Motorized Pitch and Yaw Platform


  • Low Profile: 25 mm (0.98") Platform Height
  • ±2.5° Pitch and ±4.0° Yaw
  • Load Capacity: 2.0 kg (4.4 lbs)
  • DC Servo Actuators

PY004Z9

High-Load Pitch and Yaw Stage with DC Servo Actuators

Application Idea

3-Axis Flexure Stage Mounted Directly to a PY004Z9 High-Load Pitch and Yaw Stage for High-Precision 5-Axis Control

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Key Specificationsa
Adjustment Range Pitch: ±2.5°
Yaw: ±4.0°
Minimum Achievable
Incremental Movement
Pitch: 7.13 arcsec
Yaw: 15.71 arcsec
Bidirectional Repeatability Pitch: 27.85 arcsec
Yaw: 4.75 arcsec
Crosstalk <0.05° (3 arcmin)
Maximum Horizontal
Load Capacitya,b
2.0 kg (4.4 lbs)
Maximum Vertical
Load Capacityc
Load Distance
from Top Platform
Max Load
30.0 mm (1.18") 1.8 kg (4.0 lbs)
50.0 mm (1.97") 1.1 kg (2.4 lbs)
80.0 mm (3.15") 0.7 kg (1.5 lbs)
Deck Height 25.0 mm (0.98")
Bushing Diameter 9.5 mm (3/8")
Included Drives Z912BDC Servo Motors (Qty. 2)
  • The load capacity when the stage's base is mounted on a horizontal surface. The max load capacity is different at certain points of the platform. Please click here for more information.
  • The load capacity when the stage's base is mounted on a vertical surface. This load capacity depends on the stage's orientation, the positioning of the load on the top platform, and the distance of the load from the platform. The load data provided is approximate and meant as a guide only.
  • See here for full Z912B actuator specifications.
DC Servo Controller
Click to Enlarge

K-Cube™ DC Servo Motor Controller (Two Required)

Features

  • Motorized Pitch and Yaw Adjustment via Included DC Servo Actuators
  • Twenty-Four 1/4"-20 (M6) Tapped Holes with 1.00" (25.0 mm) Spacing
  • Cobine with Linear Stages to Add Rotational Degrees of Freedom
  • 0.98" (25.0 mm) Deck Height
  • Black-Anodized Aluminum Construction

This Motorized Pitch and Yaw Platform provides ±2.5° of adjustment in pitch and ±4.0° in yaw. It is designed for use with loads up to 4.4 lbs (2.0 kg), such as lasers, cameras, and 3-axis stages. The actual maximum load will depend on the positioning of the load on the platform (see the Specs tab for more details). The 4.41" x 4.53" (112.0 mm x 115.0 mm) top platform is equipped with an array of twenty-four 1/4"-20 (M6) threaded mounting holes on 1.00" (25.0 mm) centers.

The base of the pitch and yaw platform is provided with eight through holes for attachment to imperial or metric optical tables and breadboards. The through holes allow the tapped holes on the unit to be in line with the optical table hole pattern or midway off the optical table hole pattern. The unit can also be secured at any arbitrary position by using two CL6 table clamps (sold separately).


Click to Enlarge

Engravings on the platform indicate the pitch axis and yaw center to help minimize crosstalk.

Included and Compatible Actuators
The two included Z912B DC servo actuators feature a 1.6' (485 mm) cable length. They provide a minimum achievable incremental movement of 7.13 arcseconds in pitch and 15.71 arcseconds in yaw. The actuators attach to the stage using a flexure clamp that tightens around the Ø3/8" (Ø9.5 mm) barrel. If desired, the Z912B actuator can be replaced by any manual or motorized actuator that includes a Ø3/8" (Ø9.5 mm) barrel, including stepper motor actuators and manual micrometers.

Controller Options
Thorlabs recommends using two KDC101 DC Servo Controllers (available below); one for each axis. The latest version of the Kinesis® software can be downloaded here. Firmware version 2.2.8 or higher and Kinesis software version 1.14.44 or higher are required for using the KDC101 with the PY004Z9(/M) platforms.
 Please see the Kinesis Software and Kinesis Tutorial tabs for details.

PY004Z9(/M) Specifications

Specification Value
Pitch and Yaw Adjustment
Adjustment Range Pitch: ±2.5°
Yaw: ±4.0°
Minimum Achievable
Incremental Movement
Pitch: 7.13 arcsec
Yaw: 15.71 arcsec
Bidirectional Repeatability Pitch: 27.85 arcsec
Yaw: 4.75 arcsec
Maximum Velocity Pitch: 3600 arcsec/s
Yaw: 3600 arcsec/s
Maximum Acceleration Pitch: 3600 arcsec/s2
Yaw: 3600 arcsec/s2
Crosstalk <0.05° (3 arcmin)
Stage
Maximum Horizontal Load Capacitya,b 2.0 kg (4.4 lbs)
Maximum Vertical Load Capacityc Load Distance
from Top Platform
Max Load
30.0 mm (1.18") 1.8 kg (4.0 lbs)
50.0 mm (1.97") 1.1 kg (2.4 lbs)
80.0 mm (3.15") 0.7 kg (1.5 lbs)
Deck Height 25.0 mm (0.98")
Bushing Diameter 9.5 mm (3/8")
Body Construction Black-Anodized Aluminum
Actuator
Included Drives Z912B(Qty. 2)
Motor Type DC Servo Motor
Maximum Phase to Phase Resistance 33.0 Ω
Maximum Phase to Phase Inductance 0.6 mH
Operating Temperature Range 41° to 104° F
(5° to 40° C)
Cable Length 485.0 mm (19.09")
Connector D-Type Male
Compatible Controller KDC101
Physical
Dimensions (L x W x H)e 9.19" x 4.53" x 0.98"
(233.3 mm x 115.0 mm x 25.0 mm")
Weight 0.87 kg (1.91 lbs)
  • The load capacity when the stage's base is mounted on a horizontal surface. The maximum load capacity is not the same for all points on the surface of the platform. See the diagram to the right for details.
  • For motorized stages, the pitch axis actuator could wear out after approximately 5000 cycles if used continuously at the maximum load.
  • The load capacity when the stage's base is mounted on a vertical surface. This load capacity depends on the stage's orientation, the positioning of the load on the top platform, and the distance of the load from the platform. The load data provided is approximate and meant as a guide only.
  • See here for full Z912B actuator specifications.
  • Including actuators

Horizontal Load Capacity Diagram


Click to Enlarge
Diagram Showing Areas of Different Maximum Load Capacity
for the PY004Z9(/M) Stage

Z912B Connector Pin Out

D-Type Male

Schematic

Pin Description Pin Description
1 Ground (Limit and Vcc) 9 Resistive Identification
2 Forward Limit 10 +5 VDC
3 Reverse Limit 11 Encoder Channel A
4 Reserved for Future Use 12 Reserved for Future Use
5 Motor (-) 13 Encoder Channel B
6 Reserved for Future Use 14 Pin 2 Ident EEPROM
7 Motor (+) 15 Pin 1 Ident EEPROM
8 Reserved for Future Use

Software

Kinesis Version 1.14.50

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

Also Available:

  • Communications Protocol
Software Download
Kinesis Software
Kinesis GUI Screen

Thorlabs offers the Kinesis® software package to drive our wide range of motion controllers. The software can be used to control devices in the Kinesis family, which covers a wide variety of motion controllers ranging from small, low-powered, single-channel drivers (such as the K-Cubes™) to high-power, multi-channel benchtop units and modular 19" rack nanopositioning systems (the MMR60x 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 and APIs are included with each install. A Central Sequence Manager supports integration and synchronization of all Thorlabs motion control hardware.

By providing this common software platform, Thorlabs has ensured that users can mix and match any of our motion control devices 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 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 that allow custom-integrated positioning and alignment solutions to be easily programmed in the development language of choice. 

Legacy Software
Select products are still capable of running the legacy APT™ software package. Information on software compatibility can be found in the product documentation (Docs Icon), and additional details about the APT software can be found here.

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).

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

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.

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

Posted Comments:
Jesse Ahlquist  (posted 2022-09-02 09:52:07.84)
Hi, This product is great; however, something we came across in a recent design review for our specific application is whether the motorized actuators must mount in this specific orientation with respect to stage movement. More specifically - our application would benefit from the pitch and raw actuators ability to mount vertically such that they are perpendicular rather than parallel with the pitch axis. Is something like this a possibility? Perhaps there is an alternative product which satisfies this need? Thanks! Jesse
cwright  (posted 2022-09-06 10:51:33.0)
Response from Charles at Thorlabs: Thank you for contacting us. We are happy you have found the product useful and welcome the feedback. Unfortunately it is not possible to adapt this stage such that the adaptors are vertical and we do not currently have another stage which could serve as an alternative with this configuration.
chf7  (posted 2018-09-18 14:17:29.77)
Is this product vacuum compatible?
AManickavasagam  (posted 2018-09-19 04:40:01.0)
Response from Arunthathi @ Thorlabs: Thanks for your query. PY004Z8 is not vacuum compatible as the stage is made of Aluminium and it is anodised. Also, the grease used is not suitable to use in vacuum conditions.
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Motorized Pitch and Yaw Platform

MBT616D on PY004Z9
Click to Enlarge

Mounting a 3-axis positioner on the PY004Z9 platform results in precision 5-axis control useful in many applications such as fiber alignment. 
  • DC Servo Actuator Provides a Large Adjustment Range:
    • Pitch: ±2.5° 
    • Yaw: ±4.0°
  • Maximum Load Capacity: 2.0 kg (4.40 lbs)
  • Controllers and Power Supplies Sold Separately

Thorlabs' PY004Z9(/M) Motorized Pitch and Yaw Platform provides an adjustment range of ±2.5° and ±4.0° in pitch and yaw, respectively. An array of twenty-four 1/4"-20 (M6) tapped holes allows easy integration with a wide variety of common optomechanical setups. The stage features a maximum load capacity of 2.0 kg (4.40 lbs), making it ideal for use with lasers, cameras, or 3-axis platforms. The stage requires two controller units and power supplies to operate. For this purpose, we recommend our KDC101 Kinesis® DC Servo Motor Controllers and KPS201 Power Supplies, which are described in more detail below.

Based on your currency / country selection, your order will ship from Newton, New Jersey  
+1 Qty Docs Part Number - Imperial Price Available
PY004Z9 Support Documentation
PY004Z9Motorized Pitch and Yaw Platform, DC Servo Motors, 1/4"-20 Taps
$2,461.37
Today
+1 Qty Docs Part Number - Metric Price Available
PY004Z9/M Support Documentation
PY004Z9/MMotorized Pitch and Yaw Platform, DC Servo Motors, M6 Taps
$2,461.37
Today
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K-Cube™ DC Servo Motor Controller

photo of power supply adaptersClick to Enlarge
KCH601 USB Controller Hub (Sold Separately) with Installed K-Cube™ Modules
  • Front Panel Velocity Wheel and Digital Display for Controlling Motorized Stages or Actuators
  • Two Bidirectional Trigger Ports to Read or Control External Equipment
  • Interfaces with Computer Using Included USB Cable
  • Fully Compatible with Kinesis® Software Package
  • Compact Footprint: 60.0 mm x 60.0 mm x 49.2 mm (2.42" x 2.42" x 1.94")
  • Power Supply Not Included (See Below)

Thorlabs' KDC101 K-Cube Brushed DC Motor Controller provides local and computerized control of a single motor axis. It features a top-mounted control panel with a velocity wheel that supports four-speed bidirectional control with forward and reverse jogging as well as position presets. A backlit digital display is also included that can have the backlit dimmed or turned off using the top-panel menu options. The front of the unit contains two bidirectional trigger ports that can be used to read a 5 V external logic signal or output a 5 V logic signal to control external equipment. Each port can be independently configured.

The unit is fully compatible with our Kinesis software package. Please see the Kinesis Software tab for more information.

Please note that this controller does not ship with a power supply. Compatible power supplies are listed below. Additional information can be found on the main KDC101 DC Servo Motor Controller page.

Based on your currency / country selection, your order will ship from Newton, New Jersey  
+1 Qty Docs Part Number - Universal Price Available
KDC101 Support Documentation
KDC101K-Cube Brushed DC Servo Motor Controller (Power Supply Not Included)
$772.66
3 weeks
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Compatible Power Supplies

photo of power supply adapters
Click for Details

Each KPS201 power supply includes one region-specific adapter, which can be selected upon checkout.
photo of power supply options
Click to Enlarge

The KPS201 Power Supply Unit
  • Individual Power Supply
    • KPS201: For K-Cubes™ or T-Cubes™ with 3.5 mm Jacks
  • USB Controller Hubs Provide Power and Communications
    • KCH301: For up to Three K-Cubes or T-Cubes
    • KCH601: For up to Six K-Cubes or T-Cubes

The KPS201 power supply outputs +15 VDC at up to 2.66 A and can power a single K-Cube or T-Cube with a 3.5 mm jack. It plugs into a standard wall outlet.

The KCH301 and KCH601 USB Controller Hubs each consist of two parts: the hub, which can support up to three (KCH301) or six (KCH601) K-Cubes or T-Cubes, and a power supply that plugs into a standard wall outlet. The hub draws a maximum current of 10 A; please verify that the cubes being used do not require a total current of more than 10 A. In addition, the hub provides USB connectivity to any docked K-Cube or T-Cube through a single USB connection.

For more information on the USB Controller Hubs, see the full web presentation.

Based on your currency / country selection, your order will ship from Newton, New Jersey  
+1 Qty Docs Part Number - Universal Price Available
KPS201 Support Documentation
KPS20115 V, 2.66 A Power Supply Unit with 3.5 mm Jack Connector for One K- or T-Cube
$40.33
Today
KCH301 Support Documentation
KCH301USB Controller Hub and Power Supply for Three K-Cubes or T-Cubes
$598.63
3 weeks
KCH601 Support Documentation
KCH601USB Controller Hub and Power Supply for Six K-Cubes or T-Cubes
$724.52
Today
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Motor Extension Cable

The PAA632 Extension Cable provides an additional 2.5 m (8.20 ft) of cable length for the 15-pin D-type connectors used throughout our motorized actuator selection. The male end connects to the controller, while the female end connects to the motor.

Based on your currency / country selection, your order will ship from Newton, New Jersey  
+1 Qty Docs Part Number - Universal Price Available
PAA632 Support Documentation
PAA632APT DC Servo Motor Cable for Z9 Motors, DE15 Male to DE15 Female, 2.5 m
$65.93
Today