THORLABS ELL9 User manual

ELL9K Four position Slider Evaluation Kit
HA0386T
ELL9(K)
Four Position Slider Kit
Operating Manual
Original Instructions

ELL9K Four position Slider Evaluation Kit
Table of Contents
Chapter 1 Introduction ..............................................................................................................................................................1
Chapter 2 Safety.........................................................................................................................................................................2
General Warnings and Cautions ..................................................................................................................2
Chapter 3 Installation ................................................................................................................................................................3
Environmental Conditions............................................................................................................................3
Mounting ........................................................................................................................................................4
Chapter 4 Operation ..................................................................................................................................................................6
Getting Started...............................................................................................................................................6
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
Periodic Cycling of Devices Over Full Range of Travel ...........................................................................11
Frequency Search........................................................................................................................................11
Restoring Factory Settings.........................................................................................................................11
Simultaneous Movement of Devices..........................................................................................................12
Chapter 5 Troubleshooting and FAQ .....................................................................................................................................13
Frequently Asked Questions......................................................................................................................13
Notes on Making a Picoflex Cable for Use when Daisy Chaining Devices.............................................14
Chapter 6 Specifications.........................................................................................................................................................16
Chapter 7 Regulatory...............................................................................................................................................................17
Declarations of Conformity.........................................................................................................................17
7.1.1 For Customers in Europe..................................................................................................................17
7.1.2 For Customers In The USA...............................................................................................................18
Chapter 8 Thorlabs Worldwide Contacts...............................................................................................................................19

ELL9K Four-Position Slider Evaluation Kit Chapter 1: Introduction
Rev. C, Feb 2020 Page 1
Chapter 1 Introduction
The ELL9 four position slider for SM1 optics is part of the Thorlabs series of piezoelectric resonant 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. These piezo motors also do not include magnets like traditional
motors, making them ideal for applications that are sensitive to electromagnetic interference.
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 slider features four mounting positions for SM1 optics. It can be post-mounted using our ER series cage system rods and a
CP02(/M) Cage Plate (see Section 3.2.). It is also compatible with 30 mm cage systems. It offers 93 mm (3.6”) of travel with 100
µm repeatability and a switching time of <500 to <700 ms. The module is powered via an external 5V power supply: a 5V PSU
is provided with the ELL9K.
A hand-held controller is supplied with the ELL9K evaluation kit to allow manual switching between the four positions. The unit
can also be driven remotely via PC-based software, downloaded from www.thorlabs.com. A compatible USB driver is included
in the software download package.

ELL9K Four-Position Slider Evaluation Kit Chapter 2: Safety
Page 2DTN000391-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.
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 Stage.

ELL9K Four-Position Slider Evaluation Kit Chapter 3: Installation
Rev. C, Feb 2020 Page 3
Chapter 3 Installation
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.
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 5 for more details.

ELL9K Four-Position Slider Evaluation Kit Chapter 3: Installation
Page 4DTN000391-D02
Mounting
Warning
The safety of any system incorporating this equipment is the responsibility of the person performing the installation.
Cautions
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.
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.
Do not move the stage by hand. Doing so will disorientate the motors and cause the unit to fail.
The recommended mounting orientation is vertically, with the motors at the bottom of the board as shown below. In this
orientation, optic position 0 is on the right hand side.
Figure 1 ELL9 Four-Position Optic Slider

ELL9K Four-Position Slider Evaluation Kit Chapter 3: Installation
Rev. C, Feb 2020 Page 5
There are several options for mounting the sliders. The ELLA1 Post Mount Adapter, which is available below, has a 14.0 mm
width and fastens directly to the back of the slider's PCB. As shown in Figure 2, the adapter can then be used to mount the
slider to a Ø1/2" post. The compact dimensions of the ELLA1 allows sliders to be placed one behind the other while minimizing
the space separating them, as shown below. The adapter can also be integrated with Thorlabs' 30 mm Cage System
components and/or SM1-threaded components, such as lens tubes. Alternately, 30 mm cage system components alone can
be used to mount the sliders. An example of this is shown in Figure 3, in which a CP02 Cage Plate, four ER1 rods, a Ø1/2"
post, and a post holder mount and support the assembled ELL9K.
Figure 2 ELL9 mounted using ELLA1 Figure 3 ELL9 mounted using 30 mm cage rods
Figure 4 Close mounting of ELL6 and ELL9 using ELLA1

ELL9K Four-Position Slider Evaluation Kit Chapter 4: Operation
Page 6DTN000391-D02
Chapter 4 Operation
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 slider to a strong infrared light (e.g. direct sunlight) as it could interfere with the operation of the
position sensor.
When power is applied, do not connect or disconnect the ribbon cable connecting the USB/PSU adapter to the Stage
PCB. Always remove power before making connections.
Do not move the stage by hand. Doing so will disorientate the motors and cause the unit to fail.
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 8 and section 5.2) 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 ELL9K).
Caution
Boot up the PC BEFORE connecting the USB cable. DO NOT connect a powered ELL kit toa PC thatis 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.
Controlling the Stage
The stage can be controlled in three ways; via the handset (section 4.2.1), by the Elliptec software running on a PC (section
4.2.2), or by writing a custom application using the messages described in the communications protocol document. Homing and
position switching functionality can also be accessed by applying voltages to the digital lines on Connector J2. 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 2, Forward moves the stage to the
right and backward moves to the left.

ELL9K Four-Position Slider Evaluation Kit Chapter 4: Operation
Rev. C, Feb 2020 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 ELL9K Evaluation Kit also contains a hand-held controller, which features two buttons (marked FW and BW) that allow
switching of the optic position as explained below. The handset also provides for connection to the host PC and to the external
5V power supply. This 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 5Handset details
Using the hand-held controller and referencing Figure 1 and Figure 5:
1. Connect the hand-held controller to the stage unit.
2. Connect the hand-held controller to the 5V Power Supply and switch on.
3. Wait while the stage powers up and goes through its homing sequence.
4. To increment the position of the slider, press and hold JOG then press FW.
The switching time between positions is <500 ms no load and <700 ms with 150g load.
5. To decrement the position of the slider, press and hold JOG then press BW.
6. To Home the stage (i.e. go to position 0) press the BW button.

ELL9K Four-Position Slider Evaluation Kit Chapter 4: Operation
Page 8DTN000391-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 (see Figure 6, and
click ‘Connect’. The software will search the comms bus and enumerate the device.
Figure 6 COM port drop down menu
7. Click the ‘Home’ button to home the stage.
8. The GUI and device are now ready for use. Click the position buttons to move to each position as shown in
Figure 7(0 on the right hand side of the slider through to 3 on the left hand side).
See the helpfile supplied with the software for more information.
Figure 7 Main GUI panel

ELL9K Four-Position Slider Evaluation Kit Chapter 4: Operation
Rev. C, Feb 2020 Page 9
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 HEXformat, while module addresses and commands are mnemonic character (no package length
is sent). Modules are addressable (defaultaddress is “0”) and addresses can bechangedand/or savedusing a set ofcommands.
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 a remote handset connected to each device, via the Elliptec software
or by a third part application written using the messages detailed in the protocol document.
4.2.5 Controlling the stage without the handset
Caution
During normal operation each motor is protected by a 1 second pause to prevent overheating. Wait for 1 second
between moves and do not try to drive the motors continuously.
In the absence of the handset, the stage is controlled via digital lines: forward, backward and mode (J2 pins 7, 6 and 5, see
Figure 8) 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 8.
Do not reverse polarity.

ELL9K Four-Position Slider Evaluation Kit Chapter 4: Operation
Page 10 DTN000391-D02
Connector J2 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% 1.2A
Connector model number MOLEX 90814-0808 Farnell order code 1518211
Mating connector model number MOLEX 90327-0308 Farnell order code 673160
Figure 8 Connector J2 pin out details
Caution
The ribbon cable connector (J2) 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.

ELL9K Four-Position Slider Evaluation Kit Chapter 4: Operation
Rev. C, Feb 2020 Page 11
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.
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.
Restoring Factory Settings
Factory settings can be restored during the start up (calibration) test as follows:
With the remote handset
1. Remove all power (USB and PSU) from the stage.
2. Press and hold BW button.
3. Power up the slider.
4. The slider performs a self-test by moving from one position to the other. If the slider does not move or complete, move
the slider manually from one end of travel to the other until it is no longer attempting to move.
5. Note: The BW button must be held down during manual actuation.
6. Release the BW button. The red INM LED (LED 2 see Figure 5) should be lit briefly.
7. A frequency search will now be performed. To avoid overheating the motor, a pause of 1 second is programmed after
each move. The red INM LED will be lit after each movement
8. Press and hold the BW button until red INM LED turns ON and then OFF, and the slider stops moving. The optimized
resonating frequency is stored until the next frequency search is requested.
9. Power down the slider.
10. Wait for the green PWR LED to turn OFF.
11. Power up the slider. The device will now complete a self test.

ELL9K Four-Position Slider Evaluation Kit Chapter 4: Operation
Page 12 DTN000391-D02
Without the remote handset
1. Connect Pin 6 of connector J2 to 0V.
2. With J2 Pin 6 connected to 0V, power up the slider.
3. The slider performs a self-test by moving from one position to the other. If the slider does not move or complete, then
move the slider manually from one end of travel to the other until it is no longer attempting to move.
Note: J2 Pin 6 will need to be shorted to 0V during manual actuation.
4. Connect J2 Pin 6 to 3.3V.
5. A frequency search will now be performed. To avoid overheating the motor, a pause of 1 second is programmed after
each move.
6. Connect J2 Pin 6 to 0V. The slider stops moving and the optimized resonating frequency is stored until the next
frequency search is requested.
7. Power down the slider
8. Wait for 1 second for power supply line to go to 0V.
9. Power up the slider. The device will now complete a self test.
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 howto 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.

ELL9K Four-Position Slider Evaluation Kit Chapter 5: Troubleshooting and FAQ
Rev. C, Feb 2020 Page 13
Chapter 5 Troubleshooting and FAQ
Frequently Asked Questions
Stage is moving back and forth after power up
If the digital line “bw” is driven lowbefore 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 J2 connector (see Figure 8), 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 1.2 A during frequency search, use an additional 5V 2A power supply and a
USB connection).
Integrators should search for optimal frequency on every power up sequence
(commands “s1”, “s2” see ELLx protocol document)
How do I restore the factory (default) settings
Factory settings can be restored at any time – see Section 4.5.
What is the product lifetime
ELL9 product lifetime 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 bythe motors freeof oils, dirt, and dust.It is not necessary to wear gloves while handling the 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.

ELL9K Four-Position Slider Evaluation Kit Chapter 5: Troubleshooting and FAQ
Page 14 DTN000391-D02
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 correcr 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.

ELL9K Four-Position Slider Evaluation Kit Chapter 5: Troubleshooting and FAQ
Rev. C, Feb 2020 Page 15
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 theyshould be fitted at this point. Slide each connector ontothe 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 align the cable red wire with
pin 1 as detailed in step (2).

ELL9K Four-Position Slider Evaluation Kit Chapter 6: Specifications
Page 16 DTN000391-D02
Chapter 6 Specifications
Specifications
Switching Time Between Two Positions
Unloaded 450 to 500 ms
150 g Load <700 ms
Travel 93 mm (3.66")
Positioning Repeatability a<100 µm (30 µm Typical)
Maximum Load (Vertically Mounted)
b
150 g (5.29 oz)
Minimum Lifetime
c
100 km (3.3 Million Operations)
Rated Voltage
4.5 to 5.5 V
Typical Current Consumption, During Movement
<1200 mA
Typical Current Consumption, During Standby
38 mA
Typical Current Consumption, During Frequency Search d1.2 A
Bus eMulti-Drop 3.3V/5V TTL RS232
Speed 9600 baud/s
Data Length f8 bit
Protocol Data Format
ASCII HEX
Module Address and Command Format
Mnemonic Character
Ribbon Cable Length (Supplied)
250 mm
Ribbon Cable Length (Maximum) 3 m
Optic Thread Type SM1
Dimensions of the Slider (position 1 or position 2 aligned)
125.0 mm x 77.7 mm x 10.3 mm
(4.92" x 3.06" x 0.41")
Dimensions of the Slider (at end stops)
143.5 mm x 77.7 mm x 10.3 mm
(5.65" x 3.06" x 0.41")
Dimensions of the Control Board
32.0 mm x 65.0 mm x 12.5 mm
(1.26" x 2.56" x 0.49")
Weight: Slider unit only (no cables or handset).
70.0 g (2.47 oz)
Weight: Interface Board
10.3 g (0.36 oz)
Notes
a.Low power infrared photo-sensor technology aligns the slider at each position.
b.Vertically Mounted so that Movement is Side-to-Side and not Up-and-Down
c.Lifetime is measured in terms of distance traveled by the optics mount. One operation is defined as a movement from one
position to an adjacent position.
d.Additional Power Supply May Be Required
e.Use two 10 kΩ pull-up resistors in multi-drop mode for RX/TX.
f.1 Stop Bit, No Parity

ELL9K Four-Position Slider Evaluation Kit Chapter 7: Regulatory
Rev. C, Feb 2020 Page 17
Chapter 7 Regulatory
Declarations of Conformity
7.1.1 For Customers in Europe

ELL9K Four-Position Slider Evaluation Kit Chapter 7: Regulatory
Page 18 DTN000391-D02
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.