Kinesis® K-Cube™ Piezo Inertia Actuator Controller

Overview
Specs
Pin Diagrams
K-Cube Mounting
K-Cubes vs. T-Cubes
Motion Control Software
Kinesis Tutorials
APT Tutorials
Feedback

Click to Enlarge
Back View of the KIM101 Controller (See the Pin Diagrams Tab for More Information)

Click to Enlarge
Back View of the KIM001 Controller (See the Pin Diagrams Tab for More Information)

K-Cube™ Motion Control Modules
Brushed DC Servo Motor Controller
Brushless DC Servo Motor Controller
Fiber Alignment Controllers
Four-Channel Piezo Inertia Actuator Controller
PSD Auto Aligner
Single-Channel Piezo Controller
Single-Channel Strain Gauge Reader
Solenoid Controller
Stepper Motor Controller

Features

Compact Footprints
Adjustable Voltage Output from 85 V to 125 V
Single-Channel and Four-Channel Versions Available
±10 V Analog Input (SMA Female, See Pin Diagrams Tab for Details)
Kinesis^® Software Control Suite Included

Thorlabs' K-Cube™ Piezo Inertia Motor Controllers are part of Thorlabs' Kinesis^® line of high-end, compact motion controllers. They are designed to drive our standard and vacuum-compatible piezo inertia actuators, PD1(/M) translation stage, PDR1(/M) rotation stage, and PIM series piezo inertia optic mounts. The KIM001 single-channel controller provides a voltage output for a single piezo inertia device, while the KIM101 four-channel controller offers up to four outputs with single- or dual-channel operation, making it ideal for applications such as beam steering and positioning.

Each unit has a compact footprint, allowing it to be positioned close to the motorized system for added convenience when adjusting motor positions using the top panel controls. The included mounting plate can be secured to an optical table via two 1/4" (M6) counterbored slots. Alternatively, two magnets in the mounting plate can secure the assembly to the optical table for quick, drop-in operation.

A power switch on the front of the unit turns the controller on and off. The top panel display screen enables operation as soon as the unit is turned on, without the need for connection to a PC. When the switch is turned off, the K-Cube saves all user-adjustable settings for the next session. Please note that the power switch should always be in the "off" position when plugging in or unplugging the unit.

USB connectivity provides easy 'Plug-and-Play' PC-controlled operation with our Kinesis software package. The Kinesis Software features new .NET controls which can be used by 3^rd party developers working in the latest C, C#, LabVIEW™ or any .NET compatible languages to create custom applications. The KIM101 is also compatible with our legacy APT software, which is based in the ActiveX^® programming environment. Both the Kinesis and APT software packages provide advanced movement control that allow the user to quickly set up complex move sequences. For example, all relevant operating parameters are set automatically by the software for Thorlabs piezo inertia devices. For more details on both software packages, please see the Motion Control Software, Kinesis Tutorials, and APT Tutorials tabs.

Each K-Cube features two bidirectional trigger ports that can be used to read an external logic signal or output a logic level to control external equipment. When a port is used in the input mode, the logic levels are TTL compatible. When used in the output mode, the port provides a push-pull drive of 5 V, with the maximum current limited to approximately 8 mA. Please see the manual for more information.

Note: When used with the PD1(/M) linear translation stage or PDR1(/M) rotation stage, the KIM101 controller version must be 2019 or newer (per the S/N label) and be running a compatible revision of the firmware. The PD1(/M) translation stage requires firmware revision of 010003 or higher (indicated when the controller is powered on), while the PDR1(/M) rotation stage requires firmware revision 010004 or higher. Earlier versions of the KIM101 controller or those with older firmware will not function properly with a PD1(/M) or PDR1(/M) stage and may cause failure of the stage and/or the controller.

Power Supply
The KIM001 and KIM101 Motor Controllers do not ship with a power supply. A compatible power supply is our KPS101, sold below.

Note: Due to the nature of its design, and its non-linear high frequency switching, the KIM001 and KIM101 units are not compatible with the KCH301 and KCH601 hubs. Use only the KPS101 power supply unit.

Item #	KIM001	KIM101
Piezoelectric Outputs	One SMC Male	Four SMC Male
Voltage Output	85 to 125 VDC	85 to 125 VDC per Channel
External Input	SMA	SMA, CH-A, CH-B
Input Type	Single Ended, Analog
Input Voltage	±10 V ± 2%^a
Output Configuration	-	Individual Channels: Ch 1, Ch 2, Ch 3, Ch 4 Paired Channels: Ch 1 & 2; Ch 3 & 4
Output Pulses	Frequency: 1 Hz to 2 kHz Voltage Peak Adjustable from 85 to 125 V
Input Power Requirements
Voltage	15 VDC
Current	1 A	2 A
General
Operating Display	128 x 32 LCD Mono	128 x 128 TFT LCD Color
I/O 1 & I/O 2 Connectors	TTL Input, TTL Output, 5 V Level
User I/O Connector	N/A	15 Pin DIN 5 V @ 150 mA User Supply with 0 V Return Limit Switch Inputs (Qty. 8) - Multiplexed
Top Panel Controls	Spring-Loaded Scroll Wheel with Center Return: Velocity Control, Menu Control	Spring-Loaded 2-Axis Joystick with Center Return: Velocity Control of Selected Axis, Menu Control
Housing Dimensions^b (W x D x H)	60.0 mm x 60.0 mm x 47.0 mm (2.36" x 2.36" x 1.85")	121.0 mm x 60.0 mm x 47.0 mm (4.76 x 2.36" x 1.85")
Weight	200 g	390 g

-10 V results in max reverse velocity, +10 V results in max forward velocity, and 0 V results in no movement.
Not Including Mounting Plate

KIM001 Single-Channel Inertia Motor Controller

MOTOR

SMC Male

85 to 125 V. Provides the drive signal to the piezo actuator. The maximum voltage is set via the included Kinesis Software.

Computer Connection

The USB 3.0 port supports USB 1.1 communication speeds and is compatible with a USB 2.0 Micro B connector if the Micro B connector is plugged into the shaded region in the photo above. A USB 3.0 type A to type Micro B cable is included with the KIM001.

EXT IN

SMA Female

-10 V to +10 V Input
Used to connect an external analog signal source to control the position of the actuator. The input voltage range is -10 V to +10 V, where -10 V provides max backwards velocity and +10 V provides max forward velocity. 0 V results in no movement. The input impedance is 100 kΩ.

I/O 1, I/O 2

SMA Female

+5 V TTL
These connectors provide a 5 V logic level input and output that can be configured to support triggering into and out of external devices. Each port can be independently configured to control the logic level or to set the trigger as an input or output.

KIM101 Four-Channel Inertia Motor Controller

MOT 1, MOT 2, MOT 3, MOT 4

SMC Male

85 to 125 V. Provides the drive signal to the piezo actuator. The maximum voltage is set via the included Kinesis Software.

Computer Connection

The USB 3.0 port supports USB1.1 communication speeds and is compatible with a USB 2.0 Micro B connector if the Micro B connector is plugged into the shaded region in the photo above. A USB 3.0 type A to type Micro B cable is included with the KIM101.

User IO

Pin	Description	Pin	Description
1	0 V	9	0 V
2	OW-A^a	10	+5 V
3	OW-B^a	11	Limit Switch 3A/Encoder 3A^b
4	Limit Switch 1A/Encoder 1A^b	12	Limit Switch 3B/Encoder 3B^b
5	Limit Switch 1B/Encoder 1B^b	13	Limit Switch 4A/Encoder 4A^b
6	Limit Switch 2A/Encoder 2A^b	14	Limit Switch 4B/Encoder 4B^b
7	Limit Switch 2B/Encoder 2B^b	15	OW-D^a
8	OW-C^a	-	-

For Future Use
Limit Switch / Encoder pins are active in association with selected drive output channels.

CH-A, CH-B

SMA Female

I/O 1, I/O 2

SMA Female

K-Cube Mounting

Each K-Cube unit comes with a mounting plate that clips onto the base of the controller, as shown in the animation below. The plate contains two magnets for temporary placement on an optical table and two counterbores for 1/4"-20 (M6) cap screws for a more permanent placement on the tabletop. Please see the Specs tab for a mechanical drawing of the table mounting plate.

K-Cube Table Mounting Plate

Unlike T-Cubes, every K-Cube includes a mounting plate that clips onto the base of the controller. The plate contains two magnets for temporary placement on an optical table and two counterbores for 1/4"-20 (M6) cap screws for more permanent placement on the tabletop.

Introducing Thorlabs' Kinesis^® Motion Controllers

K-Cube™ vs. T-Cube™ Feature Comparison
Feature	KIM001 K-Cube	KIM101 K-Cube	TIM101 T-Cube
Kinesis Software Compatibility
APT Software Compatibility	N/A
Top Panel LCD Display			N/A
Power Switch			N/A
Piezoelectric Outputs (SMC Male)	One	Four	Four
Dual-Channel Operation	N/A		N/A
Bidirectional SMA Trigger Ports^a	Two	Two	N/A
SMA External Analog Input^a
Computer Connection^a	USB 3.0 Micro B (USB 2.0 Compliant)	USB 3.0 Micro B (USB 2.0 Compliant)	USB 2.0 Micro B (USB 2.0 Compliant)
Included Mounting Plate
Size (W x D x H)	60.0 x 60.0 x 47.0 mm (2.36" x 2.36" x 1.85")	121.0 x 60.0 x 47.0 mm (4.76" x 2.36" x 1.85")	121.0 x 60.0 x 47.0 mm (4.76" x 2.36" x 1.85")

Please see the Pin Diagrams tab for details.

A major upgrade to the former-generation T-Cubes™, the growing K-Cube™ line of high-end controllers provides increased versatility not only through the new Kinesis software, but through an overhaul and updating of their physical design and firmware.

Every K-Cube controller includes a digital display. In addition to basic input and output readouts, the KIM001 single-channel controller features a scroll wheel for driving a single piezoelectric inertia actuator or stage, while the KIM101 four-channel controller features a joystick that is capable of controlling two output channels simultaneously. Each unit contains a front-located power switch that, when turned off, saves all user-adjustable settings, as well as two bidirectional SMA trigger ports that accept or output a 5 V TTL logic signal.

Please see the table to the right for a full comparison of the features offered by our new piezo inertia motor contoller K-Cubes and previous-generation piezo inertia motor controller T-Cube.

Click to Enlarge
KIM101 K-Cube Kinesis Piezo Inertia Actuator Controller

K-Cube Table Mounting Plate

Note: The KIM001 uses Kinesis software. The KIM101 is compatible with both Kinesis and our legacy APT software.

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 1.14.25

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

Also Available:

Communications Protocol

Software

APT Version 3.21.4

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

These videos illustrate some of the basics of using the APT System Software from both a non-programming and a programming point of view. There are videos that illustrate usage of the supplied APT utilities that allow immediate control of the APT controllers out of the box. There are also a number of videos that explain the basics of programming custom software applications using Visual Basic, LabView and Visual C++. Watch the videos now to see what we mean.

Click here to view the video tutorial

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

Click here to view the LabView guide

Posted Comments:

Peter Coffell (posted 2020-11-14 16:46:47.63)

Hello, I was wondering if he KIN 101 can control brushed motors also?

cwright (posted 2020-11-17 05:37:35.0)

Response from Charles at Thorlabs: Hello and thank you for your query. This controller is not intended to be used to control DC motors and has no settings to facilitate this. Further, the voltage it outputs is a sawtooth waveform which can only be adjusted from 85 - 125V. The motor would see an averaged but high voltage which would damage the motor. We recommend the KDC101 to control brushed dc motors.

D W (posted 2020-11-05 04:52:16.697)

Is there any way to determine when the KIM device has finished moving using the C API? The documentation hints that this might be possible using KIM_WaitForMessage (at least for different types of motors), however it doesn't seem to emit anything when it's finished moving. The messages it occassionally emits while moving (messageType==12, messageID==0) are completely undocumented. The "status bits" (e.g. KIM_GetStatusBits()) look like they might also be relevant, but the output is also undocumented.

cwright (posted 2020-11-06 09:07:44.0)

Response from Charles at Thorlabs: thank you for your query. It appears that our documentation may be lacking some updates relevant to the KIM. We will look into this and contact you directly to follow up.

Ari Feldman (posted 2020-09-28 18:30:01.243)

Looking for python help controlling the KIM101. Others have received examples on how to interface the dll with ctypes. Could you also share with me?

DJayasuriya (posted 2020-10-06 03:42:21.0)

Thank you for your inquiry. Yes of course, we will get in touch with you directly with an example python code and to discus your application.

user (posted 2020-04-27 03:04:54.54)

Hello, is it possible to control KIM001 with Matlab appdesigner?

DJayasuriya (posted 2020-04-27 10:55:27.0)

Response from Dinuka at Thorlabs: Thank you for your inquiry at the moment we would not be able to directly support MATLAB app designer, but I will get in touch with you directly to see if we can help with your application.

Joseph Natal (posted 2020-02-17 00:05:04.76)

Hi. I'm wondering if these K-Cube or T-cube controllers could be useful for vibration damping applications. I'm thinking I may purchase the high voltage piezo amplifier to use with a controller I make myself, incorporating a third party position sensing device for active feedback. The project is to create my own controller, so I figure I should just purchase the amplifier. This would be for a UC Berkeley course with possible application Lawrence Berkeley National Lab, where I work at the BELLA center. Thanks, Joe

DJayasuriya (posted 2020-02-19 04:09:02.0)

Response from Dinuka at Thorlabs: Hello Joe, Thank you for contacting us. It seems like you are trying to use the cube for active vibrational damping. The K cube or T cube controllers would not be able to achieve what you are looking for. However I will get in touch with you directly to discuss your application.

user (posted 2020-01-10 07:55:11.823)

Just to explain a bit further about the symptom of the problem with KIM101 after the firmware update.. After the firmware update, I can see the USB Device Node on the FirmwareUpdateUtility, but it does not show any controller that can/cannot be reprogrammed. So I cannot Flash Firmware again nor control the piezo inertia stage (PD1) How can I solve this problem?

cwright (posted 2020-01-22 04:24:54.0)

Response from Charles at Thorlabs: thank you for contacting us about this. It appears that your firmware has been corrupted. This is most likely caused by a loss of power to the device during reprogramming. This may be something which can be quickly fixed at the users end or it may be necessary for us to reprogram it at one of our offices. I will reach out to you directly to troubleshoot this.

user (posted 2020-01-10 05:42:42.8)

We have recently purchased KIM101 (to control PD1 stages). Initially it was possible to control it with the APTUser software on a computer. But after I accidentally updated the firmware using the Thorlabs FirmwareUpdateUtility, the device (KIM101) is not even recognized by the computer. Could you please help me regarding this?

Alan Blair (posted 2019-05-22 12:19:27.563)

We would like to embed this in a device which will be remotely controlled. Can you tell me how the power switch is connected so we can make a remote circuit to emulate it? Alternatively, there is a connector on the bottom of the KIM101. Can this be used to control the on/off functionality?

AManickavasagam (posted 2019-05-28 05:11:29.0)

Response from Arunthathi at Thorlabs: Thanks for your query. I have contacted you directly with the details of the power switch connection and feasibility of controlling the KIM101 remotely along with the circuit diagram for your reference.

e.lopez (posted 2018-11-23 08:22:36.45)

Can this controller be controlled by Matlab? Thank you, Eneko

rmiron (posted 2018-11-23 04:00:04.0)

Response from Radu at Thorlabs: There are multiple paths for controlling KIM101 from MATLAB. One would be to use the ActiveX controls that come with APT, our legacy software. We have a short guide on how to get started. You can download it via this link: https://www.thorlabs.com/tutorials/Thorlabs_APT_MATLAB.docx A second option would be to bypass our software and send serial commands directly from MATLAB to the device. You can find the documentation for our serial communications protocol here: https://www.thorlabs.com/Software/Motion%20Control/APT_Communications_Protocol.pdf Finally, our .NET API for Kinesis can be used from MATLAB, but we don't have any guides or examples that can help you get started. I should mention that the API is composed of .NET assemblies, as opposed to COM DLLs.

michael.nickerson (posted 2017-10-18 11:10:29.133)

This TIM101 would be far more useful if it could be controlled by the KPA101 or other KCH-mountable controllers, instead of manual control only.

AManickavasagam (posted 2017-10-27 11:36:06.0)

Response from Arunthathi at Thorlabs: Thank you for your query. Unfortunately, without external electronics there is no way to control TIM101 with KPA101 for beam stabilisation/tracking. We will note this requirement and notify our engineers.

user (posted 2017-07-11 15:02:32.83)

Can this controller be controlled by a Python script ? I've found some modules online (thorlabs_apt and PyAPT), but they don't seem to be working with TIM101. I'm trying to send it instructions depending on some data returned by a Python program, in order to calibrate the position of a laser beam with two piezo inertia actuators mounted on a mirror.

bhallewell (posted 2017-07-13 09:36:41.0)

Response from Ben at Thorlabs: Unfortunately we do not support use of APT through Python. What we do have available is a number of videos & guides found in the following webpage for Visual Studio (Basic & C++) & LabVIEW. We also hold examples for programming in our latest motion control software, Kinesis, through LabVIEW & Visual Studio (C# & C) environments. https://www.thorlabs.com/navigation.cfm?guide_id=2251

peebles (posted 2016-07-19 12:54:47.94)

Does the controller allow you to set a specific distance of translation when coupled with a suitable piezo transducer and translation stage. If so what would be the accuracy of the final distance moved e.g. If asked to move the translation stage 1 cm, how accurate would be the final movement? Also is there any sort of readout of position ? Thanks, Tony Peebles Our application requires ~2cm movement of a plastic lens weighing about 2 pounds in both horizontal and vertical directions.

bwood (posted 2016-07-20 03:54:37.0)

Response from Ben at Thorlabs: Thank you for your question. The TIM101 cannot provide the position of the actuator in meters, due to the varying step size it can only output the number of steps. Furthermore, the TIM101 cannot currently be coupled with an external feedback mechanism, to calculate the position within the controller and our motion control software hemselves. One potential solution would be to use an external feedback mechanism to measure the position, and to generate a control signal to the analogue input of the TIM101 to move the actuator to a given position. This would create a closed loop system, similar to a conventional closed loop piezo system.

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