Piezoelectric Gimbal Mount

True Gimbal Rotation with Up to 30 mrad Angular Range
Feedback Sensor Output Enables Closed-Loop Operation
Angular Resolution: 0.05 μrad (Open Loop) or 0.14 μrad (Closed Loop)
Operated via Included Controller or PC

PGM1SE

Piezoelectric Gimbal Mount with Included Controller

Piezo Gimbal Mount on Ø1/2" Post

Related Items

30 mm Cage System

Gimbal Mounts

Optics

Piezo Objective Scanner

Linear Z-Axis Piezo Stage

Motorized Ø1" Mirror Mount

Piezo Inertia Actuators

Piezoelectric Chips

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Overview
Specs
Controller
Pin Diagrams
Software & External Control
Kinesis Tutorials
Shipping List
Feedback

Key Specifications^a
Piezo Specifications
Piezo Angular Range	30 mrad ± 15% (Open Loop) 20 mrad (Closed Loop)
Angular Resolution	0.05 µrad (Open Loop) 0.14 µrad (Closed Loop)^b
Piezo Control Voltage	-25 to 150 V
Resonant Frequency (7.0 g Load)	360 Hz ± 15%
Piezo Drive Connectors	Male SMC^c
Strain Gauge Connectors	Male 7-Pin LEMO^c
Mechanical Specifications
Optic Size	Ø1.00" (Ø25.4 mm)
Optic Thickness	2 mm (0.08") Min 7.5 mm (0.30") Max
Post Mounting Features	8-32 (M4) Mounting Taps
Cage System Compatibility	Four 4-40 Taps for 30 mm Cage Rods

For complete specifications, see the Specs tab.
With Included Piezo Controller and Defined by Smallest Drive Voltage Step Size
A cable bundle that includes both the piezo drive input and feedback output for both piezo channels is included with the mount.

Applications

Automatic Precise Laser Beam Steering
Laser Scanning Microscopy
LIDAR
Optical Testing and Sensor Calibration
Target Acquisition and Tracking

Click to Enlarge
Piezoelectric Gimbal Mount with 30 mm Cage Rods

Features

True Gimbal Rotation Provides Precise Angle Adjustment without Changing Beam Path Length
High Angular Range of 30 mrad (Open Loop) or 20 mrad (Closed Loop)
Angular Resolution of 0.05 µrad (Open Loop) or 0.14 µrad (Closed Loop)
Strain Gauge Feedback Sensors for Closed-Loop Operation
Includes Individually Calibrated Controller
Compact Size: 65.0 mm x 81.7 mm x 21.0 mm (2.56" x 3.22" x 0.83")
SM1-Threaded (1.035"-40) Optic Bore for Ø1" Optics
4-40 Tapped Through Holes for Integration with a 30 mm Cage System
Minimum Piezo Angular Adjustment: 0.1 arcsec (0.5 µrad)

The PGM1SE(/M) Piezoelectric Gimbal Mount has two axes that each rotate the mounted optic about a gimbal axis, keeping the center of the optic in a fixed position. Each axis is capable of scanning over a high piezoelectric angular range of 30 mrad with a resolution of 0.05 µrad in open-loop mode (20 mrad angular range and 0.14 µrad resolution in closed-loop mode). See the Specs tab for complete specifications.

A Ø1" optic can be mounted in the SM1-threaded optic bore and secured with the included SM1 retaining ring. The mount can hold optics between 2 mm and 7.5 mm thick; the optic is installed via the back of the mount, which keeps the optic surface coincident with the gimbal axes, regardless of the optic thickness. We do not recommend mounting an SM1 lens tube to the threading as it will apply excessive torque to the gimbal element.

Six 8-32 (M4) tapped holes on the optic mount allow it to be mounted on a Ø1/2" post. Additionally, four 4-40 tapped holes around the optic bore on both sides of the mount provide compatibility with 30 mm cage systems.

Each mount is shipped with a piezo controller that has been factory calibrated to the specific mount and supplies a voltage of -25 to +150 VDC. Piezo control is supported through the included Kinesis^® GUI, either locally using the paired controller or by using an externally supplied control voltage. See the Software & External Control tab for more details. The controller offers USB and RS-232 interfaces for computer control, a BNC input for the addition of external drive signals, and a BNC output that gives either positioning feedback from the mount’s built-in capacitive sensors or a signal proportional to the piezo drive voltage. In addition, a DB15 connector provides signals that can be used for synchronization with external equipment. A USB 2.0 (A to B) cable is included.

Mount Specifications
Piezo Specifications
Open Loop Angular Scanning Range	30 mrad ±15%
Closed Loop Angular Scanning Range	20 mrad
Bidirectional Repeatability^a	0.32 mrad
Bidirectional Accuracy^b	0.49 mrad
Crosstalk^c	0.56 mrad
Orthogonality Ch1 (X) to Ch2 (Y)	1.85°
Angular Resolution	0.05 µrad (Open Loop) 0.14 µrad (Closed Loop)^d
Resonant Frequency (7.0 g Load)	360 Hz ±15%^e
Maximum Load	50 g (0.11 lbs)
Maximum Recommended Operating Bandwidth	50 Hz
Maximum Angle of Incidence	55° Typical^f
Piezo Input Voltage	-25 to +150 V
Capacitance (per Axis)	3.5 µF ±15%
Closed Loop Stability	±5.0 µrad
Piezo Drive Connectors	Male SMC^g
Strain Gauge Connectors	Male 7-Pin LEMO^g
Mechanical Specifications
Optic Size	Ø25.4 mm (Ø1.00")
Clear Aperture	Ø22.9 mm (Ø0.90")
Optic Thickness	2 mm (0.08") Min 7.5 mm (0.30") Max
Cage System Compatibility	Four 4-40 Taps for 30 mm Cage Rods
Post Mounting Features	8-32 (M4) Mounting Taps
Mechanical Drawing (Click to View)

Maximum Error when Attempting to Achieve Same Position Over Multiple Attempts
Maximum Error between Expected Position and Actual Position
Maximum Movement in One Axis when Moving Other Axis. This value should be added to the Bidirectional Repeatability and Bidirectional Accuracy to determine the total error in position.
With Included Piezo Controller and Defined by Smallest Drive Voltage Step Size
Typical, with 6 mm Thick, Ø1" Mirror
Varies with beam diameter. Specification is typical for a Ø2.5 mm (Ø0.1") beam.
A cable bundle that includes both the piezo drive input and feedback output for both piezo channels is included with the mount.

Controller Specifications
Piezoelectric Output
Output Voltage	-30 to 150 VDC
Output Current	150 mA
Voltage Stability	100 ppm over 24 hours^a
Noise	<0.5 mV RMS (Bandwidth 20 Hz to 100 kHz)
Typical Piezo Capacitance	1 to 10 µF
External Input (BNC)
Input Impedance	10 kΩ
Input Voltage	-10 to +10 VDC
Absolute Maximum Input Voltage	±20 VDC
Input Voltage for Full Range	10 VDC ±2%
External Output (BNC)
Output Voltage Range	0 to 10 V (Nominal for Full Range)^b
Minimum Recommended Load Impedance	10 kΩ
Protection	Protected Against Short Circuit
Scaling Factor (HV Monitor)	1/15 (10 V for a Piezo Voltage of 150 V)
User Input/Output (D-Type 15 Pin Female)
4 Digital Inputs	TTL Levels
4 Digital Outputs	Open Collector
Trigger Input	TTL
Trigger Output	TTL, 5 V Logic
User 5 V	100 mA Max
Input Power Requirements (IEC Connector)
Voltage	24 VDC ±5%
Supply Current	<4 A
Protection	Internal Fuse, 4 A Slow Blow

After 30 minute Warm Up
Output Can Swing Negative in Certain Circumstances

For more information on the controls and connectors on the PPC102 controller, please see the PGM1SE(/M) manual for Kinesis^®.

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Front Panel of the Piezoelectric Gimbal Mount Controller

Click to Enlarge
Back Panel of the Piezoelectric Gimbal Mount Controller

Front Panel Controls
Callout	Label	Description
1	Power Button and LED	Applies and Removes Power to the Controller
2	Closed Loop Button and LED^a	Switches the Unit to Closed-Loop Operation
3	Midpoint Button and LED^a	Moves the Associated Channel to its Midpoint Position Open Loop: Sets Drive Voltage to 60 V Closed Loop: Sets Angular Position to 0 mrad
4	Position Wheel^a	Adjusts the Drive Voltage and/or Angular Position

For each channel, there is one Closed Loop button, one Midpoint button, and one position wheel.

Back Panel Controls
Callout	Label	Description
1	Channel 1 / 2	Provides the Drive Signal to the Piezo Actuator Connected to the Associated Channel
2	Monitor 1 / 2	Used to Monitor the Piezo Actuator on an Oscilloscope or Other Device
3	Ext In 1 / 2	Used to Control the Piezo Mount from an External Source Open Loop: -2 to +10 V gives -25 to 150 V Drive Voltage Closed Loop: 0 to +10 V gives ±10 mrad Adjustment
4	User	Contains a Number of Connections for Programmable Logic Lines^a
5	RS232	Provides Connection for Serial Port Communication
6	USB	USB Port for PC Operation
7	24 V, 4 A	Power Supply (Included)

Using the Kinesis software, these user-programmable logic lines can be deployed in applications requiring control of external devices such as relays, light sources, and other auxiliary equipment.

Piezo Mount Pin Diagrams

Piezo Drive
SMC Male

Input Voltage: -25 to +150 V

Strain Gauge Feedback
7-Pin LEMO

Piezo Controller Pin Diagrams

Channel 1 / Channel 2 Connectors

Stage Controller Connector

Pin	Description	Pin	Description
1	High Voltage Ground (Return)	8	HV Ground (Return)
2	Not Used	9	Not Used
3	Not Used	10	Stage ID^b
4	Sine Wave Excitation Output	11	Low Voltage Ground
5	Not Used	12	Low Voltage Ground
6	+15 V (Preamp Supply)^a	13	Piezo ID (Legacy Stages)^b
7	Low Voltage Ground	14	Position Sense Input (Strain Gauge)
Coaxial Male	Position Sense Input (Strain Gauge)	15	-15 V (Preamp Supply)^a
Coaxial Female	HV Output	15	-15 V (Preamp Supply)^a

Power supply for the piezo actuator feedback circuit. Do not use this pin to drive any other circuits or devices.
This signal is applicable only to Thorlabs actuators. It enables the system to identify the piezo extension associated with the actuator.

User Connector^a

Female DB15

User

Pin	Description	Return	Pin	Description	Return
1	Digital Output 1	5, 9, 10	9	Digital Ground	-
2	Digital Output 2	5, 9, 10	10	Digital Ground	-
3	Digital Output 3	5, 9, 10	11	For Future Use (Trigger Out)	5, 9, 10
4	Digital Output 4	5, 9, 10	12	For Future Use (Trigger In)^b	5, 9, 10
5	Digital Ground	-	13	Digital Input 4	5, 9, 10
6	Digital Input 1	5, 9, 10	14	5 V Supply Output	5, 9, 10
7	Digital Input 2	5, 9, 10	15	5 V Supply Output	5, 9, 10
8	Digital Input 3	5, 9, 10	15	5 V Supply Output	5, 9, 10

Details on this connector are available in Appendix A.2 of the manual.
This pin effectively replicates the function of the Closed Loop button on the front panel. The unit can be switched between open-loop and closed-loop operation by connecting an external, normally-open button between this pin and ground. A 5 V TTL signal can also be used.

Computer Control via RS-232

Male DB9

9Pin DIN Male

Pin	Description	Pin	Description
1	Not Connected	6	Not Connected
2	RX (Controller Input)	7	Not Connected
3	TX (Controller Output)	8	Not Connected
4	Not Connected	9	Not Connected
5	Ground	9	Not Connected

Computer Control via USB

Female Type B USB

DB9 Female

External Input

BNC Female

Input Voltage: -10 V to +10 V
Input Impedance: 10 kΩ

External Output

BNC Female

Output Voltage: 0 V to +10 V
Output Impedance: 100 Ω
Minimum Recommended
Output Impedance: 10 kΩ

Software

Kinesis Version 1.14.50

The Kinesis Software Package includes a GUI for control of the Piezo Objective Scanner.

Also Available:

Communications Protocol

Click to Enlarge
Graphical View of Piezo Operation in the Kinesis^® GUI

The gimbal mount can be driven using the included standalone Kinesis^®GUI or an externally supplied control voltage. Complete details on control are available in the Kinesis manual (PDF link).

Open-Loop Operation vs. Closed-Loop Operation
There are two operating modes for the mount: open loop and closed loop. In open-loop operation, which supports an adjustment range of 30 mrad
± 15%, the user controls the piezo drive voltage (in V). The applied drive voltage corresponds to some amount of angular adjustment. For piezoelectric materials, this displacement does not depend linearly on the applied voltage: it exhibits nonlinearity and hysteresis. It is therefore not straightforward to adjust the mount by choosing the drive voltage. The scanner's built-in capacitive feedback sensors measure the angular position with 0.05 µrad resolution in open-loop operation.

In closed-loop operation, which supports an adjustment range of 20 mrad, the user directly controls the angular position (in mrad). The built-in capacitive feedback sensors measure the objective displacement with 0.14 µrad resolution and automatically adjust the drive voltage in order to correct for inaccuracies in closed-loop operation.

Standalone Kinesis GUI
The Kinesis GUI supports both open- and closed-loop operation. The piezo drive voltage or angular position can be directly typed in or incremented or decremented in fixed, user-defined amounts.

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Kinesis^® GUI Panel During Open-Loop Operation

Click to Enlarge
Kinesis^® GUI Panel During Closed-Loop Operation

In addition, the GUI enables software-based PID loop tuning. The default settings are designed to provide stable operation in most applications, but fine tuning the PID loop helps account for the specific optics installed in the mount, reducing positional overshoots and ringing about the commanded angular position.

Externally Supplied Control Voltage
An external voltage can be applied using the external input BNC connector on the controller. In open-loop operation, the input voltage range of -2 V to +10 V corresponds to a drive voltage range of -25 V to +150 V, while in closed-loop operation, a the input voltage range from 0 V to +10 V corresponds to ±10 mrad angular adjustment.

DB15 Connector
The DB15 connector on the controller provides several electrical signals that can be used to synchronize the movement of the piezo stage with other equipment. Details on this connector are available in Appendix A.2 of the Kinesis manual (PDF link).

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.