THORLABS MMR601 User manual

MMR601, MMR602
APT Modular Rack
User Guide

2
Contents
Chapter 1 Safety ..............................................................................................3
1.1 Safety Information ...................................................................................3
1.2 General Warnings ...................................................................................3
Chapter 2 Overview ........................................................................................4
2.1 APT Rack System Description ................................................................4
2.2 Software ..................................................................................................6
2.3 Front Panel Controls .............................................................................10
2.4 Rear Panel Controls ..............................................................................11
Chapter 3 Installation and Set Up ................................................................12
3.1 Installing APT Software .........................................................................12
3.2 General Precautions .............................................................................13
3.3 Mechanical Installation ..........................................................................14
3.4 Electrical Installation .............................................................................16
3.5 System Setup ........................................................................................17
3.6 Assigning a Serial Number ...................................................................18
Chapter 4 Preventive Maintenance .............................................................19
4.1 Safety Testing .......................................................................................19
4.2 Cleaning ................................................................................................19
Chapter 5 Specifications and Associated Products ..................................20
5.1 Specifications ........................................................................................20
5.2 Associated Products .............................................................................20
Chapter 6 Regulatory ....................................................................................21
6.1 Declarations Of Conformity ...................................................................21
6.2 Waste Electrical and Electronic Equipment (WEEE) Directive .............21
Chapter 7 Thorlabs Worldwide Contacts ....................................................23

3
Chapter 1 Safety
1.1 Safety Information
For the continuing safety of the operators of this equipment, and the protection of the
equipment itself, the operator should take note of the Warnings, Cautions and Notes
throughout this handbook and, where visible, on the product itself.
The following safety symbols may be used throughout the handbook and on the
equipment itself.
1.2 General Warnings
Shock Warning
Given when there is a risk of injury from electrical shock.
Warning
Given when there is a risk of injury to users.
Caution
Given when there is a risk of damage to the product.
Note
Clarification of an instruction or additional information.
Warnings
If this equipment is used in a manner not specified by the manufacturer, the
protection provided by the equipment may be impaired. In particular,
excessive moisture may impair operation.
Spillage of fluid, such as sample solutions, should be avoided. If spillage does
occur, clean up immediately using absorbant tissue. Do not allow spilled fluid
to enter the internal mechanism.

4
Chapter 2 Overview
2.1 APT Rack System Description
2.1.1 Introduction
Thorlabs has an extensive range of one-, two- and three-axis controllers for stepper
motor and piezo actuator control. Increasingly, production of optoelectronic
components requires fully automated or semiautomated control of a large number of
mechanical stages. In such applications, it is often more convenient to use a modular
system of controllers to drive a modular system.
The Thorlabs Modular Motion Control System has been developed to meet the
challenges of the modern optoelectronic production environment and provides
unsurpassed ease of installation, reconfiguration, flexibility and upgradability.
The modular rack system provides a highly functional 12 channel platform within the
‘footprint’ of a 4U high, 19” wide enclosure. With a unified power supply and a USB
communications interface, the APT rack system is easily incorporated into larger
custom applications. The MMR601 Rack is supplied without a cover, ready for
installation into a standard 19 in. frame. The MMR602 is supplied with a cover and
rubber feet for benchtop use.
2.1.2 Building Larger Scale Systems
The unrestricted configuration flexibility offered by the APT rack allows any
combination of the 2-channel APT stepper motor controller, piezoelectric driver and
NanoTrak control modules to be fitted for specific nanopositioning and alignment
applications. For example, a system configured to operate our APT606 6-axis
nanopositioning stage, which has six stepper motors and six piezoelectric actuators
with displacement sensors, would require 12 channels of motion control. Using three
stepper motor modules, each with two channels, provides the motor control; using two
piezoelectric controller modules and one NanoTrak controller module would power all
6 of the piezoelectric actuators while also taking advantage of the position sensors.
Additionally, the NanoTrak module provides the full range of features offered by a fully
operational auto-alignment system. All this functionality fits into the single chassis that
measures just 4U in height.
Please see the documentation supplied with the various module products for further
details.

5
APT Modular Rack Controller
2.1.3 Ease of Use
The rack system architecture, hardware and software has been skilfully engineered
to provide an efficient and effective solution to complex high channel count
applications.
The APT rack presents a clean, uncluttered front panel, with six rear mounting bays
for the plug-in modules. The backplane of the rack connects all modules and the
control PC via a standard USB bus. This arrangement greatly simplifies the cable
management issues that arise as the number of channels expands.
A flexible and energy efficient integral power supply powers all of the modules
allowing for an adaptable, “mix-and-match” choice of module type, location and
combination. These features greatly enhance ease-of-use, and provide an
unparalleled flexibility for future system upgrades or reconfigurations. Each module is
equipped with an on-board DSP embedded processor; as modules (channels of
operation) are added, processing power is also added, hence the system is able to
maintain maximum operating efficiency even when fully loaded.
Due to the inherent architecture of the system, additional racks can be added to the
USB bus as required, thus allowing multiple, fully automated 6-axis positioning
stages to be combined into a single unified motion control system.
The PC based software that is used to drive the system operates from the same
kernel of ActiveX multithreaded server code and associated suite of high level user
applications used to drive our range of APT stand-alone bench top controllers. This
makes it possible to offer effortless code-porting and concurrent control of bench top
and rack controllers.
The APT software is rigorously engineered using modern object oriented techniques,
ensuring programming environment independence and compatibility with a large
number of third party development tools.
All key high level commands, settings and
system parameters are exposed through a set of ActiveX
Drivers. These exposed
objects allow the modular electronics system to be 'driven' from applications written by
the user without the need to understand or alter the core system software.
In addition, ActiveX technology is language independent, allowing custom application
development to be undertaken using any language or development system that
supports ActiveX. See Section 2.2. for a description of the APT Software.
In the remainder of this manual, Chapter 2, Getting Started, gives an overview of the
APT modular control system and its software. Chapter 3, Set up, describes how to
install the software and configure the system. Chapter 3, Installation, explains how to
install or remove modules from the rack and provides electrical installation
instructions together with general information and guidelines on mounting and siting
the equipment. Configuration details for each module are contained in the respective
handbooks. Finally, Chapter 5 details the parts list.

6 HA0177T Rev D Sept 2012
Chapter 2
2.2 Software
2.2.1 Background
A common requirement in many optoelectronic alignment and characterization
applications concerns the implementation of automated positioning sequences.
Typically, such positioning sequences require a series of descrete movements and
measurements to implement an overall solution
The mechanical stage options and drive electronics offered by Thorlabs are ideally
suited to performing all of these individual steps in a variety of different ways.
The key to the APT range of controllers (and associated mechanical products)
concerns the ease and speed with which complete automated alignment systems can
be engineered at the software level. All controllers in the APT range are equipped with
USB connectivity. The 'multi-drop' USB bus allows multiple APT units to be connected
to a single controller PC using simple USB hubs and cables.
The USB connection flexibility offered by the APT controllers is matched by the
associated product software. All APT controllers are shipped with a sophisticated
multithreaded ActiveX based software control suite. This suite comprises the main
ActiveX based APT Server with a number of utilities including APTUser and
APTConfig. APT Server is the main software 'engine' that runs on the host PC to
provide all necessary APT services such as generation of sophisticated graphical
instrument panels, multiple unit USB communications and multithreaded execution to
enhance system operation and prevent GUI deadlock. Rather than a single monolithic
entity, the APT Server is actually an interoperating collection of ActiveX Controls (or
simply Controls) together with associated support files and libraries. These ActiveX
Controls, developed using leading edge object oriented coding techniques, are the
key to the powerful, flexible and yet extremely easy to use APT control software.
2.2.2 APT Server (ActiveX Controls)
ActiveX Controls are re-usable compiled software components that supply both a
graphical user interface and a programmable interface. Many such Controls are
available for Windows applications development, providing a large range of re-usable
functionality. For example, there are Controls available that can be used to
manipulate image files, connect to the internet or simply provide user interface
components such as buttons and list boxes.
With the APT system, ActiveX Controls are deployed to allow direct control over (and
also reflect the status of ) the range of electronic controller units. Software
applications that use ActiveX Controls are often referred to as 'client applications'.
Based on ActiveX interfacing technology, an ActiveX Control is a language
independent software component. Consequently ActiveX Controls can be
incorporated into a wide range of software development environments for use by
client application developers. Development environments supported include Visual
Basic, Labview, Visual C++, C++ Builder, HPVEE, Matlab, VB.NET, C#.NET
and, via
VBA, Microsoft Office applications such as Excel and Word.

7
APT Modular Rack Controller
Consider the ActiveX Control supplied for the APT stepper controller module.
This Control provides a complete user graphical instrument panel to allow the motor
unit to be manually operated, as well as a complete set of software functions (often
called methods) to allow all parameters to be set and motor operations to be
automated by a client application. The instrument panel reflects the current operating
state of the controller unit to which it is associated (e.g. such as motor position).
Updates to the panel take place automatically when a user (client) application is
making software calls into the same Control. For example, if a client application
instructs the associated stepper motor Control to move a motor, the progress of that
move is reflected automatically by changing position readouts on the graphical
interface, without the need for further programming intervention.
The APT ActiveX Controls collection provides a rich set of graphical user panels and
programmable interfaces allowing users and client application developers to interact
seamlessly with the APT hardware. Each of the APT controller modules has an
associated ActiveX Control and these are described fully in system online help or the
handbooks associated with the controllers. In addition to the main ActiveX Server, a
number of other utilities are supplied with the APT system, most notably APTUser and
APTConfig. Note that these utilities themselves take advantage of and are built on top
of the powerful functionality provided by the APT ActiveX Server (as illustrated in the
system architecture diagram below).

8 HA0177T Rev D Sept 2012
Chapter 2
2.2.3 APT User.exe
The APTUser application allows the user to interact with any of the modules
connected, via rack units, to the host PC. This program displays multiple graphical
instrument panels to allow multiple APT modules to be controlled simultaneously.
All basic operating parameters can be altered and, similarly, all operations (such as
motor moves) can be initiated. For many users, the APTUser application provides all of
the functionality necessary to operate the APT hardware without the need to develop
any further custom software. For those who do need to further customise and automate
usage of the APT modules (e.g. to implement an alignment algorithm), this application
illustrates clearly how the rich functionality provided by the APT ActiveX Controls are
used by a client application. The complete Visual Basic source project is provided as a
useful aid to software developers.

9
APT Modular Rack Controller
2.2.4 APT Config Utility
There are many system parameters and configuration settings associated with the
operation of the APT Server (ActiveX Controls). Most can be directly accessed using
the various graphical panels and their associated programmable interfaces. However
there are several system wide settings that can be made 'off-line' before running the
APT software. These settings have global effect; such as switching betweensimulator
and real operating mode, associating mechanical stages to specific motor actuators
and incorporation of calibration data.
The APTConfig utility is provided as a convenient means for making these system
wide settings and adjustments. Full details on using APTConfig are provided in the
online help supplied with the utility.
2.2.5 Software Upgrades
Thorlabs operate a policy of continuous product development and may issue software
upgrades as necessary.
Detailed instructions on installing upgrades are included on the APT Software
CD ROM.

10 HA0177T Rev D Sept 2012
Chapter 2
2.3 Front Panel Controls
Fig. 2.1 Modular rack front panel
Power LED - Indicates that power is applied to the unit.
Channel Keys - Used to enable/disable channels of the modules fitted in Bays 1 to
6. The associated LED is lit when the channel is enabled. In the case of the motor
controllers, disabling the channel allows the motor actuator to be operated manually.
Disabling channels on piezo and NanoTrak controllers sends their respective HV
outputs to zero volts. See Fig. 2.1 for information on associating channel keys with
bay locations.
ModularRack
apt
APT Rack viewed from the rear
Bay 1 Bay 2
Bay 3 Bay 4
Bay 5 Bay 6
Bay 1
1 2
Bay 2
1 2
Bay 3
1 2
Bay 4
1 2
Bay 5
1 2
Bay 6
1 2
modular rack modular rack
aptapt
Power

11
APT Modular Rack Controller
2.4 Rear Panel Controls
Fig. 2.2 Modular rack rear panel
Bonding Point - used to electrically bond one or more racks together (or with other
equipment) to eliminate circulating earth (ground) currents. Do not connect to the
main power supply ground.
USB - USB port for system communications with a host control PC.
USB
Fuse Rating
T15A
Antisurge Ceramic
Modular Rack
apt
Power Input
800 VA
100 - 240 VAC
47 - 63 Hz
bonding point
EXT IN (-)
PIEZO IN USER I/O
DRIVE CHANNEL 1 DRIVE CHANNEL 2
PIEZO IN
EXT IN (+) HV OUT EXT IN (-)EXT IN (+)
EXT IN (-)
USER I/O
ANNEL 1 DRIVE CHANNEL 2
PIEZO IN
EXT IN (+) HV OUT EXT IN (-)EXT IN (+)
DRIVE CHANNEL 2
MOTOR I/O
L1
L2
Model No.
MST601
Model No.
MNA601
Model No.
MPZ601
USB port

12
Chapter 3 Installation and Set Up
3.1 Installing APT Software
DO NOT CONNECT THE CONTROLLER TO YOUR PC YET
1) Insert the CD into your PC.
2) The CD should run automatically. If your CD does not start, double click the file
‘autorun.exe’, found on the Software CD.
3) A Welcome dialogue screen is displayed. Before installing the software, you are
strongly advised to read the Installation Guide. Click the associated link.
4) Once you are familiar with the installation procedure, click the ‘Install APT
Software’ hyperlink displayed on the Welcome dialogue screen.
5) Follow the on-screen instructions.
Note
When operating via a PC, direct user interaction with the unit is
accomplished through intuitive graphical user interface panels (GUIs),
which expose all key operating parameters and modes. The user can
select multiple panel views displaying different information about a
particular hardware unit. The multitasking architecture ensures that the
graphical control panels always remain live, showing all current
hardware activity.
Caution
Some PCs may have been configured to restrict the users ability to load
software, and on these systems the software may not install/run. If you are
in any doubt about your rights to install/run software, please consult your
system administrator before attempting to install.
Ifyouexperienceanyproblemswheninstallingsoftware,contactThorlabson
[phone] and ask for Technical Support.

13
APT Modular Rack Controller
3.2 General Precautions
3.2.1 Siting
The Modular Rack is designed to be used in a horizontal position..
3.2.2 Environmental Conditions
Location Indoor use only
Maximum altitude 2000 m
Temperature range 5oC to 40oC
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.
Caution
When siting the unit, it should be positioned so as not to impede the
operation of the rear panel power supply switch.
Ensure that proper airflow is maintained to the rear of the unit.
Warning
Operation outside the following environmental limits may adversely affect
operator safety.

14 HA0177T Rev D Sept 2012
Chapter 3
3.3 Mechanical Installation
3.3.1 Mounting
The MMR601 Rack is supplied without a cover, ready for installation into a standard
19 in. frame. The MMR602 is supplied with a cover and rubber feet for benchtop use.
It is possible to convert a rack from frame mount to benchtop (or vice versa), please
contact the factory for details.
3.3.2 Blanking plates
3.3.3 Fitting a module
To fit a module into the rack, refer to Fig. 3.1 and proceed as follows;
6) Ensure the rack is the right way up, with the feet at the bottom.
7) Undo the securing screws in the module front panel such that the screws are held
in the panel by their threads.
8) Gently slide the module into the guide rails until it engages with the back plane
connector. If the module does not go in easily, check it lines up with the connector
and that the guide rails are positioned correctly. Firm pressure is required to seat
the module correctly.
9) Tighten the four securing screws on the module front panel.
Caution
When mounting the benchtop version, ensure adequate air flow is
maintained; do not obscure the ventilation holes on the left- and right-
hand sides of the unit. When mounting in a 19 in. frame, ensure there is
sufficient air gap at the sides of the enclosure.
Warning
Unoccupied module slots in the rack must always be covered by the
purpose made blanking plates provided. Do not operate the equipment
with the blanking plates removed.
Warning
Ensure that all power to the rack is disconnected before fitting or
removing a module.
Note
During item (8) ensure that the fins on the module are correctly located in
the left hand and right hand guide rails.

15
APT Modular Rack Controller
Fig. 3.1 Fitting a module into the rack
3.3.4 Removing a module
1) Switch off and disconnect all power.
2) Undo the securing screws in the module front panel such that the screws are held
in the panel by their threads.
3) Pull the module from its bay, ensuring an even pulling force on both handles to
prevent the module sticking in its rails.
Caution
During item (3), take care not to damage the spring bonding strip along
the top and bottom edges of the front panel.
HVOUT
EXTIN(-)
PIEZOINUSERI/O
DRIVECHANNEL1DRIVECHANNEL2
PIEZOIN
EXTIN(+)
HVOUT
EXTIN(-)
EXTIN(+)
ModelNo.
MPZ601
HVOUT
EXTIN(-)
PIEZOINUSERI/O
DRIVECHANNEL1DRIVECHANNEL2
PIEZOIN
EXTIN(+)
HVOUT
EXTIN(-)
EXTIN(+)
ModelNo.
MPZ601
HVOUTLVOUT
SIGIN
PIEZOINUSERI/O
DRIVECHANNEL1DRIVECHANNEL2
PIEZOIN
HVOUTLVOUT
L1
L2
ModelNo.
MNA601
DRIVECHANNEL1DRIVECHANNEL2
USERI/OMOTORI/O
L1
L2
ModelNo.
MST601
DRIVECHANNEL1DRIVECHANNEL2
USERI/OMOTORI/O
L1
L2
ModelNo.
MST601
DRIVECHANNEL1DRIVECHANNEL2
USERI/OMOTORI/O
L1
L2
ModelNo.
MST601
ModularRack
apt
PowerInput
800VA
100-240VAC
47-63Hz

16 HA0177T Rev D Sept 2012
Chapter 3
3.4 Electrical Installation
3.4.1 Connecting the Rack and Controller
The Control PC should be connected to the APT rack using a spare USB connector,
according to the PC manufacturers instruction manual.
Additional racks can be added as required, via spare USB sockets or a standard USB
hub.
3.4.2 Connecting To The Supply
3.4.3 Bonding
To eliminate circulating earth (ground) currents, units in the same system should be
bonded using the rear panel terminal marked .
3.4.4 Fuses
Two T 3A/250V a.c. antisurge ceramic fuses are located on the back panel, one for
the live feed and one for the neutral as follows:
When replacing fuses:
1) Switch off the power and disconnect the power cord before removing the fuse
cover.
Shock Warning
The unit must be connected only to an earthed fused supply of 110 to
230V.
Use only power supply cables supplied by Thorlabs, other cables may not
be rated to the same current. The unit is shipped with appropriate power
cables for use in the UK, Europe and the USA. When shipped to other
territories the appropriate power plug must be fitted by the user. Cable
identification is as follows:
Brown Live
Blue Neutral
Green/Yellow Earth/Ground
Warning
Do not connect this terminal to the power supply ground.
Fuse Rating Type Fused Line
F1 T 3A ceramic; antisurge; 20mm Live feed
F2 T 3A ceramic; antisurge; 20mm Neutral feed

17
APT Modular Rack Controller
2) Always replace broken fuses with a fuse of the same rating and type.
3.5 System Setup
1) Install the APT software as detailed in Section 3.1.
2) Install the electronic hardware and connect the modules to the relevent axes of
the associated stages (see Section 3.3.3. of this handbook, and also the
handbooks supplied with the control modules).
3) For each Stepper Motor Control module in your system, fit the interlock plug
(supplied) to the MOTOR CONTROL connector on the rear panel (see the
handbook supplied with the motor control module).
4) Run the APTConfig utility and associate each motor channel with its stage and
axis - see the APTConfig helpfile for detailed instructions.
5) Begin using the APT hardware - see the APTUser helpfile for further details.
Note
To ensure that a particular stage is driven properly by the system, a
number of parameters must first be set. These parameters relate to the
physical characteristics of the stage being driven (e.g. min and max
positions, leadscrew pitch, homing direction etc.).
To assist in setting these parameters correctly, it is possible, using the
APT Config utility, to associate a specific stage type and axis with the
motor controller channel. Once this association has been made, the APT
server applies automatically, suitable default parameter values on boot
up of the software.
Note
The 'APT Config' utility can be used to set up simulated hardware
configurations and place the APT Server into simulator mode. In this way
it is possible to create any number and type of simulated (virtual)
hardware units in order to emulate a set of real hardware. This is a
particularly useful feature, designed as an aid to application program
development and testing. Any number of 'virtual' control units are
combined to build a model of the real system, which can then be used to
test the application software offline.
If using real hardware, ensure that Simulator Mode is disabled. If using a
simulated setup, enable Simulator Mode and set up a ‘Simulated
Configuration’ - see the APTConfig helpfile for detailed instructuions.

18 HA0177T Rev D Sept 2012
Chapter 3
3.6 Assigning a Serial Number
Every hardware unit is factory programmed with a unique 8-digit serial number. This
serial number is key to operation of the APT Server software and is used by the
Server to enumerate and communicate independently with multiple hardware units
connected on the same USB bus.
Before an ActiveX control can communicate with the associated hardware unit, the
relevant serial number must be allocated to the control instance. This is performed
automatically when using the APT User utility. For custom application software it must
be achieved by calling the HWSerialNum property.

19
Chapter 4 Preventive Maintenance
4.1 Safety Testing
PAT testing in accordance with local regulations, should be performed on a regular
basis, (typically annually for an instrument in daily use).
4.2 Cleaning
The fascia may be cleaned with a soft cloth, lightly dampened with water or a mild
detergent.
Shock Warning
The equipment contains no user servicable parts. There is a risk of severe
electrical shock if the equipment is operated with the covers removed.
Only personnel authorized by Thorlabs Ltd and trained in the
maintenance of this equipment should remove its covers or attempt any
repairs or adjustments. Maintenance is limited to safety testing and
cleaning as described in the following sections.
Caution
The instrument contains a power supply filter. Insulation testing of the
power supply connector should be performed using a DC voltage.
Repeated application of ‘flash’ test may damaage the insulation.
Warning
Disconnect the power supply before cleaning the unit.
Never alow water to get inside the case.
Do not saturate the unit.
Do not use any type of abrasive pad, scouring powder or solvent, e.g.
alcohol or benzene.

20
Chapter 5 Specifications and Associated Products
5.1 Specifications
Power Supply
Voltage 100 to 240 VAC
Frequency 50-60 Hz
Power 800 W
Fuse 15A
Dimensions (W x D x H) 480 x 448 x 183 mm (19.0 x 17.6 x 7.0 in.)
5.2 Associated Products
Description Part number
APT Modular Rack (no cover) MMR601
APT Modular Rack (with cover) MMR602
Modular Rack Handbook ha0117T
Thorlabs NanoPositioning Software CDM621
Piezoelectric Control Module MPZ601
Stepper Motor Control Module MST601
NanoTrak Autoalignment Module MNA601
Blanking plate