaluation kit to allow homing and manual jogging and/or
positioning. The unit can also be driven remotely via PC-based software, downloaded from www.thorlabs.com.
A compatible USB driver and source code are included in the software download package.

ELL17(K) Linear Translation Stage Chapter 2: Safety
Page 2DTN000532-D02
Chapter 2 Safety
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.
Warning: Risk of Electrical Shock
Given when there is a risk of electrical shock.
Warning
Given when there is a risk of injury to the user.
Caution
Given when there is a possibility of damage to the product.
Note
Clarification of an instruction or additional information.
2.1. General Warnings and Cautions
Warning
When connecting the stage to a PC, ensure that the PC is switched ON before connecting the stage to the USB
port. Failure to do this could damage the PC.
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.
The equipment is susceptible to damage from electrostatic discharge. When handling the device, anti-static
precautions must be taken and suitable discharge appliances must be worn.
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.
If the device is operated over a prolonged time period, the motor housing may become hot. This does not affect
motor operation but may cause discomfort if contacted by exposed skin.
Do not bend the PCB. A bending load in excess of 500 g applied to the board may cause the PCB to deform,
which will degrade the performance of the controller.
Do not expose the stage to magnetic fields as this could affect the positioning and homing sensor operation. An
external magnetic field close to the sensor should be below +/- 5mT.
Do not expose the stage to a strong infrared light (e.g. direct sunlight) as it could interfere with the operation of
the position sensor.
During use do not place the PCB directly onto electro-conductive material e.g. an optical table top or breadboard.
Caution
The home sensor of the device relies on a 950nm led which can leak from the device. This should be taken into
consideration for environments that are especially sensitive to foreign light sources.

ELL17(K) Linear Translation Stage Chapter 3: Description
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Chapter 3 Description
3.1. Environmental Conditions
Warning
Operation outside the following environmental limits may adversely affect operator safety.
Location Indoor use only
Maximum altitude 2000 m
Temperature range 15 °C to 40 °C
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.
Do not expose the stage to magnetic fields as this could affect the positioning and homing sensor operation.
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 is not designed to be used in explosive environments.
The unit is not designed for continuous operation. Lifetime will depend on several factors, e.g. load, number of
homing operations, number of frequency searches etc. The minimum lifetime is 100 km. See Chapter 4 for more
details.

ELL17(K) Linear Translation Stage Chapter 3: Description
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3.2. Mounting
Warning
The safety of any system incorporating this equipment is the responsibility of the person performing the installation .
Caution
Although the module can tolerate up to 8 kV of air discharge, it must be treated as ESD sensitive device. When
handling the device, anti-static precautions must be taken and suitable discharge appliances must be worn.
Do not expose the stage to magnetic fields as this could affect the positioning and homing sensor operation. An
external magnetic field close to the sensor should be below +/- 5 mT.
The ribbon cable connector is made of plastic and is not particularly robust. Do not use force when making
connections. Unnecessary or repeated plugging in and unplugging should be avoided or the connector may fail.
When handling the stage, take care not to touch the wires to the motors.
Do not bend the wires over the motor spring as this affects the performance of the unit.
Do not allow the wires to contact other moving parts.
The recommended mounting orientation is horizontal. A base plate is shipped fitted to the stage to allow
mounting to a standard 1" or 25 mm pitch optical table or breadboard. If required, a grooved top plate
(MMP1(/M)) or tapped top plate (RB13P1(/M)) can be purchased separately to allow components and devices
to be mounted to the moving world – see Figure 2.
The stage can be mounted vertically, as long as the resulting motion is in the horizontal plane. The stage
should not be mounted such that motion is vertical.
Figure 1 ELL17(/M) Linear Stage

ELL17(K) Linear Translation Stage Chapter 3: Description
Rev C January 2021 Page 5
Figure 2 ELL17 with MMP1 Top Plate Fitted, Showing Stage in Backwards/Home Position
Figure 3 Fixing the ELL17 to the Work Surface
1. Carefully slide the moving world to one end of travel to gain access to the mounting holes as shown
above.
2. Attach the stage to the work surface by passing appropriate standard fixings (not supplied) through
the exposed hole in the PCB and base plate.
3. Slide the moving world to the other end of travel, and repeat item (2).

ELL17(K) Linear Translation Stage Chapter 4: Operation
Page 6DTN000532-D02
Chapter 4 Operation
4.1. Getting Started
Caution
Although the module can tolerate up to 8 kV of air discharge, it must be treated as an ESD sensitive device. When
handling the device, anti-static precautions must be taken and suitable anti-discharge appliances must be worn.
Do not expose the rotator to magnetic fields as this could affect the positioning and homing sensor operation.
When power is applied, do not connect or disconnect the ribbon cable connecting the USB/PSU adapter to the rotator
PCB. Always remove power before making connections .
The home sensor of the device relies on a 950nm led which can leak from the device. This should be taken into
consideration for environments that are especially sensitive to foreign light sources.
Warning
If the device is operated over a prolonged time period, the motor housing may become hot. This does not affect
motor operation but may cause discomfort if contacted by exposed skin.
1. Perform the mechanical installation as detailed in Section 3.2
2. Turn on and boot up the host PC.
3. Connect the handset to the stage if required.
Caution
The unit is easily damaged by connections with incorrect polarity. Pin 1 of the connector on the PCB is marked
with an arrow (see Figure 4 and Figure 5.) which should be adjacent to the red wire in the connecting cable.
4. Connect the stage to a 5V supply and switch ‘ON’. (A 5 V PSU is supplied with the ELL17K).
Caution
Boot up the PC BEFORE connecting the USB cable. DO NOT connect a powered ELL kit to a PC that is not
powered up and running.
5. Using the USB cable supplied, connect the handset to the PC.
6. If required, and wait for the drivers to be installed.
7. Home the stage. Homing is necessary to align the sensor and establish a datum from which all future
moves are measured.
4.1.1. Position Error Compensation
The stage has a positioning error compensation algorithm. When moving from one position to another, the stage
detects the error between the requested and actual positions and will calculate an error compensation value,
which is then applied to the next movement. A default compensation value is loaded on boot up, then the
optimum value is calculated within the next 2 to 6 motions. Subsequently, the calculation is continually updated
and is applied automatically.
4.2. Controlling the Stage
The stage can be controlled in three ways; via the handset, by the Elliptec software running on a PC, or by
writing a custom application using the messages described in the communications protocol document. Homing
and Jogging functionality can also be accessed by applying voltages to the digital lines on Connector J1. The
modes of control are described in the following sections.
In all modes, when the unit is mounted in the recommended orientation as shown in Figure 1, forward moves
the stage to the right and backward moves to the left as shown in Figure 2.

ELL17(K) Linear Translation Stage Chapter 4: Operation
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4.2.1. Hand-held Controller
Caution
On power up the stage will move while the unit checks the sensors and then searches for the home position.
The ELL17K Evaluation Kit also contains a hand-held controller, which features two buttons (marked FW and
BW) that allow control of the stage position. The handset also provides for connection to the host PC and to
the external 5 V power supply. The external PSU connector allows the stage to be used in the absence of a
PC, with control being achieved via the handset buttons.
LED1 (green) is lit when power is applied to the unit. LED2 (red) is lit when the device being driven is in
motion.
Figure 4Handset Details
Caution
The stage must be homed before performing any Jog moves.
1. Home the stage by pressing the BW button.
2. To jog forward, press and hold JOG and then press FW. The default jog step value is 2mm.
The jog step size can be changed in the software GUI, see the help file for details.
3. To jog backward, press and hold JOG and then press BW.

ELL17(K) Linear Translation Stage Chapter 4: Operation
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4.2.2. Software Control
When connected to the host PC, the stage can be controlled remotely, via the Elliptec software.
1. Download the Elliptec software from the downloads section at www.thorlabs.com. Double click the
saved .exe file and follow the on-screen instructions.
2. Connect the hand-held controller to the stage unit.
3. Connect the hand-held controller to the 5V Power Supply and switch on.
4. Connect the hand-held controller to the PC USB port and wait for the drivers to be installed.
5. Run the Elliptec software.
6. In the top left of the GUI panel displayed, select the COM port to which the device is connected, and
click ‘Connect’. The software will search the comms bus and enumerate the device.
7. Click the Home Offset ‘Get’ button, then click ‘Home’ to home the stage.
8. The GUI and device are now ready for use. See the help file supplied with the software for more
information.

ELL17(K) Linear Translation Stage Chapter 4: Operation
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4.2.3. Communications Protocol
Custom move applications can be written in languages such as C# and C++.
The communication bus allows multi-drop communication with speeds at 9600 baud, 8 bit data length, 1 stop
bit, no parity.
Protocol data is sent in ASCII HEX format, while module addresses and commands are mnemonic character
(no package length is sent). Modules are addressable (default address is “0”) and addresses can be changed
and/or saved using a set of commands. Lower case commands are sent by user while upper case commands
are replies by the module.
Please refer to the communications protocol manual for more detail about commands and data packet formats.
4.2.4. Connecting Multiple Devices
When a device is first connected to the PC, it is assigned the default address '0'. The software can run multiple
devices, however before more than one device can be recognized, each device must be assigned a unique
address. See below for a brief overview; detailed instructions are contained in the help file supplied with the
software.
Connect the first device to the PC USB port, then run the Elliptec software and load the device.
Change the address of the first device.
Connect the next device to the first device.
Change the address of the second device.
Multiple devices can be controlled individually, either via the Elliptec software or by a third part application
written using the messages detailed in the protocol document. Control via the handset is applied to all devices
simultaneously.
4.2.5. Controlling the Stage without the Handset
Caution
During normal operation each motor is protected with a time out of 2.5 seconds to prevent overheating. Do not
override this protection or drive the motors continuously.
In the absence of the handset, the stage is controlled via digital lines: forward, backward and mode (J1 pins 7,
6 and 5) by shorting the corresponding line to ground (pin 1).
When the stage is moving, the open drain IN MOTION digital line (pin 4) is driven low (active low) to confirm
movement. The IN MOTION line goes high (inactive) when the move is completed or the maximum time-out (2
seconds) is reached.
Warning
Do not exceed the voltage and current ratings stated in Figure 5.
Do not reverse polarity.

ELL17(K) Linear Translation Stage Chapter 4: Operation
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Connector J1 Pin Out
PIN
TYPE
FUNCTION
1
PWR
Ground
2
OUT
ODTX - Open Drain Transmit 3.3 V TTL RS232
3
IN
RX Receive - 3.3 V TTL RS232
4
OUT
In Motion, Open Drain Active Low Max 5mA
5
IN
JOG/Mode, Active Low Max 5 V
6
IN
BW Backward , Active Low Max 5 V
7
IN
FW Forward, Active Low Max 5 V
8
PWR
VCC +5 V +/-10% 900 mA
Connector model number MOLEX 90814-0808 Farnell order code 1518211
Mating connector model number MOLEX 90327-0308 Farnell order code 673160
Figure 5 Connector J1 Pin Out Details

ELL17(K) Linear Translation Stage Chapter 4: Operation
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4.3. Frequency Search
Due to load, build tolerances and other mechanical variances, the default resonating frequency of a particular
motor may not be that which delivers best performance. A frequency search can be performed using the Main
GUI panel in the ELLO software, or by using the serial communication line (SEARCHFREQ_MOTORX
message), which offers a way to optimize the operating frequencies for backward and forward movement.
This search can also be performed manually by restoring the factory settings as described in section 4.5.
4.4. Periodic Cycling of Devices Over Full Range of Travel
Caution
Periodically, devices should be moved over the full range of travel, from one end to the other. This will help
minimize the buildup of debris on the track and will prevent the motors digging a groove over the most used
area of contact. Typically, a travel cycle should be performed every 10K operations.
4.5. Restoring Factory Settings
Factory settings can be restored during the startup (calibration) test as follows:
1. Remove power from the stage and disconnect the USB cable.
2. Press and hold the BW button (do not release until item 5).
3. POWER UP and reconnect the USB cable.
4. WAIT for red led to switch on.
5. Release BW. The unit will reboot and load the default factory values.
4.6. Simultaneous Movement of Devices
If more than one device is connected to the comms bus, movement of the devices can be synchronized. This
can be achieved either by using the handset, or by software. See the protocol document for details on how to
use the ‘ga’ message to synchronize moves. If using the handset, synchronized movement is hard wired, so if
multiple devices are connected (see section 5.2), pressing the FWD or BWD buttons will move all devices.

ELL17(K) Linear Translation Stage Chapter 5: Troubleshooting and FAQ
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Chapter 5 Troubleshooting and FAQ
5.1. Frequently Asked Questions
Stage is moving back and forth after power up
If the digital line “bw” is driven low before powering up the stage, the module will go into calibration mode.
Remove power to exit calibration mode. Keep line tight up to 3.3 V or 5 V rail during power up or use a serial
communication line instead.
Stage not moving
Check power supply lines ratings (polarity, voltage drop or range, available current) or reduce cable length.
Check module is not in boot loader mode (power cycle the module to exit boot loader) consumption must be
higher than 36 mA at 5 V.
Stage does not complete homing commands
Power cycle the unit.
Perform a frequency search on both motors.
Stage switching time increased / max load decreased
Check power supply voltage provided on J1 connector, increase voltage within specified limits if voltage drop
along cable goes below 5 V during system operation.
Clean the moving surfaces. To avoid grease contamination, do not touch the moving parts.
Temperature change may affect the stage performance. Using the software to perform a frequency search will
compensate frequency as needed (required current could reach 1.2 A during frequency search, use an addition
5 V 1 A power supply and a USB connection).
Integrators should search for optimal frequency on every power up sequence
(commands “s1”, “s2” see ELLx protocol document).
Restoring the factory (default) settings
Factory settings can be restored during the startup (calibration) test – see Section 4.5.
Motor optimization does not work
The optimization may fail if the device is damaged, if the load is heavily unbalanced or changed in position
during the optimization, or if the power supply is not stable.
Note
Do not run more than one device optimization at the same time on the same bus and power supply.
The current drawn can overload the power supply. Allow 20 minutes of cool down between consecutive
optimizations on the same device.
If the optimization fails, the device will try to reload the previous settings. If this reload fails, perform a frequency
search (see section 4.3) to reload the settings.
The unit is not responding after power up
During the power up sequence, if the user holds down the JOG, BW and FW lines to ground, the module will
go into a bootloader (firmware update) mode.
Power cycle the unit again without pressing the 3 buttons at the same time to exit from the bootloader mode.

ELL17(K) Linear Translation Stage Chapter 5: Troubleshooting and FAQ
Rev C January 2021 Page 13
The device is not responding during cleaning or optimization
This is normal.
The cleaning and the optimization routines block a device and the associated communication bus for several
minutes. When one of these routines is initiated, the bus is unavailable until the routine is completed, and the
device replies busy ‘0GS09’ to all commands except the stop command ‘0st’ (for a unit at address 0). The stop
request can take up to 5 seconds to abort the operation.
During these routines, the unit may increase in temperature by several degrees. Because of this inherent
temperature increase, consecutive cleaning and optimization routines should be avoided.
After optimization or cleaning, allow a 20 min cool down period before use.
Product life time
ELL17 product life time is restricted by the wearing of moving surfaces and the motor contact as motion is
started (due to resonance build up) and performed (due to friction), and is expressed in km travelled. Lifetime
will depend on several factors (e.g. load, number of homing operations, number of frequency searches etc.)
and users must take into account all these factors when considering life time. For example, homing requires
more travel than a simple motion, and a frequency search may not generate any motion at all, but still energizes
the motors fully.
The unit is not designed for continuous operation. Users should aim for a duty cycle of less than 40% wherever
possible, and never exceed a duty cycle of 60% for longer than a few seconds.
The minimum lifetime is 100 km.
Handling
Warning
The equipment is susceptible to damage from electrostatic discharge. When handling the device, anti-static
precautions must be taken and suitable discharge appliances must be worn.
The stage and interface board are robust to general handling. To ensure reliable operation, keep the surface of
the plastic track contacted by the motors free of oils, dirt, and dust. It is not necessary to wear gloves while
handling the linear stage, but avoid touching the track to keep it free of oils from fingerprints. If it is necessary
to clean the track, it may be wiped with isopropyl alcohol or mineral spirits (white spirit). Do not use acetone, as
this solvent will damage the plastic track.

ELL17(K) Linear Translation Stage Chapter 5: Troubleshooting and FAQ
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5.2. Notes on Making a Picoflex Cable for Use when Daisy Chaining Devices
The multi-drop communications bus offers the option of connecting the stage to a hybrid network of up to 16
Elliptec resonant motor products and controlling the connected units with a device such as a microprocessor.
When multiple units are connected to the same interface board, all can be controlled simultaneously using either
the software or the buttons on the interface board.
When making a cable to operate multiple devices it is important to observe the correct pin orientation. The
following procedure offers guidance in making such a cable.
1. Gather together the parts required.
a) Ribbon cable 3M 3365/08-100 (Farnell 2064465xxxxx).
b) Female crimped connectors as required -model number MOLEX 90327-0308 (Farnell order code
673160) (Qty 1 female connector above is shipped with each stage unit).
c) Suitable screwdriver and scissors or other cutting tool.
2. Orientate the first connector correctly to mate with the connector on the stage, then arrange the ribbon
cable as shown with the red wire aligned with pin 1 (identified on the pcb by a small triangle). Slide the
connector onto the ribbon cable as shown.

ELL17(K) Linear Translation Stage Chapter 5: Troubleshooting and FAQ
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3. Using a screwdriver or other suitable tool, push down the crimp of each pin to make connection with
the ribbon cable.
4. If other connectors are required they should be fitted at this point. Slide each connector onto the cable,
paying attention to the orientation as shown below, then crimp as detailed in step (3).
5. Fit the terminating connector which will mate with the interface board, taking care to orientate the
connector correctly, and align the cable red wire with pin 1 as detailed in step (2).

ELL17(K) Linear Translation Stage Chapter 6: Specifications
Page 16 DTN000532-D02
Chapter 6 Specifications
Specifications a
Performance
Travel
28.0 mm (1.1")
Positioning Accuracy
50 µm
Homing Accuracy
20 µm
Repeatability (with 100 g Load)
20 µm
Max Velocity (No Load)
180 mm/s
Max Acceleration (No Load)
6.0 m/s/s
Minimum Motor Holding Force
(Both Motors Engaged)
1 N
Vertical Straightness b
10.0 µm
Horizontal Straightness b
10.0 µm
Pitch (Over Full Travel Range)
2.4 mrad
Yaw (Over Full Travel Range)
2.4 mrad
Full Scale Nonlinearity Error
<120 µm
Encoder Resolution
0.98 µm
Velocity Compensation (No Load) c
60 to 100%
Max Total Load
200 g
Minimum Lifetime d
100 km of travel
Electrical
Motor Type
Elliptec Resonant Piezo
DC Voltage Input
4.5 to 5.5 V
Typical Current Consumption During Movement
(No Load)
0.90 A
Typical Standby Current
0.07 A
Notes
a. Performance specifications are given for the case when the linear stage is mounted as recommended in the
Section 2.3.
b. Deviation from the Ideal Path, Referenced to a Theoretical Straight Line
c. The velocity of the stage can be adjusted to a value equal to or greater than 60% of the maximum velocity
through use of the ASCII message calls described in the protocol document.
d. The linear stage is not designed for continuous operation.

ELL17(K) Linear Translation Stage Chapter 6: Specifications
Rev C January 2021 Page 17
Specifications Cont…
Communications
Bus f
Multi-Drop 3.3 V/5 V TTL RS232
Connector on Linear Stage Board
Picoflex®
Connectors on Interface Board
Picoflex®
Micro-B USB
5 VDC Power:
[For Plug with Ø5.5 mm OD (Ground)
and Ø2.1 mm ID (+5 V)]
Speed
9600 baud
Data Length
(1 Stop Bit, No Parity) 8 bit
Protocol Data Format
ASCII HEX
Module Address and Command Format
Mnemonic Character
8-Conductor Ribbon Cable Length (Supplied)
250 mm
8-Conductor Ribbon Cable Length (Maximum)
3 m
General
Location
Indoor Use Only
Operating Temperature Range
15 to 40 °C (59 to 104 °F)
Maximum Altitude
2000 m
Maximum Humidity
Less than 80% RH (non-condensing) at 31 °C
Dimensions with Bracket Fitted
68.0 x 67.0 x 18.4 mm (2.68" x 2.64" x 0.73")
Dimensions of Interface Board
66.0 x 32.0 x 12.5 mm
(2.6" x 1.26" x 0.49")
Weight (Stage plus Bracket)
Metric 0.076 kg, Imperial 0.168 lb
Weight (Stage Only)
Metric 0.052 kg, Imperial 0.114 lb
Notes
f. Use two 10 kΩ pull-up resistors in multi-drop mode for RX/TX

ELL17(K) Linear Translation Stage Chapter 7: Regulatory
Page 18 DTN000532-D02
Chapter 7 Regulatory
7.1. Declarations of Conformity
7.1.1. For Customers in Europe
7.1.2. For Customers In The USA
This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant 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 approved by the company could void the user’s authority to operate the equipment.