Software

PDXC Version 1.6.0

The PDXC Software Package, which includes a GUI, drivers, and LabVIEW™/C++/Python SDK for third-party development.

Thorlabs offers the PDXC software package to interface with the PDXC Piezo Stage Controller. This controller is designed to drive the following piezo inertia stages:

• PD2(/M) 5 mm Linear Stage
• PDX2(/M) 5 mm Linear Stage with Optical Encoder
• PD1(/M) 20 mm Linear Stage
• PD1V(/M) Vacuum-Compatible 20 mm Linear Stage
• PD1D(/M) 20 mm Monolithic XY Stage
• PDX1(/M) 20 mm Linear Stage with Optical Encoder
• PD3(/M) 50 mm Linear Stage
• PDR1C(/M) Rotation Stage
• PDXR1(/M) Rotation Stage with Optical Encoder

The software package allows two methods of usage: graphical user interface (GUI) utilities for direct interaction with and control of the controllers 'out of the box', and a set of programming interfaces for third-party development of custom-integrated positioning and alignment solutions to be easily programmed in the development language of choice (LabVIEW™/C++/Python SDK).

Thorlabs offers two platforms to drive our wide range of motion controllers: our Kinesis^® software package or the legacy APT™ (Advanced Positioning Technology) software package. Either package can be used to control devices in the Kinesis family, which covers a wide range of motion controllers ranging from small, low-powered, single-channel drivers (such as the K-Cubes™ and T-Cubes™) to high-power, multi-channel, modular 19" rack nanopositioning systems (the APT Rack System).

The Kinesis Software features .NET controls which can be used by 3rd party developers working in the latest C#, Visual Basic, LabVIEW™, or any .NET compatible languages to create custom applications. Low-level DLL libraries are included for applications not expected to use the .NET framework. A Central Sequence Manager supports integration and synchronization of all Thorlabs motion control hardware.

Kinesis GUI Screen

APT GUI Screen

Our legacy APT System Software platform offers ActiveX-based controls which can be used by 3rd party developers working on C#, Visual Basic, LabVIEW™, or any Active-X compatible languages to create custom applications and includes a simulator mode to assist in developing custom applications without requiring hardware.

By providing these common software platforms, Thorlabs has ensured that users can easily mix and match any of the Kinesis and APT controllers in a single application, while only having to learn a single set of software tools. In this way, it is perfectly feasible to combine any of the controllers from single-axis to multi-axis systems and control all from a single, PC-based unified software interface.

The software packages allow two methods of usage: graphical user interface (GUI) utilities for direct interaction with and control of the controllers 'out of the box', and a set of programming interfaces that allow custom-integrated positioning and alignment solutions to be easily programmed in the development language of choice.

A range of video tutorials is available to help explain our APT system software. These tutorials provide an overview of the software and the APT Config utility. Additionally, a tutorial video is available to explain how to select simulator mode within the software, which allows the user to experiment with the software without a controller connected. Please select the APT Tutorials tab above to view these videos.

Software

Kinesis Version 1.14.40

The Kinesis Software Package, which includes a GUI for control of Thorlabs' Kinesis and APT™ system controllers.

Also Available:

• Communications Protocol

Software

APT Version 3.21.6

The APT Software Package, which includes a GUI for control of Thorlabs' APT™ and Kinesis system controllers.

Also Available:

• Communications Protocol

Thorlabs' Kinesis^® software features new .NET controls which can be used by third-party developers working in the latest C#, Visual Basic, LabVIEW™, or any .NET compatible languages to create custom applications.

C#
This programming language is designed to allow multiple programming paradigms, or languages, to be used, thus allowing for complex problems to be solved in an easy or efficient manner. It encompasses typing, imperative, declarative, functional, generic, object-oriented, and component-oriented programming. By providing functionality with this common software platform, Thorlabs has ensured that users can easily mix and match any of the Kinesis controllers in a single application, while only having to learn a single set of software tools. In this way, it is perfectly feasible to combine any of the controllers from the low-powered, single-axis to the high-powered, multi-axis systems and control all from a single, PC-based unified software interface.

The Kinesis System Software allows two methods of usage: graphical user interface (GUI) utilities for direct interaction and control of the controllers 'out of the box', and a set of programming interfaces that allow custom-integrated positioning and alignment solutions to be easily programmed in the development language of choice.

For a collection of example projects that can be compiled and run to demonstrate the different ways in which developers can build on the Kinesis motion control libraries, click on the links below. Please note that a separate integrated development environment (IDE) (e.g., Microsoft Visual Studio) will be required to execute the Quick Start examples. The C# example projects can be executed using the included .NET controls in the Kinesis software package (see the Kinesis Software tab for details).

Click Here for the Kinesis with C# Quick Start Guide Click Here for C# Example Projects Click Here for Quick Start Device Control Examples

LabVIEW
LabVIEW can be used to communicate with any Kinesis- or APT-based controller via .NET controls. In LabVIEW, you build a user interface, known as a front panel, with a set of tools and objects and then add code using graphical representations of functions to control the front panel objects. The LabVIEW tutorial, provided below, provides some information on using the .NET controls to create control GUIs for Kinesis- and APT-driven devices within LabVIEW. It includes an overview with basic information about using controllers in LabVIEW and explains the setup procedure that needs to be completed before using a LabVIEW GUI to operate a device.

Click Here to View the LabVIEW Guide Click Here to View the Kinesis with LabVIEW Overview Page

Achieving the Specified Performance

In this application note, we will discuss how to achieve the specified velocity and step size for the open-loop PD1(/M), PD1D(/M), and PDR1(/M) ORIC^® Stages when driving them with KIM001 or KIM101 K-Cube™ Controllers; examples using the Kinesis^® software and the K-Cube's front panel controls are discussed below. There are limitations when using an open-loop system, and we have created this application note to help minimize velocity and step size variation. We recommend using this application note upon initial setup, and/or if you are having issues with velocity and step size variation. For further details on how to change settings, please refer to the manuals of the individual stage and controller.

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Figure 2: These are the recommended channel settings for the PD(R) stage type. They can be changed in Device Settings -> Current Device Settings-> Channel 1.

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Figure 1: When controlling an Oric Stage, the stage type needs to be set to PD(R). This can be found in the Kinesis Software Device Settings -> Startup.

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Figure 4: Depicted in the circle is the jog mode, which should be set to continuous. This can be changed in Device Settings -> Current -> Channel 1.

Figure 3: Circled in black are the jog buttons which can be found in the device GUI.

Kinesis^© Software Control with a K-Cube Controller

The Kinesis software defaults the stage type to PIA, which is not applicable to ORIC stages; to change this, we need to change the startup settings. The startup settings can be found by first accessing the device settings in the device GUI panel and then clicking the Startup tab. Under the Configuration tab, change the stage type to PD(R), check the "Persist Settings to the Device" box on the bottom right, and click the "Save" button in the lower left corner. These selections are shown circled in Figure 1. By using these settings, the Kinesis software will use the PD(R) stage type. The other device and channel settings can also be changed in the startup settings.

With the PD(R) stage type, we recommend certain channel settings to achieve the specified speed, speed variation, and force. These settings can be changed in the "Channel 1" tab of the device settings and are depicted in Figure 2. We will be focusing on the settings in the “Drive” box, circled in black, and the "Jog" box, circled in blue.

For the "Drive" box, we recommend setting the "Maximum Voltage" to 85 V, the "Rate" at 2000 steps/s, and "Acceleration" to 10000 Steps/s². For the settings in the "Jog" box, we recommend setting the "Forward Size" to 250 Steps, the "Reverse Size" to 250 Steps, the "Mode" to "Continuous", the "Step Rate" to 2000 Steps/s, and the "Step Acceleration" to 10000 Steps/s². To achieve the specified results, it is important to make sure the stage is mounted properly to an even surface, to our recommended mounting plate, or to a compatible adapter plate.

A continuous jog at a step rate higher than 1000 steps/s can only be achieved by using the jog buttons in the device GUI, shown circled in Figure 3. Continuous jog movement is limited to within 1000 step/s when using the joystick on the KIM101 K-Cube Controller or wheel on the KIM001 K-Cube Controller. Single movement or movement by counts is not limited to 1000 step/s when using the joystick or wheel.

Please note that if you change the jog mode in Kinesis to "Continuous" or "Single" this will only influence the jog buttons in the Kinesis GUI, shown circled in Figure 3. This will not change the joystick mode on the KIM001 or KIM101 controller front panel. The jog mode can be found in Kinesis under Device settings -> Channel 1 -> "Jog" box -> "Mode", also shown in Figure 4. More information on this can be found in the Front Panel Control section, located below.

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Figure 6: Kinesis software showing the "Device" tab under Device Settings in the Device GUI. The "Maximum Step Rate" setting is circled in blue. To use the joystick with continuous jogging mode this setting must be less than 1000 steps/s. The Kinesis joystick modes can be selected via the dropdown menu circled in black.

Figure 5: Drawing of the front panel of the KIM101 K-Cube Controller showing option 5, Joystick Mode.

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Figure 8: Kinesis software showing where the step size can be changed using the "Forward Size" and "Reverse Size" settings. The "Mode" setting, also shown, only affects the controls of the jog buttons in the GUI and does not affect the joystick mode.

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Figure 7: The drive rate can be changed in the Kinesis software under Device Settings -> Current -> Channel 1. This is equivalent to Front Panel Control option 3, "Set Velocity".

KIMx01 Front Panel Control and Related Settings in Kinesis

There are 10 options on the front panel control menu. These can be accessed using the two buttons and joystick on the KIM101 K-Cube Controller or the button and wheel on the KIM001 K-Cube Controller.

Option 5, Joystick Mode, shown in Figure 5, has 3 modes: "Jog to Count", "Jogging in Steps", and "Velocity Control". The Joystick mode in the Kinesis software is related to option 5, Joystick Mode, on the front panel. The three options for the Joystick Mode in the Kinesis software are "Step Rate", "Jog", and "Goto Position". This setting is circled in black in Figure 6.

"Jog to Count" mode will move the stage to the target count, which is defaulted at 0, under the velocity that is set by option 3, "Set Velocity" on the front panel. The setting for option 3 is the velocity at which the stage will move for option 5’s “Jog to Count” mode and for option 1, "Goto Pos Count". There is an equivalent setting in Kinesis which can be found in Device Settings -> Channel 1 -> "Drive" box -> "Rate". This is shown in Figure 7.

In "Jogging in Steps" mode, option 3, "Set Velocity" does not change the stage's velocity. The velocity in this mode must be changed in the Kinesis software. This can be changed in Device settings -> Channel 1 -> "Jog" box -> "Step Rate". Instead of changing the step rate to increase the stage speed, the step size can be changed to increase the stage speed. The step size can be changed on the front panel of a KIM001 or KIM101 device through option 4, "Jog Step Size". This can also be achieved in Kinesis through Device settings -> "Channel 1" -> "Jog" box-> "Forward Size" and "Reverse Size", shown in Figure 8.

In option 5 "Velocity Control" mode, the joystick can be used to achieve continuous jogging, but only if the velocity is less than 1000 step/s. This velocity cannot be changed by option 3 on the front panel. The velocity can only be changed in the Kinesis software under the Device settings -> Device -> "Maximum Step Rate", shown in Figure 6. A value of 10000 may appear initially, but this value is not accepted by the software and must be revised to a number between 1 and 1000.

In Kinesis, the joystick mode "Step Rate", is related to the "Velocity Control" mode on the front panel and can use the setting of "Maximum Step Rate". The "Direction Sense" can be used to switch the travel direction when using the joystick or wheel.

The APT video tutorials available here fall into two main groups - one group covers using the supplied APT utilities and the second group covers programming the APT System using a selection of different programming environments.

Disclaimer: The videos below were originally produced in Adobe Flash. Following the discontinuation of Flash after 2020, these tutorials were re-recorded for future use. The Flash Player controls still appear in the bottom of each video, but they are not functional.

Every APT controller is supplied with the utilities APTUser and APTConfig. APTUser provides a quick and easy way of interacting with the APT control hardware using intuitive graphical control panels. APTConfig is an 'off-line' utility that allows various system wide settings to be made such as pre-selecting mechanical stage types and associating them with specific motion controllers.

APT User Utility

The first video below gives an overview of using the APTUser Utility. The OptoDriver single channel controller products can be operated via their front panel controls in the absence of a control PC. The stored settings relating to the operation of these front panel controls can be changed using the APTUser utility. The second video illustrates this process.

APT Config Utility

There are various APT system-wide settings that can be made using the APT Config utility, including setting up a simulated hardware configuration and associating mechanical stages with specific motor drive channels. The first video presents a brief overview of the APT Config application. More details on creating a simulated hardware configuration and making stage associations are present in the next two videos.

APT Programming

The APT Software System is implemented as a collection of ActiveX Controls. ActiveX Controls are language-independant software modules that provide both a graphical user interface and a programming interface. There is an ActiveX Control type for each type of hardware unit, e.g. a Motor ActiveX Control covers operation with any type of APT motor controller (DC or stepper). Many Windows software development environments and languages directly support ActiveX Controls, and, once such a Control is embedded into a custom application, all of the functionality it contains is immediately available to the application for automated operation. The videos below illustrate the basics of using the APT ActiveX Controls with LabVIEW, Visual Basic, and Visual C++. Note that many other languages support ActiveX including LabWindows CVI, C++ Builder, VB.NET, C#.NET, Office VBA, Matlab, HPVEE etc. Although these environments are not covered specifically by the tutorial videos, many of the ideas shown will still be relevant to using these other languages.

Visual Basic

Part 1 illustrates how to get an APT ActiveX Control running within Visual Basic, and Part 2 goes on to show how to program a custom positioning sequence.

LabVIEW

Full Active support is provided by LabVIEW and the series of tutorial videos below illustrate the basic building blocks in creating a custom APT motion control sequence. We start by showing how to call up the Thorlabs-supplied online help during software development. Part 2 illustrates how to create an APT ActiveX Control. ActiveX Controls provide both Methods (i.e. Functions) and Properties (i.e. Value Settings). Parts 3 and 4 show how to create and wire up both the methods and properties exposed by an ActiveX Control. Finally, in Part 5, we pull everything together and show a completed LabVIEW example program that demonstrates a custom move sequence.

The following tutorial videos illustrate alternative ways of creating Method and Property nodes:

Visual C++

Part 1 illustrates how to get an APT ActiveX Control running within Visual C++, and Part 2 goes on to show how to program a custom positioning sequence.

MATLAB

For assistance when using MATLAB and ActiveX controls with the Thorlabs APT positioners, click here.

To further assist programmers, a guide to programming the APT software in LabVIEW is also available here.

Motorized Linear Translation Stages

Thorlabs' motorized linear translation stages are offered in a range of maximum travel distances, from a stage with 20 µm of piezo translation to our 600 mm direct drive stage. Many of these stages can be assembled in multi-axis configurations, providing XY or XYZ translation. For fiber coupling applications, please see our multi-axis stages, which offer finer adjustment than our standard motorized translation stages. In addition to motorized linear translation stages, we offer motorized rotation stages, pitch and yaw platforms, and goniometers. We also offer manual translation stages.

Piezo Stages

These stages incorporate piezoelectric elements in a variety of drive mechanisms. ORIC^® stages incorporate piezo inertia drives that use "stick-slip" friction properties to obtain extended travel ranges. Our Nanoflex™ translation stages use standard piezo chips along with manual actuators. Elliptec^® stages use resonant piezo motors to push and pull the moving platform through resonant elliptical motion. Our LPS710E z-axis stage features a mechanically amplified piezo design and includes a matched controller.

Piezoelectric Stages
Product Family	ORIC® PD2 Open-Loop 5 mm Stage	ORIC® PDX2 Closed-Loop 5 mm Stage	ORIC® PD1 Open-Loop 20 mm Stage	ORIC® PD1D Open-Loop 20 mm Monolithic XY Stage	ORIC® PDX1 Closed-Loop 20 mm Stage	ORIC® PD3 Open-Loop 50 mm Stage
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Travel	5 mm		20 mm			50 mm
Maximum Velocity	10 mm/sa	8 mm/s (Typ.)b	3 mm/sc		20 mm/sb	10 mm/sa
Drive Type	Piezoelectric Inertia Drive
Possible Axis Configurations	X, XY, XYZ		X, XY, XYZ	XY, XYZ	X, XY, XYZ	X, XY, XYZ
Mounting Surface Size	13 mm x 13 mm		30 mm x 30 mm			80 mm x 30 mm
Additional Details

• Specified using PDXC Benchtop Controller. For performance when controlled with a KIM001 or KIM101 K-Cube Controller, see the Specs tab of the PD2 or PD3 stage presentation.
• Specified using PDXC Benchtop Controller.
• Specified using KIM101 K-Cube Controller.

Piezoelectric Stages
Product Family	Nanoflex™ 20 µm Stage with 5 mm Actuator	Nanoflex™ 25 µm Stage with 1.5 mm Actuator	Elliptec® 28 mm Stage	Elliptec® 60 mm Stage	LPS710E 1.1 mm Vertical Stage
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Travel	20 µm + 5 mm Manual	25 µm + 1.5 mm Manual	28 mm	60.0 mm	1.1 mm
Maximum Velocity	-		180 mm/s	90 mm/s	-
Drive Type	Piezo with Manual Actuator		Resonant Piezoelectric Motor		Amplified Piezo
Possible Axis Configurations	X, XY, XYZ		X		Z
Mounting Surface Size	75 mm x 75 mm	30 mm x 30 mm	15 mm x 15 mm		21 mm x 21 mm
Additional Details

Stepper Motor Stages

These translation stages feature removable or integrated stepper motors and long travel ranges up to 300 mm. The MLJ150 stage also offers high load capacity vertical translation. The other stages can be assembled into multi-axis configurations.

Stepper Motor Stages
Product Family	LNR Series 25 mm Stage	LNR Series 50 mm Stage	NRT Series 100 mm Stage	NRT Series 150 mm Stage	LTS Series 150 mm Stage	LTS Series 300 mm Stage	MLJ150 50 mm Vertical Stage
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Travel	25 mm	50 mm	100 mm	150 mm	150 mm	300 mm	50 mm
Maximum Velocity	2.0 mm/s	50 mm/s	30 mm/s		50 mm/s		3.0 mm/s
Possible Axis Configurations	X, XY, XYZ	X, XY, XYZ	X, XY, XYZ		X, XY, XYZ		Z
Mounting Surface Size	60 mm x 60 mm	100 mm x 100 mm	84 mm x 84 mm		100 mm x 90 mm		148 mm x 131 mm
Additional Details

DC Servo Motor Stages

Thorlabs offers linear translation stages with removable or integrated DC servo motors. These stages feature low profiles and many can be assembled in multi-axis configurations.

DC Servo Motor Stages
Product Family	MT Series 12 mm Stages	PT Series 25 mm Stages	MTS Series 25 mm Stage	MTS Series 50 mm Stage
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Travel	12 mm	25 mm	25 mm	50 mm
Maximum Velocity	2.6 mm/s		2.4 mm/s
Possible Axis Configurations	X, XY, XYZ		X, XY, XYZ
Mounting Surface Size	61 mm x 61 mm	101.6 mm x 76.2 mm	43 mm x 43 mm
Additional Details

DC Servo Motor Stages
Product Family	M30 Series 30 mm Stage	M30 Series 30 mm Monolithic XY Stage	M150 Series 150 mm XY Stage	KVS30 30 mm Vertical Stage
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Travel	30 mm		150 mm	30 mm
Maximum Velocity	2.4 mm/s		X-Axis: 170 mm/s Y-Axis: 230 mm/s	8.0 mm/s
Possible Axis Configurations	X, Z	XY, XZ	XY	Z
Mounting Surface Size	115 mm x 115 mm		272.4 mm x 272.4 mm	116.2 mm x 116.2 mm
Additional Details

Direct Drive Stages

These low-profile stages feature integrated brushless DC servo motors for high speed translation with zero backlash. When no power is applied, the platforms of these stages have very little inertia and are virtually free running. Hence these stages may not be suitable for applications where the stage's platform needs to remain in a set position when the power is off. We do not recommend mounting these stages vertically.

Direct Drive Stages
Product Family	DDS Series 50 mm Stage	DDS Series 100 mm Stage	DDS Series 220 mm Stage	DDS Series 300 mm Stage	DDS Series 600 mm Stage
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Travel	50 mm	100 mm	220 mm	300 mm	600 mm
Maximum Velocity	500 mm/s		300 mm/s	400 mm/s	400 mm/s
Possible Axis Configurations	X, XY		X, XY	X	X
Mounting Surface Size	60 mm x 52 mm		88 mm x 88 mm	120 mm x 120 mm
Additional Details