THORLABS ZST200 Series Manual de usuario
HA0291T
ZST200 Series
Stepper Motor Actuators
User Guide
Original Instructions
Page 0
ZST200 Series Stepper Motor Actuators
Contents
Chaper 1 Overview ..................................................................................................................................1
1.1 Description .........................................................................................................................1
Chaper 2 Safety .......................................................................................................................................2
2.1 Safety Information .............................................................................................................2
2.2 General Warnings ..............................................................................................................2
Chaper 3 Connection Details & Specifications ....................................................................................3
3.1 Pin Assignments ................................................................................................................3
3.2 Description of connections ..............................................................................................3
Chaper 4 Operation and Maintenance ...................................................................................................4
4.1 Selecting the Stage Type .................................................................................................4
4.1.1 Using Kinesis Software .............................................................................................................4
4.1.2 Using APT Software ..................................................................................................................5
4.2 Maintenance .......................................................................................................................7
Chaper 5 Specifications .........................................................................................................................8
5.1 Specifications ....................................................................................................................8
5.2 ZST Motor Unit Specifications ..........................................................................................8
5.3 How to Calculate the Linear Displacement per Microstep .............................................8
Chaper 6 Regulatory ...............................................................................................................................9
6.1 Declarations Of Conformity ..............................................................................................9
6.1.1 For Customers in Europe ..........................................................................................................9
6.1.2 For Customers In The USA .......................................................................................................9
Chaper 7 Thorlabs Worldwide Contacts .............................................................................................10
Rev H March 2022 Page 1
Chapter 1 Overview
Chapter 1 Overview
1.1 Description
Thorlabs has developed this series of high-resolution motorized actuators for use in high precision applications. From drop-in
replacements to custom mounts, these motorized actuators will satisfy even the most demanding requirements. Three
different travel lengths are offered; 6.0 mm, 13.0 mm and 25.0 mm.
The ZST213B and ZST225B actuators are shipped with a clamping bush fitted, ready for use with a 3/8" barrel mount. The
ZST206 and ZST213 actuators thread into a ¼" -80 mounting bush.
The ZST200 series Motorized Actuators use a stepper motor that provides sufficient torque for high load capabilities. The
actuators allow very small step sizes over the entire travel range, delivering greater flexibility with negligible backlash and fine
resolution. The design incorporates a 41:1 gear reduction head which, when combined with the 49,152 microsteps per
revolution offered by the KST101 stepper motor driver gives a theoretical travel per microstep of 0.5 nm. The stepper motor
allows for continuously variable speeds and the actuators use integrated hard stops that automatically cut the power when
they have reached their mechanical limits.
The ZST200 series Motorized Actuators are light, compact, and extremely durable. They are ideal for use in mirror mounts,
translation stages, microscopes, OEM applications, and a wide variety of other components that require higher precision than
most standard drive mechanisms allow.
Fig. 1.1 ZST225B fitted to PT1 Stage
Page 2 23185-D02
ZST200 Series Stepper Motor Actuators
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.
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
These Motorized Actuators can generate high forces. If handled improperly, they may cause injury. Be aware that failure
of the motor controller may drive the unit into a hard stop and cause damage to the unit.
To avoid injury never put anything in the gap between the Actuator and any rigid structure.
Caution
If the actuator encounters a hard stop while still in the middle of its range (i.e. a translation stage at the end of its travel
range), the motor should be stopped as soon as possible to prevent damage to the gear head or motor and to keep the
unit from overheating.
When the ZST motors are fitted to certain optomech products e.g. the GNL series Goniometers, it is possible that the
motor will reach the mechanical hardstops of the stage before the motor limit switches are activated. In this case, DO
NOT continue to drive the motor into the hardstop as this will damage the motor.
Caution
The control PC used to operate the driver for the ZST series actuators must be running APT Software version 2.17.0 or
higher.
Earlier versions of software do not support this product.
The latest software can be downloaded from the software downloads section of www.thorlabs.com
Rev H March 2022 Page 3
Chapter 3 Connection Details & Specifications
Chapter 3 Connection Details & Specifications
3.1 Pin Assignments
Pin assignments for the male D-Type connector on the motor flying lead are described below..
Fig. 3.1 Output Connector
3.2 Description of connections
Limit Ground: a common ground for both the forward and reverse limit switches.
CCW Limit: the counter clockwise (reverse) limit prevents over driving of the actuator at its minimum extension.
CW Limit: the clockwise (forward) limit prevents over driving of the actuator at its full extension.
When using a third party controller, the inputs must be connected via a 10 k pull up resistor as shown below. When either
switch operates, the associated input is pulled to ground and the TTL buffers switch.
Fig. 3.2 ZST200 Limit Switch Circuit
Motor Phases: supplies 15 VDC 1A to the motor of the actuator.
Pin Description Pin Description
1Limit Ground 9Reserved for Future Use
2CCW Limit Switch 10 Vcc (+5 VDC)
3CW Limit Switch 11 Reserved for Future Use
4Motor Phase B - 12 Reserved for Future Use
5Motor Phase B + 13 Reserved for Future Use
6Motor Phase A - 14 Reserved for Future Use
7Motor Phase A + 15 Ground
8Reserved for Future Use
5
10
11 15
6
1
ZST Actuator
Pin 1
Pin 2
Pin 3 Fwd Limit Sw
Rev Limit Sw
0 Volt
10k
10k
+5V
Controller
TTL Buffers
Page 4 23185-D02
ZST200 Series Stepper Motor Actuators
Chapter 4 Operation and Maintenance
4.1 Selecting the Stage Type
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 to associate a specific stage type and axis with the motor controller
channel. Once this association has been made, the server applies automatically, suitable default parameter values on boot up of the
software.
4.1.1 Using Kinesis Software
1) Install the electronic hardware and connect the modules to the relevant axes of the associated stages (see the handbooks
for the associated controller).
2) For each Stepper Motor Controller in your system, fit the interlock plug (supplied) to the MOTOR CONTROL connector on
the rear panel.
3) Ensure that the device is connected to the PC and powered up.
4) Run the Kinesis software - Start/All Programs/Thorlabs/Kinesis/Kinesis.
5) On start-up, the 'Actuator/Startup Settings’ window is displayed This window allows the correct actuator to be selected.
Fig. 4.1 Select Actuator Stage Settings Window - 1
Note
To ensure correct operation, it is important to select the correct stage and axis type as described above. Selecting an
incompatible stage/axis type could result in reduced velocity and/or resolution, and in the worst case could cause the motor
to run into the end stops or home incorrectly.
Rev H March 2022 Page 5
Chapter 4 Operation and Maintenance
6) Click the arrow to the right of the window, and select your actuator type (e.g. HS ZST206(B)) from the list displayed.
Fig. 4.2 Select Actuator Stage Settings Window - 2
7) Click OK.
8) The server reads in the stage and controller information automatically. Refer to the handbook for the associated controller
for more information on driving the actuator/stage.
4.1.2 Using APT Software
1) Shut down all applications using the APT server (e.g. APT User or your own custom application).
2) Run the APT Config utility - Start/All Programs/Thorlabs/APT Config/APT Config.
3) From the 'APT Configuration Utility' window, click the 'Stage' tab.
Fig. 4.1 APT Configuration Utility - Stage Tab
4) In the ‘Motor’ field, select the serial number of the stepper motor controller to be configured (this number can be found on
the rear panel of the controller unit).
5) In the ‘Stage’ field, select your actuator type from the list displayed (e.g. ZST206).
6) Click the 'Add Stage Association' button.
Note
To ensure correct operation, it is important to select the correct stage type for your controller. Selecting an incompatible stage
type could result in reduced velocity/resolution. In rare cases the actuator may be inoperable.
Page 6 23185-D02
ZST200 Series Stepper Motor Actuators
7) A default configuration is set at the factory and stored in the non-volatile memory of the motor controller. The server reads
in the stage and controller information on start up. See the handbook supplied with the stepper motor controller for further
information.
Overheating
The recommended controller for the ZST motors is the KST101 K-Cube driver. When the motor is being driven by a legacy
TST001 driver, certain operating conditions may cause the motor to become quite hot to the touch. This is not a fault condition,
but may be inconvenient in cases where the unit is being handled. In this case, the moving phase powers should be reduced
to around 60% as follows:
1) Perform the system set up described in the previous section, then run the APTUser utility.
2) Click the ‘Setting’ button on the motor GUI panel and select the Advanced tab.
3) In the Phase Powers Field, set the Moving (%) power to ‘60’.
4) Click OK.
5) Select the Move/Jogs tab and adjust the Max Vel setting as required (see handbook supplied with the controller for more
information).
6) Click OK.
Note
The KST101 driver sets the moving phase powers automatically and they cannot be adjusted by the user.
Rev H March 2022 Page 7
Chapter 4 Operation and Maintenance
4.2 Maintenance
Periodic greasing of the lead screw is advised, particularly in applications with a high duty cycle or whenever the thread
appears dry or the motor is noisy. The following procedure assumes that the actuator is connected to the KST101 driver and
powered up.
1) Home the motor.
2) Remove the two securing screws, then remove the top cover as shown below.
3) Apply a thin bead of high load, silicon free lubricant (e.g. Apiezon 100) to the lead screw as shown below.
Fig. 4.3 Greasing the Leadscrew
4) Drive the motor to extend the lead screw and distribute the grease.
5) Remove access grease using a lint free cloth.
Page 8 23185-D02
ZST200 Series Stepper Motor Actuators
Chapter 5 Specifications
5.1 Specifications
5.2 ZST Motor Unit Specifications
5.3 How to Calculate the Linear Displacement per Microstep
The ZST200 series motors have 24 full steps per revolution and when driven by the KST101 drivers there are 2048 microsteps
per full step, giving 49,152 microsteps per revolution of the motor. The output shaft of the motor goes into a 40.866:1 gear
head. This requires the motor to rotate 40.866 times to rotate the 1.0 mm pitch lead screw one revolution. The end result is
the lead screw advances by 1.0 mm.
To calculate the linear displacement of the actuator per microstep:
No Microsteps x Gearbox Ratio = 49,152 x 40.866 = 2,008,645.6
Linear displacement of the lead screw per microstep:
1.0 mm / 2008645.6 = 0.497 x 10-6 mm (0.5 nm)
Specification ZST206 ZST213/
ZST213B ZST225B
Travel Range 6 mm 13 mm 25 mm
Gear Ratio 29791:729 (approx 41:1)
Lead Screw Pitch 1.0 mm
Microsteps per revolution of motor
(when driven by KST101 Driver)
24 full steps, 2048 µsteps per full step
49,152 µsteps per revolution
Repeatability <5.0 µm
Home Location Accuracy <5.0 µm
Backlash <15 µm
Maximum Force 40 N
Max Speed 2.0 mm/sec
Max Acceleration 10.0 mm/sec2
Calculated Min. Incremental Motion 0.5 nm
Motor Type 2 Phase Stepper
Limit Switches Hall Effect Sensor
Operating Temperature 41° to 104° F (5° to 40° C)
Cable Length 2 ft (0.6 m)
Connector HDDB15
Compatible Controller KST101 K-Cube Stepper Motor Controller
*Calculated Resolution. Actual resolution will depend on the applied load
Specification ZST Series
Phase resistance (@ 20°C) 12.5 Ohms
Nominal current per phase
(both phases ON)
0.25A
Phase inductance @(1kHz) 6.3 Ohms
Back EMF 4.4V/k step/s
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