THORLABS MLS203-1 User manual

HA0264T
MLS203-1
Fast XY Scanning Stage
User Guide
Original Instructions

Page 0 22115-D02
MLS203 Series XY Scanning Stage
Contents
Chaper 1 Overview ..................................................................................................... 1
1.1 Introduction ........................................................................................ 1
Chaper 2 Safety .......................................................................................................... 3
2.1 Safety Information ............................................................................. 3
2.2 General Warnings .............................................................................. 3
Chaper 3 Installation .................................................................................................. 4
3.1 Unpacking ........................................................................................... 4
3.2 Mounting ............................................................................................. 4
3.2.1 General ................................................................................................... 4
3.2.2 Fitting the Finger Guards ........................................................................ 5
3.2.3 Mounting To Microscope ......................................................................... 5
3.3 Electrical Connections ...................................................................... 6
3.4 Dimensions ......................................................................................... 7
3.4.1 MLS203-1 Dimensions ............................................................................ 7
Chaper 4 Operation .................................................................................................... 8
4.1 General ............................................................................................... 8
4.2 Using the Kinesis software ............................................................... 9
4.3 Using the APT software ................................................................... 12
4.4 Position Error Messages. ................................................................ 14
4.5 Transportation .................................................................................. 15
4.6 Maintenance ..................................................................................... 15
4.7 Transportation .................................................................................. 15
Chaper 5 Specification ............................................................................................. 16
Chaper 6 Spares and Accessories .......................................................................... 17
6.1 Parts List ........................................................................................... 17
Chaper 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 ................................................................... 18
7.2 CE Certificates ................................................................................. 19
Chaper 8 Thorlabs Worldwide Contacts ................................................................ 20

Rev F Apr 2019 Page 1
Chapter 1 Overview
Chapter 1 Overview
1.1 Introduction
The MLS203 uses internally integrated brushless DC servo motors with optical linear
encoders to provide an industry-leading, high-speed, compact scanning stage for
microscopy. This innovative design eliminates the external motor housings that create
mechanical clash points and impede access to the sample. It is ideal as a drop-in
upgrade replacement for the stage on Zeiss Axio Observer and Axiovert 40
microscopes.
The scanning stage can be positioned with a resolution of 0.1 µm and repeatability of
0.25 µm, at speeds up to 250 mm/s. The high-quality construction uses high-rigidity
precision linear bearings, commercial grade limit switches, and powerful brushless
linear DC servo motors. In addition, the number of moving parts has been minimized,
which optimizes the lifetime and reliability of the scanning stage.
Accessory plates are available for the stage to allow the positioning of standard
microscope slides and petri dishes, well plates and custom sample holders.
The MLS203 stages should be driven by the BBD series of brushless DC motor
controllers. These controllers include the Thorlabs apt software suite, which provides
an easy-to-use graphical interface for stand-alone operation as well as programming
support for integrated applications. The controller can also be used with most third
party software packages.
Fig. 1.1 MLS203 stage with MLS203P1 well plate adapter and 96 hole well plate

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MLS203 Series XY Scanning Stage
Chapter 2 Safety
2.1 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.
2.2 General Warnings
Warning: Risk of Electrical Shock
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.
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.
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.

Rev F Apr 2019 Page 3
Chapter 3 Installation
Chapter 3 Installation
3.1 Unpacking
3.2 Mounting
3.2.1 General
Caution
Once removed from its packaging, the stage can be easily damaged by
mishandling. The unit should only be handled by its base, not by any
attachments to the moving platform.‘
Note
Retain the packing in which the unit was shipped, for use in future transportation.
Caution
The performance of the stage could be affected if the mounting surface is not
flat to within 200µm. Care should be taken when bolting the stage to the
microscope to ensure that the base plate does not warp, which could cause
stiffness to be experienced in the bearing rails. The attachment brackets for
mounting the stage to a particular microscope are supplied with shims, which
should be fitted as necessary - for more details see the instructions for fitting
the attachment brackets.
When mounting the stage close to other equipment, ensure that the travel of the
moving platform is not obstructed. If equipment mounted on the moving
platform is driven against a solid object, damage to the internal mechanism
could occur. The range of travel is as follows:
X-axis 110mm (4.3"), Y-axis 75mm (2.95”).
When considering the stage movement in the proximity of other objects or
equipment, ensure that movement of cables connected to the moving carriage
is not impeded.
When mounting equipment to the moving platform, always use the fixings
supplied with the equipment being fitted. If these are not available, do not use
fixings that protrude more than 2.5 mm below the bottom surface of the
equipment being mounted as this could damage the internal mechanism of the
stage.
Damaging the stage in this way could invalidate the warranty.

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MLS203 Series XY Scanning Stage
3.2.2 Fitting the Finger Guards
The stages are supplied with finger guards to avoid trapping of body parts or cables
in the mechanism. These should be fitted before the stage is mounted on the
microscope as follows:
1) Offer up the finger guards to the stage as shown below, and secure using the M3
x 16 bolts supplied.
Fig. 3.1 Fitting the finger guards
M3 x 16 screw (qty 6)

Rev F Apr 2019 Page 5
Chapter 3 Installation
3.2.3 Mounting To A Zeiss Axio Observer/ Axiovert 40 Series Microscope
The stages are mounted to the working surface by M4 screws through the base plate.
1) Remove the bolts securing the manual XY specimen stage, fitted as standard to
the microscope. Tilt back the lamp support unit as necessary.
2) Remove the manual XY specimen stage.
3) Place the stage onto the mounting platform and loosely fit the three M4 x 12 bolts
provided.
4) Check that the mounting surface is flat, and that the stage does not ‘rock’ when
opposing corners are pressed down.
5) If any rocking is present at item (4), fit shims supplied as necessary (see below)
until the mounting surface is level and no play is present.
6) Tighten the three M4 bolts to secure the MLS203 stage to the mounting platform
of the microscope.
Fig. 3.2 Zeiss Axio Observer/Axiovert 40 fitting
M4 x 12 bolt
(qty 3)

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MLS203 Series XY Scanning Stage
3.3 Electrical Connections
The stage must be driven by a Thorlabs BBD series controller. Connect the motor
leads to the MOTOR DRIVE connectors, and the encoder feedback leads to the
FEEDBACK connectors. Ensure that the motor drive and feedback leads for each
motor are connected to the correct channel.
Fig. 3.3 Electrical connections
Pin out information for the motor drive and encoder feedback connectors on the motor
flying leads is detailed below.
Fig. 3.4 Motor Drive and Feedback Flying Lead Pin Out Details
TRIG OUT
!
1 Motor Phase V
2 GND
3 Thermistor (not used)
4 Motor Phase U
5 Stage ID
6 GND
7 Motor Phase W
8 Enable
1
2 GND
3
4 Enc Index -
5 QB -
6 QA -
7 5 V
8 5 V
9 GND
10 Limit Switch +
11 Limit Switch -
12 Enc Index +
13 QB +
14 QA +
15 x
3
5
8
2
6
4
1
7
87654321
1514131211109
MOTOR DRIVE
ENCODER FEEDBACK

Rev F Apr 2019 Page 7
Chapter 3 Installation
3.4 Dimensions
3.4.1 MLS203-1 Dimensions
Fig. 3.5 MLS203-1 Dimensions
140.0mm
5.51in
115.0mm
4.53in
79.0mm
3.11in
54.0mm
2.13in
172.0mm
6.77in
72.0mm
2.83in
70.0mm
2.76in
112mm
4.4
APPROX
260.0mm
10.24in
120.0mm
4.72in
191.0mm
7.52in
170.5mm
6.71in
160.3mm
6.31in
214.0mm
8.43in
130.5mm
5.14in
125.0mm
4.92in
120.3mm
4.74in
58.5mm
2.30in
20.5mm
0.81in
M3X0.5 TAPPED HOLE
4 PLACES
M3X0.5 TAPPED HOLE FOR
MOUNTING MLS203P1-5
ACCESSORY PLATES 4 PLACES
OBJECTIVE CENTRE AND
CENTRE OF STAGE TRAVEL
MOUNTING HOLE FOR M5
CAP SCREW 4 PLACES
M3 x 0.5 TAPPED HOLE
6 PLACES
REMOVABLE GUARD
REMOVABLE GUARD
31.1mm
1.22in
10.0mm
0.39in
230.0mm
9.06in
X AXIS MOTOR AND
ENCODER CABLES
Y AXIS MOTOR AND
ENCODER CABLES
25.0mm
0.98in
ACCESSORY PLATE MOUNTING SURFACE
All dimensions in mm [in.]

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MLS203 Series XY Scanning Stage
Chapter 4 Operation
4.1 General
The stages are connected to the controller via 2 flying leads terminated in D-type
connectors (FEEDBACK) and 2 leads terminated in round 8-Pin DIN Connectors
(MOTOR DRIVE).
For a complete tutorial on using the stage, see the manual supplied with the controller.
Basic steps in controlling the stage are as follows:
1) Make electrical connections as detailed in Section 3.3.
2) Move the moving platform a few times over its full range of travel to overcome any
storage resistance, then position the moving platform to be around its central p osition.
3) Power up the controller and wait for 10 secs until the Channel Enable LEDs start
flashing.
4) If a joystick control is being used, press and hold the ‘High/Low’ button for 2
seconds, then release to home the stage. When homing is complete, the green
LED stops flashing.
5) If no joystick is being used, click the Home button on the GUI panel.
Caution
The MLS203 stages is designed to be driven by the Thorlabs BBD20x or
RBD201 Brushless DC Motor Controllers.
Warning
The motor controller must be switched OFF before the stages are plugged in or
unplugged. Failure to switch the controller off may result in damage to either the
controller, the stage, or both.
Warning
3-phase brushless DC motors are commutated electronically, i.e. the controller
drives the coils with a precisely controlled waveform, that depends on the
position of the rotor (or, with linear motors, the position of the coil housing). On
power up, the position of the coil housing is not known. The controller
establishes this by energising the coils and measuring the resulting movement.
This is why on power up, the stage (motor) may make a slight buzzing noise
and move about randomly for a few seconds. Phase initialization can only take
place if the motor can move unobstructed during this time. Before powering up
the BBD controller at item (2), ensure that the stage movement is unobstructed.

Rev F Apr 2019 Page 9
Chapter 4 Operation
4.2 Using the Kinesis software
The stage is shipped already loaded with default parameter settings, which should
give satisfactory performance in most cases. However, depending on the application,
it may be necessary to adjust the PID loop parameter settings to fine tune the
response - see the following section for more information.
1) If it is not already running, start the Kinesis software - Start/Programs/Thorlabs/
Kinesis/Kinesis
The software reads in the stage and controller information on boot up and the GUI
panel shown below is displayed..
Fig. 4.1 Kinesis GUI screen
Note
The MOTOR DRIVE connectors for each channel/axis contain an EEPROM, which
stores the factory default settings for the set up parameters. When the stage is
connected, these settings are loaded into the controller on start up, and are tuned
for loads up to the 1.0 kg (2.2 lb) maximum, at speeds up to 250 mm/s.
However, depending on the load being driven and the speed/duty cycle of the
particular application, it may be necessary to further optimize the Position PID loop
settings.
If problems are encountered (e.g. stability of the closed loop position control, lost
motion or incomplete moves) the position loop PID parameters should be adjusted
to tune the stage for the given application. Normally, only minor adjustment of the
Proportional, Integral and Derivative parameters should be necessary, and some
trial and error will be required before the ideal settings for a specific application are
achieved. In cases where further adjustment of the control loop parameters is
required, the following guidelines are provided in order to assist in the tuning
process.

Page 10 22115-D02
MLS203 Series XY Scanning Stage
2) Click the Settings button on the GUI to display the Settings panel, then select the
‘Advanced’ tab.
Fig. 4.2 Advanced Control Loop Settings
3) Create a Custom Settings Group (see the Kinesis helpfile for more information)
and then adjust the acceleration and PID settings to fine tune the control loop for
your application - see Table 4.1 and Table 4.2 for more information.
4) After the parameter changes have been performed, click the ‘Persist Settings to
Hardware’ box, then click ‘OK’. This will ensure that the same parameter settings
will be loaded next time the unit is powered up - even in the absence of a PC.
Table 4.1 Position Loop Parameter Adjustment Guidelines
Load Range(g) Derivative Derivative Time Output Gain
0 to 250 4500 5 4000
250 to 500 5160 5 4660
500 to 750 5830 6 5330
750 to 900 6500 7 6000

Rev F Apr 2019 Page 11
Chapter 4 Operation
Depending on the shape of the mass and the accelerations and velocities used the
values quoted above may require adjustment to provide optimum performance.
The values quoted above are the maximum values recommended to avoid over
current errors. These values are a guideline only, and depending on the shape of the
mass and the velocities used, these values may require further adjustment,
particularly if the stages are mounted in an XY configuration.
Table 4.2 Load vs Maximum acceleration recommendations
Load (g) Approximate Max Acceleration (mm/s²)
0 5000
125 2400
250 1550
500 925
750 650
900 500
Note
Position PID Settings Summary
Stage overshoots the intended position - reduce the integral term, and increase the
derivative and proportional terms.
Stage fails to attain final position - increase the integral and proportional terms.
Motion is unstable - reduce the proportional and integral terms, increase the
derivative term.
Stage sounds noisy - reduce the derivative term.
Please see the handbook supplied with the controller, for more information on
changing these settings

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MLS203 Series XY Scanning Stage
4.3 Using the APT software
The stage is shipped already loaded with default parameter settings, which should
give satisfactory performance in most cases. However, depending on the application,
it may be necessary to adjust the PID loop parameter settings to fine tune the
response - see the following section for more information.
1) If it is not already running, start the APTUser utility - Start/Programs/Thorlabs/APT
User/APT User
The APT server reads in the stage and controller information on boot up and the
GUI panel shown below is displayed..
Fig. 4.3 APTUser GUI screen
Note
The MOTOR DRIVE connectors for each channel/axis contain an EEPROM, which
stores the factory default settings for the set up parameters. When the stage is
connected, these settings are loaded into the controller on start up, and are tuned
for loads up to the 1.0 kg (2.2 lb) maximum, at speeds up to 250 mm/s.
However, depending on the load being driven and the speed/duty cycle of the
particular application, it may be necessary to further optimize the Position PID loop
settings.
If problems are encountered (e.g. stability of the closed loop position control, lost
motion or incomplete moves) the position loop PID parameters should be adjusted
to tune the stage for the given application. Normally, only minor adjustment of the
Proportional, Integral and Derivative parameters should be necessary, and some
trial and error will be required before the ideal settings for a specific application are
achieved. In cases where further adjustment of the control loop parameters is
required, the following guidelines are provided in order to assist in the tuning
process.

Rev F Apr 2019 Page 13
Chapter 4 Operation
2) Click the Settings button on the GUI to display the Settings panel, then select the
‘Advanced’ tab.
Fig. 4.4 Advanced Control Loop Settings
3) Adjust the acceleration and PID settings to fine tune the control loop for your
application see Table 4.1 and Table 4.2 for more information.
4) After the parameter changes have been performed, click the ‘Persist Settings to
Hardware’ box, then click ‘OK’. This will ensure that the same parameter settings
will be loaded next time the unit is powered up - even in the absence of a PC.
Depending on the shape of the mass and the accelerations and velocities used the
values quoted above may require adjustment to provide optimum performance.
Table 4.1 Position Loop Parameter Adjustment Guidelines
Load Range(g) Derivative Derivative Time Output Gain
0 to 250 4500 5 4000
250 to 500 5160 5 4660
500 to 750 5830 6 5330
750 to 900 6500 7 6000

Page 14
MLS203 Series XY Scanning Stage
The values quoted above are the maximum values recommended to avoid over
current errors. These values are a guideline only, and depending on the shape of the
mass and the velocities used, these values may require further adjustment,
particularly if the stages are mounted in an XY configuration.
4.4 Position Error Messages.
Table 4.2 Load vs Maximum acceleration recommendations
Load (g) Approximate Max Acceleration (mm/s²)
0 5000
125 2400
250 1550
500 925
750 650
900 500
Caution
The maximum velocity at which the encoder can operate is approximately 400
mm/sec. Above this speed, encoder pulses may be lost and, as a result, the
position readout becomes incorrect. This renders normal operation impossible
because phase commutation of the motor is also based on the encoder reading.
When the stage is controlled by the BBD20x controller, the maximum velocity
is limited to safe values. However, if the output is disabled (with the controller
connected and monitoring the position) and the stage is moved manually at
high speeds, it is possible to exceed this limit. If the BBD20x controller is
subsequently used again to move the stage, the incorrect encoder reading will
cause incorrect operation, often resulting in sudden uncontrolled moves. It is
therefore important not to move the stage excessively quickly when it is moved
manually.
The BBD controller has fault monitoring to detect the loss of encoder pulses. If
this fault occurs, an error message will be generated and the controller must be
powered down and re-started so that correct phasing and commutation can be
established.
If this fault occurs when the stage is being controlled via the MJC001 joystick,
in the absence of a PC, the red LED on the joystick console is lit, and all
operation is suspended until the controller is shut down and rebooted.

Rev F Apr 2019 Page 15
Chapter 4 Operation
4.5 Transportation
4.6 Maintenance
The product is maintenance free. If any problems occur, the user should contact the
local Thorlabs tech support for more information.
4.7 Transportation
Caution
When packing the unit for shipping, use the original packing. If this is not
available, use a strong box and surround the unit with at least 100 mm of shock
absorbent material.
Caution
When packing the unit for shipping, use the original packing. If this is not
available, use a strong box and surround the unit with at least 100 mm of shock
absorbent material.

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MLS203 Series XY Scanning Stage
Chapter 5 Specification
Parameter Value
Travel 110 mm x 75 mm (4.3" x 2.95")
Max Speed 250 mm/s*
Acceleration 2000 mm/s*
Bidirectional Repeatability 0.25 µm
Unidirectional Repeatability 0.25 µm
Backlash N/A (No Leadscrew)
Min Incremental Movement 0.1 µm
Home Location Accuracy 0.25 µm
Max Load 2.2 lbs (1 kg)
Note
Depending on the application, heavy loads may affect the stage performance and/or stability.
Absolute On-Axis Accuracy <3 µm
Max Percentage Accuracy X-Axis (110 mm) 0.0027%
Y-Axis (75 mm) 0.004%
Settling Time within 1 µm (600 g load)* 0.1 sec
Settling Time within 0.1 µm (600 g load) * 0.6 sec
Limit Switches X and Y as Standard
Bearing Type High Rigidity Recirculating Precision Linear
Bearing
Motor Type Brushless DC Linear Motor
Dimensions (Mid Travel) 10.24 x 9.06" x 1.22"
(260.0 mm x 230.0 mm x 31.1 mm)
Weight (with cables) 7.0 lbs (3.2 kg)
Note
The default tuning parameters can be changed to optimise settling times for a specific load.
Caution
The maximum speed and acceleration values quoted can be safely achieved with the
maximum load and a high duty cycle. However in this case, some heating of the stage
may occur and dimensional stability of the stage may be affected. This could result in less
than optimal repeatability and accuracy. For cases were repeatability and accuracy are
critical it is recommended that the stage temperature is allowed to reach a steady state
before measurements are taken.
Alternatively the load, acceleration and duty cycle should be reduced from the maximum
values. Some trial and error in setting these values may be necessary before the ideal
settings are attained.

Rev F Apr 2019 Page 17
Chapter 6 Spares and Accessories
Chapter 6 Spares and Accessories
6.1 Parts List
We offer a number of options for mounting your biological samples to your stage. The
MLS203P series of microscope sample platforms has been designed to provide
flexible options of sample types: traditional slides, petri dishes or well plates, as well
as uniquely shaped sample holders for biofilms, microfluidic studies and live sample
viewing.
A range of attachment brackets is also available, which allow the stage to be fitted to
specific microscopes from Nikon and Olympus - see www.thorlabs.com for more
details.

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MLS203 Series XY Scanning Stage
Chapter 7 Regulatory
7.1 Declarations Of Conformity
7.1.1 For Customers in Europe
See Section 7.2.
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.