Motion Control aptâ„¢ Modular Rack System (Page 1 of 2)

Motion Control

374 www.thorlabs.com

Single Axis Stages

Multi-Axis Stages

Flexure Stage Accessories

MotorizedMirror Mounts

Rotation Stages

Drive Electronics& Auto-Alignment

Actuators & Adjusters

Brief Tutorials

apt™ Modular Rack System ( of 2) The apt™ modular rack system is a sophisticated,self-contained, extendable-architecture, precision motion controlplatform for motion control applications with a high channelcount. This new system deploys the same advanced high speeddigital signal processing (DSP) technology and low noise analogcircuitry pioneered in the apt™ benchtop controllers andprovides a highly functional 12 channel platform within thefootprint of a 4U high, 19" wide enclosure. With a unified powersupply and a single node USB communications interface, theapt™ rack system is easily incorporated into larger customapplications. Module functionallity is identical to thecorresponding apt™ benchtop controllers, allowing a commonsoftware solution and learning curve for both benchtop and rack-based apt™ controllers. Multiple user development environmentsare supported (e.g. Visual Basic, LabVIEW™, HP VEE, C++,MATLAB, and .NET).

Building Larger Scale SystemsThe 2-channel apt™ stepper motor (see page 376), piezoelectric actuator driver (seepage 377), and NanoTrak™ controllers (see page 378) all have functionally identicalbenchtop and rack-module equivalents. The unrestricted configuration flexibility offeredby the apt™ rack-based products allows any combination of modules to be fitted forspecific nanopositioning and alignment applications. For example, a system configuredto operate our Max606 nanopositioning stage that has six stepper motors and sixpiezoelectric actuators all with displacement sensors, would require 12 channels ofmotion control. For details on the Max606 stage, please refer to page 308. Using threestepper motor modules, each with two channels, provides the motor control; using twopiezoelectric controller modules and one NanoTrak™ controller module would powerall 6 of the piezoelectric actuators while also taking advantage of the position sensors.Additionally, the NanoTrak™ module would provide the full range of features offeredby a fully operational auto-alignment system. All this functionality fits into the singleMMR601 chassis that measures just 4U in height.

Engineered for Ease of Use

The rack system architecture, hardware, and software has been engineered to providean efficient and effective solution for complex, high channel count nanopositioningapplications. Whether these applications are found in a modern high-volumeoptoelectronic component manufacturing facility or in a leading R&D facility, theMMR601 system is easy to implement and can be adapted to the rapidly changingneeds of both worlds.

VIEW

TypicalSystemArchitecture

MST601

MNA601

MPZ601

13 DriveElecRacks 374-379.qxd.P 7/12/07 4:13 PM Page 374

http://thorlabs.com/

apt™ Modular Rack System ( of 2)

Developers Support CDA developer’s kit is included at no extra charge. This additionalsupport package is intended for software developers working onlarge scale system integration projects that incorporate a number ofapt™ products. This developer’s kit contains an extensive selectionof useful sample code and tutorial information from which aprogrammer can draw valuable insight into the operation of largescale apt™ projects. Please refer to pages 376-378 for furtherdetails on the apt™ software.

Features■ Supports up to 12 Channels

of Operation in a Single Chassis■ Three Plug-In Modules:

• Dual-Channel PiezoelectricController with 75V of Low-NoiseOutput (see page 377)

• Dual-Channel Stepper MotorController with Peak Powerof 50W per Channel (see page 376)

• Dual-Channel NanoTrak™Auto-Alignment System(see page 379)

■ 6 Module Slots per Chassis, Access fromRear Panel

■ Advanced ActiveX® PC ControlSoftware Suite

■ USB Plug-and-Play■ USB Interface Allows Multiple Systems

to be Connected and Controlled viaOne PC

ITEM# $ £ € RMB DESCRIPTION

MMR601 $ 3,765.50 £ 2,372.30 € 3.501,90 ¥ 35,960.50 apt™ Modular Rack Mounting SystemMMR602 $ 3,901.50 £ 2,457.90 € 3.628,40 ¥ 37,259.30 Benchtop apt™ Modular Rack System

Motion Control

375www.thorlabs.com

Single Axis Stages

Multi-Axis Stages



Rotation Stages


Actuators &Adjusters

Brief Tutorials

Specifications■ Standard 19" Rack, 4U High■ Power Input:

• Voltage: 85-264 VAC• Frequency: 47-63Hz• Power: 800W• Fuse: 15A

■ Dimensions (W x D x H):480 x 448 x 183mm(19.0 x 17.6 x 7.0in.)

■ Weight: 16kg (35.2lbs)

The apt™ rack presents a clean, uncluttered front panel with six rear mountingbays for the plug-in modules. This arrangement greatly simplifies the cablemanagement issues that arise as the number of channels expands.

Each module is equipped with an on-board DSP embedded processor, whichallows processing power to be increased as modules (channels of operation) areadded. Hence the system is able to maintain maximum operating efficiency evenwhen fully loaded.

Furthermore, additional racks can be added to the USB bus as required, thusallowing multiple, fully automated 6-axis positioning stages to be combined intoa single unified motion control system.

The PC-based software that drives the MMR601 system operates from the samekernel of ActiveX® multi-threaded server code used to drive the stand-alonebenchtop controllers and includes the same collection of high-level userapplications. All of our ActiveX® software is rigorously engineered using modernobject oriented techniques, which ensures independence of programmingenvironment and compatibility with a large number of third-party developmenttools. See pages 380-382 for more details on the apt™ software suite.

The new apt™ modular rack system provides unsurpassed ease of installationand use. In addition, it offers seamless third party integration, scalability,flexibility, and reliability.

13 DriveElecRacks 374-379.qxd.P 7/5/07 7:05 PM Page 375


Motion Control


Single Axis Stages

Multi-Axis Stages



Rotation Stages



Brief Tutorials

apt™ Control Software Overview – Page 1 of 3Constructing automated custom alignment and positioning solutions in a speedyand efficient manner is becoming increasingly important in today's competitiveenvironment. Often timescales are short and yet the nature of the solutions,particularly at the software level, are becoming more complex and demanding.We have worked very closely with a large number of system engineers andresearch specialists in order to gain a detailed understanding of the specificrequirements for sophisticated yet easy-to-use electronics and software controllerproducts.

Out-of-the-Box OperationWhen faced with an automated alignment project, the system engineer or researcherwill often face a steep learning curve, and when the end requirement involvesprogramming automative alignment sequences, learning how to operate the

equipment manually is an important first step.Every apt™ controller can be manually operatedusing the supplied ‘APTUser’ utility. This utilitygives access to all settings, parameters, andoperating modes. In this way most automatedalignment sequences can be first tested and verifiedwithout writing a single line of custom software byfirst using APTUser.

Time Saving Speedy Pre-ConfigurationIn order to further reduce the time required toconfigure our range of apt™ controllers, an offlinepre-configuration utility, APTConfig, is suppliedwith all units.

As an example, this utility can be used to associateThorlabs’ stages and actuators with individualmotor drive channels, thus allowing the system toset automatically a large number of systemparameter defaults. This offline configurationeliminates the need to write the large amounts ofinitialization code often required when using othercontrol systems, greatly reducing the time takenwhen developing custom applications. Many otherpreconfigured settings can be made by using theAPTConfig utility.

apt™ Server – The Engine for IntegrationSoftware SolutionsThe apt™ Server lies at the heart of the apt™system. This software engine sits underneath theoperation of both APTUser and APTConfig andmakes the functionality of both utilities easilyaccessible. The apt™ Server actually comprises acollection of cooperating ActiveX® Controls (seeaside) and associated support libraries that providea tool kit of graphical instrument panels andassociated programming interfaces. It is this set ofActiveX® Controls that allow motion control andalignment functionality to be incorporated quicklyand easily into custom applications.

ActiveX® Controls allow apt™ motion control and alignment functionality to be incorporated quickly and easilyinto custom applications. ActiveX® Controls are pre-compiled software functional blocks (orcomponents) that typically include both a graphical user interface(GUI) and programming (software function) interface.There are many such ActiveX® Controls available to theWindows software developer providing an enormous rangeof pre-compiled functionality for use in their own custom(or client) applications. The ActiveX® Controls suppliedwith the apt™ system provide all of the GUI andprogrammability required to operate and control the fullrange of apt™ controllers (T-Cube, benchtop, and rack-based variants). For example, the Motor ActiveX® Controlprovides a complete instrument panel allowing full manual control ofour stepper motor driver units. In addition, the associated programming interfaceallows the software developer to automate the operation of the motor in an integrationapplication.

Evaluation version

available in the

download section at

www.thorlabs.com

14 DriveElecSoftware 380-382.qxd.P 7/5/07 11:02 AM 80


www.thorlabs.com

apt™ Control Software Overview – Page 2 of 3Multiple Development Environment Support – Your ChoiceOne of the first questions often posed by a systemdeveloper is that of language compatibility. Weaccept that our customers will want to use a widevariety of software development languages andtools when architecting their solutions, and it isfor this very reason that we have engineered theapt™ Server to be ActiveX® compliant. ActiveX®

is a language independent interfacing technologysupported by a large number of Windows-basedsoftware development environments. Using ourapt™ controllers, it is possible to create customalignment applications with environments such asLabVIEW™, Visual Basic, Visual C++, BorlandC++, HP VEE, Matlab, and even MicrosoftOffice via VBA (Visual Basic for Applications).Certain .NET environments (e.g. VB.NET,C#.NET) will also support ActiveX® throughMicrosoft interop technology.

Rapid Application Development – Drag and DropOne of the key benefits using the apt™ ActiveX®

Controls is the speed with which the associatedmotion control functionality can be incorporatedinto a custom alignment application. TakingVisual Basic for example, a fully functional apt™

motor control instrument panel can be incorporated into an end application literallywithin a minute with a single drag-and-drop operation, a single serial numbersetting, and a single line of code. Unlike many other motion control softwarelibraries available, the apt™ system provides complete prewritten GUIs for use incustom applications. Consequently, a large amount of development time is saved byeliminating the need to write code to provide essential end user interface capability.These instrument panels can also be used during software development or whencommissioning and configuring the system to alter essential settings. In the finishedapplication, it is also very easy to hide these full parameter access graphical panelsfrom the end user in order to prevent inadvertent changes to alignment parameters.

Comprehensive Programming InterfacesWe recognize that it is crucially important that the apt™ Server makes available allrequired parameters and operating modes through its programming interfaces.

We have taken every available system setting and command and exposed them tosupport the vast range of integrated software applications that can be built aroundthe apt™ system. Hundreds of software commands and settings exist to ensure fullflexibility and adaptability when automating the operation of our controllers.

Multi-threadingWhen developing custom applications on a PC, it is important to ensure that thealignment process itself can execute without disruption (to maintain requiredalignment time for example). Additionally, a well-written client application willalso provide feedback to the user via its GUI and allow operator intervention atany time should an error condition or other event occur. In many cases, a

motion control application will also be required to interact withother system hardware such as device characterization andacquisition systems, laser sources, robotic units, andenvironment control units. The system engineer is faced withsupporting all of the above within a single application while

also overcoming theconsequent issues of softwarelatency from the end user’sperspective (e.g. due topolling of equipment).

To address these fundamentalapplication issues, we havebuilt full multi-threading andevent “firing” capability intothe apt™ Server. Multi-threading is deployed toisolate operation of the apt™hardware completely fromthat of the end application.

In this way, an end client application can engage in intensiveprocessing (such as data acquisition or number crunching) withoutaffecting the operation of the apt™ controllers. Additionally, we haveensured that the graphical instrument panels are themselves executed in aseparate processing thread. This unique approach taken in the apt™ Serverensures that the graphical panels remain fully responsive even when the endapplication is busy on some intensive processing activity. Always being able

to access apt™ controller settings via their GUI panels is extremely useful whentrying to optimise software routines, even if an alignment sequence is running.Event firing is the software mechanism by which an apt™ ActiveX® Control caninform the client application of some event or occurrence. In the apt™ system, thismechanism is effectively used to end motor movement and other lengthyoperations. By responding to these events, a custom end application does not needto sit and poll for lengthy operations, which improves the overall systemperformance.

Motion Control

381www.thorlabs.com

Single Axis Stages

Multi-Axis Stages



Rotation Stages


Actuators &Adjusters

Brief Tutorials

See 97

IR Cards &AlignmentDisks

14 DriveElecSoftware 380-382.qxd.P 7/5/07 11:02 AM Page 381


Motion Control


Single Axis Stages

Multi-Axis Stages



Rotation Stages



Brief Tutorials

apt™ Control Software Overview – Page 3 of 3

apt™ Hardware Emulator – Offline Application DevelopmentFor total convenience, the apt™ Server can be placed into a full hardwareemulation mode (using the APTConfig utility), giving the freedom to run thesoftware without connecting actual physical units.

This emulation support is useful for many reasons, including learning how to useand program the apt™ software without necessarily tying up real apt™ hardware,which is useful if multiple person teams are working on the same integrationproject.

It also gives the option of developing custom applications off-line if, for example,the apt™ hardware is unavailable or already being used. Moreover, after an apt™-based custom application has been developed and released, the actual physical apt™hardware may no longer be accessible for software support and maintenancepurposes, and so a simulator mode proves invaluable.

Debugging – apt™ System LoggerSoftware development, particularly of complex alignment and positioning systems,is a process that inevitably involves debugging and process optimization. Often

errors that occur during actual execution of theassociated software (e.g. incorrectly calculatedposition parameter passed to the apt™ Server) aredifficult to analyze after the event (and may noteven occur when interactively debugging becauseof the difference in execution dynamics). To solvethis issue, the apt™ software has a built-insystem-wide event logging capability that recordsall function calls (and associated parameters). Thischronological record of client application activityis invaluable in monitoring the sequence of eventsthat lead up to a process failure, thereby helpingthe software developer to find and debugproblems.

Developer Support CDIt is inevitable, even for relatively simpleapplications, that software programming supportwill be needed. Having recognized this and thewide range of software end applications that canbe built around the apt™ system, we havebrought together a comprehensive collection ofprogrammer information and reference materialand burned it onto a CD. A full set of sampleapplications written in Visual Basic andLabVIEW™ is included, together with varioushints and tips. The programming samplesthemselves cover a varying degree of complexity,from basic to advanced examples. The advancedexamples are working programs that can be usedwith the apt™ motion controllers and Thorlabs'positioning stages and actuators to performoptical alignments of real world multi-axisphotonics. They form an excellent starting pointfor the system development and in many caseswill provide the functionality required with onlyminor coding enhancements/changes.

Try the apt™ Software for YourselfIn the end, the best way to appreciate the powerand flexibility of the apt™ system software is totry it yourself. You can obtain the latest shippingversion of the apt™ software from the downloadsection of the Thorlabs’ website(www.thorlabs.com). After installation, it ispossible to create a simulated configuration ofapt™ controllers and then go on to explore all ofthe software commands and features describedabove, as well as experiment with writing custommotion control applications.

It is also useful to view the tutorial videosincluded. These cover all aspects of using thesoftware, from overviews of the supplied userutilities to programming basics in Visual Basic,LabVIEW, and C++ environments.

14 DriveElecSoftware 380-382.qxd.P 7/5/07 11:02 AM Page 382


Motion Control aptâ„¢ Modular Rack System (Page 1 of 2)

Documents

Transcript of Motion Control aptâ„¢ Modular Rack System (Page 1 of 2)