THORLABS ELL7 User manual

ELL7(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 ..................................................................................................... 8
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
Chapter 6 Specifications...................................................................................................................13
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
Chapter 8 Thorlabs Worldwide Contacts........................................................................................16

ELL7K Linear Stage Evaluation Kit Chapter 1: Introduction
Rev DJanuary 2018 Page 1
Chapter 1 Introduction
The ELL7 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 (5V) or low (0V).
The stage is designed for closed loop applications requiring linear positioning over a 25 mm (0.984”) travel
range, with 0.5 µm of resolution. The module is powered via an external 5V power supply supplied in the kit.
A hand-held controller is supplied with the ELL7K 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.

ELL7K Linear Stage Evaluation Kit Chapter 2: Safety
Page 2DTN000044-D02
Chapter 2 Safety
For 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 t
he positioning and homing sensor operation. An
external magnetic field close to the sensor should be below +/- 5mT.

ELL7K Linear Stage Evaluation Kit Chapter 3: Description
Rev DJanuary 2018 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.

ELL7K Linear Stage Evaluation Kit Chapter 3: Description
Page 4DTN000044-D02
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 8kV of air discharge, it must be treated as an 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. 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 ELL7(/M) Linear Stage

ELL7K Linear Stage Evaluation Kit Chapter 3: Description
Rev DJanuary 2018 Page 5
Figure 2 ELL7 with MMP1 top plate fitted, showing stage in backwards/home position
Figure 3 Fixing the ELL7 to the work surface
1. 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).

ELL7K Linear Stage Evaluation Kit Chapter 4: Operation
Page 6DTN000044-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 an ESD sensitive device.
When handling the device, anti-
static precautions must be taken and suitable and 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 ELL7K).
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. 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.

ELL7K Linear Stage Evaluation Kit Chapter 4: Operation
Rev DJanuary 2018 Page 7
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 ELL7K 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 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 2mm.
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.

ELL7K Linear Stage Evaluation Kit Chapter 4: Operation
Page 8DTN000044-D02
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 helpfile supplied with the software for more
information.
4.2.3. Communications Protocol
Custom move applications can be written in languages such as C# and C++.

ELL7K Linear Stage Evaluation Kit Chapter 4: Operation
Rev DJanuary 2018 Page 9
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 recognised, 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.

ELL7K Linear Stage Evaluation Kit Chapter 4: Operation
Page 10 DTN000044-D02
Connector J1 Pin Out
PIN
TYPE
FUNCTION
1
PWR
Ground
2
OUT
ODTX - open drain transmit 3.3V TTL RS232
3
IN
RX receive - 3.3V TTL RS232
4
OUT
In Motion, open drain active low max 5mA
5
IN
JOG/Mode, active low max 5V
6
IN
BW Backward , active low max 5V
7
IN
FW Forward, active low max 5V
8
PWR
VCC +5V +/-10% 850mA
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

ELL7K Linear Stage Evaluation Kit Chapter 4: Operation
Rev DJanuary 2018 Page 11
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 build up 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 start up (calibration) test as follows:
1. Remove power from the stage.
2. Press and hold the BW button (do not release until item 6).
3. POWER UP
4. WAIT for red led to switch off
5. Press and ho ld the FW button to request a r eload of factory values (do not release until item 7 i s
complete).
6. Release BW to reboot
7. Continue to hold the FW button until the stage stops moving and the red LED switches off, then release.
8. Press the BW button to home the stage.
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, pressing the FWD or BWD buttons will move all devices.

ELL7K Linear Stage Evaluation Kit Chapter 5: Troubleshooting and FAQ
Page 12 DTN000044-D02
Chapter 5 Troubleshooting and FAQ
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 3.3V or 5V 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 36mA at 5V.
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 5V 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 1.2A during frequency search, use an addition
5V 1A power supply and a USB connection).
Integrators should search for optimal frequency on every power up s equence
(commands “s1”, “s2” see ELLx protocol document)
How do I restore the factory (default) settings
Factory settings can be restored during the start up (calibration) test – see Section 3.5.
What is the product life time
ELL7 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
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.

ELL7K Linear Stage Evaluation Kit Chapter 6: Specifications
Rev DJanuary 2018 Page 13
Chapter 6 Specifications
Specifications a
Performance
Travel
25.0 mm (0.984”)
Homing/Positioning accuracy
50 µm
Repeatability (with 100g 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
6.3 µm
Horizontal Straightness b
13.0 µm
Pitch (Over Full Travel Range)
2400 µrad
Yaw (Over Full Travel Range)
2900 µrad
Full Scale Non Linearity Error
<120 µm
Encoder Resolution
0.5 µm
Minimum incremental motion (No Load)
8 µm
Velocity Compensation (No Load) c
60 to 100%
Max Total Load d
200 g
Minimum Life time e
100 km of travel
Electrical
Motor Type
Elliptec Resonant Piezo
DC Voltage Input
4.5 to 5.5V
Typical Current Consumption During Movement
(No Load)
0.85 A
Typical Standby Current
0.034 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. If an application requires collision with the end-stop pins, which are not contacted normal use, the load should
not exceed 100 g.
e. The linear stage is not designed for continuous operation.
Specifications Cont…

ELL7K Linear Stage Evaluation Kit Chapter 6: Specifications
Page 14 DTN000044-D02
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
Operating Temperature Range
15 to 40 °C (59 to 104 °F)
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

ELL7K Linear Stage Evaluation Kit Chapter 7: Regulatory
Rev DJanuary 2018 Page 15
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, persuant 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.

ELL7K Linear Stage Evaluation Kit Chapter 8: Thorlabs Worldwide Contacts
Page 16 DTN000044-D02
Chapter 8 Thorlabs Worldwide Contacts
Thorlabs verifies our compliance with the WEEE (Waste Electrical and Electronic Equipment)
directive of the European Community and the corresponding national laws. Accordingly, all end
users in the EC may return “end of life” Annex I category electrical and electronic equipment
sold after August 13, 2005 to Thorlabs, without incurring disposal charges. Eligible units are
marked with the crossed out “wheelie bin” logo (see right), were sold to and are currently owned
by a company or institute within the EC, and are not dissembled or contaminated. Contact
Thorlabs for more information. Waste treatment is your own responsibility. “End of life” units
must be returned to Thorlabs or handed to a company specializing in waste recovery. Do not
dispose of the unit in a litter bin or at a public waste disposal site.
Annex I
For technical support or sales inquiries, please visit us at www.thorlabs.com/contact for our most up-to-
date contact information.
USA, Canada, and South America
Thorlabs, Inc.
sal[email protected]
[e-mail]
Europe
Thorlabs GmbH
[email protected]
France
Thorlabs SAS
[email protected]
Japan
Thorlabs Japan, Inc.
[email protected]
UK and Ireland
Thorlabs Ltd.
[email protected]
[e-mail]
Scandinavia
Thorlabs Sweden AB
[email protected]
Brazil
Thorlabs Vendas de Fotônicos Ltda.
[email protected]
China
Thorlabs China
[email protected]

www.thorlabs.com