THORLABS ELL18 User manual

ELL18 and ELL18K
Rotation Stage Kit
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. Homing ............................................................................................................................6
4.1.2. Position Error Compensation ..........................................................................................6
4.2. Controlling the Stage .............................................................................................. 7
4.2.1. Hand-held Controller .......................................................................................................8
4.2.2. Software Control .............................................................................................................9
4.2.3. Communications Protocol .............................................................................................10
4.2.4. Connecting Multiple Devices.........................................................................................10
4.2.5. Controlling the Stage without the handset ....................................................................10
4.3. Frequency Search.................................................................................................. 12
4.4. Periodic Cycling of Devices Over Full Range of Travel ...................................... 12
4.5. Restoring Factory Settings ................................................................................... 12
4.6. Simultaneous Movement of Devices .................................................................... 12
Chapter 5 Troubleshooting and FAQ ........................................................................................ 13
5.1. Frequently Asked Questions ................................................................................ 13
5.2. Notes on Making a Picoflex Cable for Use when Daisy Chaining Devices ........ 15
Chapter 6 Specifications............................................................................................................. 17
Chapter 7 Regulatory .................................................................................................................. 18
7.1. Declarations of Conformity................................................................................... 18
7.1.1. For Customers in Europe ..............................................................................................18
7.1.2. For Customers In The USA...........................................................................................19
Chapter 8 Thorlabs Worldwide Contacts.................................................................................. 20

ELL18K Rotation Stage Evaluation Kit Chapter 1: Introduction
Rev A April 2019 Page 1
Chapter 1 Introduction
The ELL18 Rotation 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 are therefore 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 (5V) or low (0V).
The stage is designed for closed loop applications requiring rotational positioning with 43.0 µrad of resolution.
The stage delivers a travel range of 360° continuous rotation, however the displayed position and requested
position commands are in the range 0 to 359.99°.
Homing is achieved using a combination of a reflecting optical sensor (IR) for coarse (0.5 to 1.0 mm) positioning,
then a magnetic sensor for fine (1.0 µm resolution) positioning. Using the ELLO software, the user can modify
the offset value to shift the homing position (up to a ¼ of turn). Furthermore, coarse homing can be selected in
a clockwise (CW) or counter clockwise (CCW) direction (fine homing is always performed in a CCW direction
to guarantee repeatability).
The module is powered via an external 5V power supply supplied in the kit.
A hand-held controller is supplied with the ELL18K/M 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.

ELL18K Rotation Stage Evaluation Kit Chapter 2: Safety
Page 2DTN000524-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
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.

ELL18K Rotation Stage Evaluation Kit Chapter 3: Description
Rev A April 2019 Page 3
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.

ELL18K Rotation Stage Evaluation Kit Chapter 3: Description
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3.2. Mounting
Warning
The safety of any system incorporating this equipment is the responsibility of the pers
on performing the
installation.
Caution
Although the module can tolerate up to 8kV 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 +/- 5mT.
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. Two mounting brackets are shipped with the ELL18K/M
kit to allow mounting to a standard 1” or 25 mm pitch optical table or breadboard.
Figure 1 ELL18 rotation stage

ELL18K Rotation Stage Evaluation Kit Chapter 3: Description
Rev A April 2019 Page 5
The image below shows a diffraction grating mounted on the stage, with the diffracted light being incident on
the slit located to the right.
Figure 2 ELL18 with components fitted
Figure 3 Fixing the ELL18K to the work surface
1. Using the M3 x 6 mm (6-32 x ¼”) bolts supplied, fix the mounting brackets to the circuit board as
shown above.
2. Attach the mounting brackets to the work surface using appropriate standard fixings (not supplied).

ELL18K Rotation Stage Evaluation Kit Chapter 4: Operation
Page 6DTN000524-D02
Chapter 4 Operation
4.1. Getting Started
Caution
Although the module can tolerate up to 8kV of air discharge, it must be treated as 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 stage 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 handset to the stage PCB.
Always remove power before making connections.
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. 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.
3. Connect the stage to a 5V supply and switch ‘ON’. (A 5V PSU is supplied with the ELL18K/M).
4. Connect the unit to your PC if required, and wait for the drivers to be installed.
5. Home the stage. Homing is necessary to align the sensor and establish a datum from which all future
moves are measured.
4.1.1. Homing
Homing is achieved using a combination of a reflecting optical sensor (IR) for coarse (0.5 to 1.0 mm) positioning,
then a magnetic sensor for fine (1.0 µm resolution) positioning (the magnetic sensor is also used for positioning
during subsequent moves). Using the ELLO software, the user can modify the offset value to shift the homing
position (up to a ¼ of turn). Furthermore, coarse homing can be selected in a clockwise or counter clockwise
direction (the switch between coarse to fine homing is always performed in the same direction to guarantee
repeatability).
4.1.2. 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. The calculation is applied automatically and is continually updated,
but generally the optimum value is calculated within 2 to 6 motions.

ELL18K Rotation Stage Evaluation Kit Chapter 4: Operation
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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.
Caution
In all modes, the angular position is requested and displayed from 0 to 359.99°. If a stage is driven past the
359.99° rotation point, the display reverts back to zero and counts up to 359.99° again. Furthermore, the unit
will not respond to requests for a move to a position greater than 359.99° and an error message will be
generated.

ELL18K Rotation Stage Evaluation Kit 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 hand-held controller supplied with the ELL18K Evaluation Kit 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 5V 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 45 degrees.
The jog step size can be changed in the software GUI, see the helpfile for details.
3. To jog backward, press and hold JOG and then press BW.