A Step-by-Step Guide to 3D Print Motorized Rotation Mounts for Optical Applications
MManuscript 1
A Step-by-Step Guide to 3D Print Motorized RotationMounts for Optical Applications D ANIEL
P.G. N
ILSSON , T
OBIAS D AHLBERG , AND M AGNUS A NDERSSON * Department of Physics, Umeå University, 901 87 Umeå, Sweden * Corresponding author: [email protected] March 1, 2021
Motorized rotation mounts and stages are versatile instruments that introduce computer control to opticalsystems, enabling automation and scanning actions. They can be used for intensity control and positionadjustments, etc. However, these rotation mounts come with a hefty price tag, and this limits their use.This work shows how to build two different types of motorized rotation mounts for 1" optics, usinga 3D printer and off-the-shelf components. The first is intended for reflective elements, like mirrorsand gratings, and the second for transmissive elements, like polarizers and retarders. We evaluate andcompare their performance to commercial systems based on velocity, resolution, accuracy, backlash, andaxis wobble. Also, we investigate the angular stability using Allan variance analysis. The results showthat our mounts perform similar to systems costing more than € € percentage points or better. © 2021 Optical Society of America
1. INTRODUCTION
Rotation mounts and rotary stages are essential in many opti-cal systems. They are versatile and can be used to adjust thepolarization direction in an attenuator setup, rotate the gratingin a spectrometer, or change the position of mirrors and filters,among other things [1, 2]. Having these optical elements mo-torized and controlled by a computer increases their usabilityby allowing higher accuracy and repeatability, as well as thepossibility for automation and scanning actions. Unfortunately,commercial rotation mounts and their corresponding driverscome with a hefty price tag, discouraging their use.On the contrary, 3D printers nowadays come with a fair pricetag thanks to the Do-It-Yourself community [3] and they havegained significance in experimental research groups to developlaboratory-specific equipment [4, 5]. This development has inturn made key components of both 3D printers and rotationmounts, like stepper motors and drivers, inexpensive and read-ily available. Based on this, would it be possible to design rota-tion mounts that combine the advantages of 3D printing withthe accessibility of its components? If so, how would its perfor-mance and cost compare to similar systems made by industry-leading manufacturers?Previous papers addressing in-house rotation mounts [6, 7] use fabrication techniques outside of the capabilities of the com-mon lab. They developed rotation mounts that were eitherunsuitable for standard optics or used components that are notfeasible to produce a low cost product. They also used a piezo-electric rotor, which are known to cause vibrations, that candisturb sensitive measurements. Therefore, in this work, wedesign multipurpose rotation mounts for applications that uses1" optics (1 in . = cm ). We build the mounts using a com-mercial 3D printer [ Ultimaker 2+ ], then we test and evaluatetheir performance. We constraint the budget to €
200 per mount(incl. driver) and provide in-depth instructions and examplesfor building and integrating them into an optical setup.
2. MATERIALS AND METHODS
A. 3D Printing Rotational Mounts
There are two main configurations of the rotation mount, the reflective mount intended for reflective optical elements, andthe transmissive mount intended for transmissive optical ele-ments. The reflective mount seen in figure 1a has its axis ofrotation along the optical element’s surface and is suitable forapplications involving mirrors and gratings. The transmissivemount, seen in figure 1b, instead has its axis of rotation perpen- a r X i v : . [ phy s i c s . i n s - d e t ] F e b anuscript 2 Fig. 1.
The reflective mount (a) and transmissive mount (b) are3D printed rotation mounts for different optical elements. Ar-rows show the rotation (solid) and position adjustment (dashed)for the mounts, which can be clamped to optical posts (omitted).dicular to the surface of the optical element and is more suitablefor applications involving polarizers and retarders. Both setupsinclude a selection of holders for different optical elements andapplications, like filter revolvers and universal base plates. Thesetups are made to be mounted on posts, where they can slideand be clamped down in any (square) direction to fit most appli-cations. We provide 3D files with mounts for both metric andimperial post sizes, that is ∅ mm or ∅ in ., as well as theopen-source 3D CAD model for further customization. Components
We divide the components used for the rotation mount intotwo categories,
3D printed parts and off-the-shelf components .Parts that can be 3D-printed include a base mount (the frame)and various rotor wheels used for different applications. Theyare designed in Rhinoceros 3D [
Rhino 6 , Robert McNeel & Asso-ciates] and the 3D CAD model (.3dm-file) can be found in theresources [8, 9], along with exported .stl ( stereolithography ) and.stp-files (AP 214, ISO 10303-21). These parts are designed to bemade with a fusion deposition modeling (FDM) printer, allowingfor rapid prototyping and in-house manufacturing.Our mounts require a rigid and strong material to functionproperly. Common plastics like polylactic acid (PLA), acrylonitrilebutadiene styrene (ABS) and polyethylene terephthalate (PET/PETG)are all suitable alternatives, with the latter providing more dura-bility [10]. We designed the mounts to print on almost any 3Dprinter without using support material with a wide range ofparameter settings. We recommend a layer height of 0.4 mm andnozzle size of 0.6 mm , or less. The infill can be as low as 20%, andto increase the strength the number of perimeters (shells) shouldbe 3 or more. Further, which parts are needed depends on theapplication. To help select what parts to print, we provide aguide in table 2 in the appendix. In places where tight tolerancesare needed, like thru-holes for shafts and rods, finishing workcan be required. If a hole is too tight, it can be honed out with asimple hand drill.The off-the-shelf components also depend on the configura-tion and, for this, part lists are provided in appendix A. Evenso, all rotation mounts use a standard NEMA 17 series step-per motor. We have in this work used the cheapest and mostcommon one [ , MotionKing], with a rotor resolu-tion of 200 f ullsteps / revolution (1.8 ◦ ) and a holding torque of40 N · cm , which is the recommended minimum. There is anoption to use factory-made aluminium pulleys for the trans- missive mount, which is what we used in the early stages ofdevelopment. However, these require extra machining to fit ourapplication and we noted no significant changes when shiftingto the 3D printed equivalent. If selected, the lower drive wheel[ , RS PRO] needs a spacer for the drive shaft in theform of a L x ∅ in x ∅ out mm brass sleeve, and the upper rotorwheel [ , RS PRO] needs machining work, as describedby figure S2 in the supplementary material.Lastly, we manage to build the rotation mount describedhere for approximately € Build Guide
The assembly of a rotation mount starts by fitting the four M6 x16 mm screws and nuts to the base mount (the frame), these areused to clamp it to the mounting posts. After this, the steppermotor is inserted and secured through the front with four M3 x 8 mm screws. Now, depending on the configuration the followingprocedure will differ. For the reflective mount , a rotor base plateis mounted directly to the drive shaft of the stepper motor withan M3 x 6 mm set screw and nut. To this, an optic element holderis attached by a clockwise quarter rotation of the pretensioningfork (different rotors/holders are available). The optical elementis clamped down from the top by an M4 x 6 mm set screw andnut. The position of its front face can be adjusted to align it withthe rotation axis and this is done with an M4 x 25 mm screw andnut. Two additional nuts are used to lock the screw and removethe slack (a spring can be used instead).For the transmissive mount , the drive wheel is mounted tothe stepper motor with an M3 x 6 mm set screw and nut. Thedrive belt then transfers this rotation to the rotor wheel andthis is mounted to the cage rotation mount [ CRM1/M , Thorlabs]with four No.4 x 6 mm screws. With the drive belt wrappedaround both wheels, the cage rotation mount can be securedfrom the sides by four more No.4 x 6 mm screws. This should bedone to give the drive belt suitable tension and a good startingpoint is at 4 mm belt movement when applying 0.5 kg of force,as discovered while measuring backlash in section 3.B below.Lastly, with all the parts and tools at hand, the construction andincorporation of this rotation mount into an optical system canbe done within a day and that includes the building of a controlunit (driver), as described next. B. Building the Controller
Components & Wiring
To control the rotation mounts we designed a controller basedon a standard Arduino board [11] and a SilentStepStick steppermotor driver [
TMC2130 , TRINAMIC]. There are many Arduinoboard models suitable for this controller, and here we show thetwo most common models that can be used. The first is the
Arduino Nano , its small size and PCB compatible headers areperfect for permanent installations and enclosures. The secondis the
Arduino Uno , its larger size and accessibility is handy forbench testing and experimentation. However, both of these havesimilar performance and wiring.The control unit can be powered by a 9 − VDC poweradapter and to stabilize the supply, a 100 µ F (C1) electrolytic ca-pacitor is connected between the supply rail and ground (GND).The supply rail is connected to the raw input of the Arduino anuscript 3 Fig. 2.
The minimum electronics and wiring needed to run a rotation mount when using the MWE code. This setup uses an ArduinoNano microcontroller, a TMC2130 stepper driver and a NEMA 17 stepper motor, all mounted to a half size solderless breadboard.(VIN) and the motor input of the driver (VM). The regulatedoutput from the Arduino (5V) is connected to the logical inputof the driver (VIO) and a Schottky diode (D1) is connected backto the supply rail, with the cathode at the supply rail (allowingfor a safe connection of USB before power supply).In addition, a switch (S1) or a jumper can be used to togglethe auto-reset mode of the microcontroller on/off (used for up-loading code), where a closed connection turns the mode off(this allows the controller to remain running during the loss ofUSB connection). On some Arduino boards (e.g. Nano V3.0),this can be realized by wiring the switch in series with a 120 Ω resistor (R1) and connecting them between the reset pin of theArduino (RST) and the regulated output (5V). However, on otherArduino boards (e.g. Uno R3) there are two solder pads (RESETEN) that can be cut and connected to a switch with the samefunction.The rest of the connections are described in figure 2, alongwith all the electrical components (see appendix A) and wiringneeded to control a rotation mount. Note that the wire colors ofthe stepper motor (M1) may vary between manufacturers andthat each coil can be found with a basic continuity measurement.We show the wiring for a bi-polar (4 wires) stepper motor, but auni-polar (6 wires) stepper motor can also be used by connectingthe center tap of each of the two coils together. Additionally, thestepper motor driver can be fitted with a small heat flange ontop to increase system stability and these are often provided bythe manufacturer. Programming
The controller needs to be programmed before it can be usedto control a rotation mount and, for this, we provide a Min-imal Working Example (MWE) code called
RotorMountCon-troller_MWE . With this code, the angle of a rotation mountcan be controlled from a computer and with floating-point pre-cision. A more comprehensive code, called
RotorMountCon-troller_Multiple is also provided and both of these are availablein the resources [12]. The latter shows how to control four dif- ferent rotation mounts (and drivers) simultaneously using oneArduino Nano/Uno, as well as how to incorporate softwareemulated origins, backlash compensation, intensity control, andmore.To compile and upload code to the board, we used the open-source Arduino IDE (V.1.8.12). This requires some additional(open-source) libraries to be downloaded and these are describedin the code. When proceeding, remember to select the correctrotor resolution, gear ratio, and step size ( microsteps ), these aredefined in the code. However, in case of problems to compile thecode or download libraries, pre-compiled binary files (.ino.hex)of the MWE code can be found in the resources [12] for bothArduino boards and rotation mounts (for a rotor resolution of200 f ullsteps / revolution and a step size of 128 microsteps ). Theprocedure for uploading a binary file in Windows is describedin detail under section 7.B.The USB interface of the controller can be accessed directlyby the serial monitor in Arduino’s IDE or ones like RealTerm. Itcan also be integrated into larger automation software, such asLabVIEW, because of its command-based interface. The interfacefor the MWE consists of two functions, one for setting the rotorangle ("SRA_
3. TEST AND COMPARISON
A. Measuring Setup
Before we can compare our 3D printed rotation mounts to com-mercially available systems, we need to measure and evaluatetheir most relevant attributes. To perform these tests, the MWEcode is modified by adding single-stepping capabilities and asimple setup is constructed. This setup is used for both thereflective and transmissive mount and can be seen under test anuscript 4
Fig. 3.
The setup used to test 3D printed rotation mounts, hereseen with the reflective mount (RM). A laser beam is reflectedby the rotating mirror ( M ) and its position is measured by thePSD. The remaining light is reflected to a beam dump (BD) andabsorbed.conditions in figure 3, except now with ambient light present.The rotation mounts are positioned to rotate in the plane of thetable, i.e. with the axis of rotation oriented vertically. Eachmount is fitted with a 1" flat mirror [ , New Focus, Inc.],mounted with its reflective surface along this axis. The rotationof the mounts can then be determined from trigonometry byreflecting a laser beam and measuring its position.For this, a HeNe-laser (633 nm , 7 mW ) [ , JDS Uniphase]is used and it is reflected towards a 20 x mm position sensitive de-tector (PSD) [ , SiTek]. This is mounted a given distance D after the rotating mirror, which limits the measurement rangeof the flat detector plane to ± mrad (2 ◦ ). The stage rotationis calculated by ω = · arctan ( d / D ) , where the spot distance d on the detector is calibrated from the PSD signal and for one fullstep . The signal is collected with a computer, using a data ac-quisition unit (DAQ) [ BNC-2090 , National Instruments]. To avoidaliasing, a low-pass filter [
SR640 , Stanford Research SystemsInc.] is used with a cutoff frequency of 4 kHz , while samplingjust above the Nyquist frequency (8192 Hz ). Data is processedfrom the DAQ in a custom LabVIEW program [ ,National Instruments], see figure S4, and further analyzed inMATLAB ® [ R2020a , MathWorks]. To aid in measurement accu-racy, the setup is built upon a Nexus ® vibration isolated opticaltable [ T1020CK , Thorlabs] and situated in a temperature con-trolled room (296 ± K ). B. Evaluation Criteria
We evaluate the reflective and transmissive mount separately,because of their difference in construction. The results are thencompared to manufacturer specifications for commercial mountswith clear apertures of ∅ − mm , see table 1 in the appendix. Velocity
The rotation of these stages is made in discrete steps, since weare using stepper motors, and the size of these steps can bereduced by dividing them into microsteps . A maximum step rateof 4, 000 microsteps / s is allowed by the controller when usingan Arduino Nano/Uno (clock-rate limited). This is equivalent to 6.4 s / rev and 12.8 s / rev , for the reflective and transmissivemount, respectively and at a resolution of 128 microsteps . Ifgreater velocities are required, the resolution can be lowered byusing fewer microsteps . The maximum velocity for our setupsis reliably achieved at a resolution of 8 microsteps , to 0.4 s / rev and 0.8 s / rev , respectively. This is limited by the strength ofour stepper motor but is still higher than that reported for mostcommercial systems. Resolution
The minimum incremental motion, here denoted (angular) reso-lution, is a property dependent on both the stepper motor, thetransmission and the controller. It is defined as the change insteady-state angle between consecutive steps and this is to disre-gard intermediate overshoots, as seen in figure S5a. We start byinvestigating the reflective mount with its direct transmission(1:1). Since we always use the same stepper motor, the step sizeof the driver becomes decisive for the final resolution, and thisdriver can divide each fullstep into a much as 256 microsteps .Looking at the median resolution for each step size in figure4a, it can be assumed that the experimental data is in good ac-cordance with the theoretical design resolution and this wouldgive a "typical" resolution of 110 ± µ rad at 256 microsteps forthe reflective mount. However, we would argue that the maxi-mum value for each set would constitute a better estimate for itsnominal resolution. On this basis and while taking into accountthe decline in stepper motor torque (and hence acceleration) forsmaller step sizes, a value of 128 microsteps seems to give anadequate step size and a "guaranteed" resolution of 310 µ rad .Now, looking at the transmissive mount with its belt trans-mission (2:1) in figure 4b. A "typical" resolution of 70 ± µ rad is achieved at 256 microsteps , but the departure from the designresolution has become more apparent. It shows an increasingnumber of outliers at smaller step sizes and these are causedby the delay and (non-returning) overshoot of steps, so-calledstick-slip behavior. These can be seen in the raw step responsedata in figure S5b and are a result of static friction in the cagerotation mount [ CRM1/M , Thorlabs] and play (clearance) in thebelt transmission. Consequently, this will reduce the "guaran-teed" resolution and a value of 310 µ rad is again observed at128 microsteps .The maximum resolution is on par with many (but not all)commercial stages and this is a compromise done to lower costand ease manufacturing. With that said, for many applications,this resolution is more than adequate. For example, in an opticalattenuator setup, the transmitted intensity I is given by Malus’slaw [13] as I = I · cos θ i ,where I is the input intensity (or irradiance) of the light and θ i isthe angle between the light’s polarization and the fast axis of thepolarizing element. Its derivative describes the final resolutionin intensity for the setup and can be written as I (cid:48) = − I sin 2 θ ,which decreases at low intensities ( θ i → π /2 rad ). Thus, theresolution is much better ( I (cid:48) →
0) at low intensities, where itis often needed the most, compared to in the middle. Even so,a "guaranteed" resolution of 0.03 percentage points intensityis achieved in the middle for both rotation mounts and this isusually more than enough.
Accuracy
The uni-directional repeatability is commonly used as a measurefor accuracy and it shows how close to a reference position itwill come while returning from the same direction and a suitable anuscript 5
Fig. 4.
Minimum incremental motion at different step sizes for the reflective mount (a) and transmissive mount (b), calculated fromthe step response data in figure S5. A stepper motor with 200 f ullsteps / revolution (1.8 ◦ ) resolution is used and we measure over astage rotation of 1 − ◦ , resulting in different sample sizes (n) for each set.distance away. Here we measured this by rotating the stagesin increments of full revolutions (2 π rad ) and finding the max-imum deviation between these. This results in an accuracy of250 µ rad and 600 µ rad , for the reflective and transmissive mount,respectively and at 128 microsteps resolution. An accuracy thatfalls within that of most commercial mount. Moreover, the ab-solute position is not defined when using an open-loop systemlike a stepper motor. So to aid in repeatability, a homing switchis usually incorporated into the setup. For the sake of simplicity,we instead show how to implement SW emulated origins in theprogram of the controller. Backlash
The backlash, also called bi-directional repeatability or hystere-sis, is a measure of the total accumulated play in a system and isnoticeable as an angular loss when altering rotational direction[14]. For the reflective mount (direct drive), there is no signifi-cant mechanical play in the system but rather the backlash is aproduct of the stepper motor torque and bearing friction. For thetransmissive mount (belt drive), the backlash is dominated bythe transmission and is a product of the belt tension. Removingslack in the belt by increasing its tension will generally decreasethe backlash. However, if the belt tension is too high, excess fric-tion in the cage rotation mount [
CRM1/M , Thorlabs] will arise,resisting the torque of the stepper motor and instead contributeto an increase in backlash.A compromise between these must therefore be found andfor our mount, this is at 4 mm movement when applying 0.5 kg of (normal) force to the belt, midway between the wheels. Thisresults in a backlash of 700 µ rad and 7000 µ rad , for the reflec-tive and transmissive mount, respectively and at 128 microsteps resolution. Additionally, an alternative technique for backlashreduction can be implemented in software and this is shownin RotorMountController_Multiple . With this compensationalgorithm tuned for the transmissive mount, the backlash canbe reduced by a factor of 10 or more and this results in backlashsmaller than that for most commercial mounts.
Axis Wobble
Changes in tilt of the rotation axis during stage movementsare called axis wobble. We estimate this with the same setup as before, however, we now measured the departure from thehorizontal axis. This is done by sampling the vertical position ofthe spot on the PSD. The results, seen in figure S6, show the axiswobble for a stage rotation of 2 ◦ . The 95% confidence boundsgive an axis wobble of ± µ rad and ± µ rad , for the reflectiveand transmissive mount, respectively. This is less wobble thanthat for most commercial mounts and as expected, the plainbearing in the cage rotation mount (transmissive) gives smootheroperation than the ball bearing in the stepper motor (reflective).Note that these measurements were only done for a limitedrange and are dependent on the quality of the components used. Stability
Angular stability is crucial for the reflective mount to not in-troduce disturbances into the optical system. We estimated thestability by measuring the angle of a stationary rotation mountfor long periods of time and using Allan deviation calculations[15, 16]. The result is presented in figure S7 and it shows thatthere is no increase in fluctuations when turning on the steppermotor power as opposed to when it is turned off. The predomi-nant deviations are observed at the highest frequencies (1 kHz )and are most likely originating in electrical interference of themeasurement equipment. Still, the angular fluctuations of themount are in both cases negligible and in orders of magnitudesmaller than the resolution, at less than 2 µ rad . Moreover, thelow stepper noise of this setup is important while performingsensitive measurements, and this would not be possible usingthe piezoelectric rotor from previous works. This capability is in-troduced by StealthChop ™ technology, found in newer steppermotor drivers.
4. EXAMPLE APPLICATION
As a proof of concept, we show how a rotation mount can beused to control the output power of multiple lasers used for op-tical tweezers and Raman spectroscopy measurements [17, 18].To fill the back aperture of our microscope objective and to get astrong lateral optical trap, we need an attenuator that can handlea beam diameter up to 20 mm . A detailed description of thesystem is shown in [19] and the attenuator setup is seen in figure5. An earlier iteration of the transmissive mount is used to rotate anuscript 6 Fig. 5.
The optical attenuator setup uses a transmissive mount (TM) to rotate a retarder ( λ /2) and change the polarization di-rection, thus controlling the output power of the laser. Thisshows an application for the rotation mount, using it to remotelycontrol parameters in an optical system. (a) Multiple attenuatorsetups each using a TM and one is mounted upside down toallow for a lower beam path. (b) A schematic representation ofthe optical attenuator setup. The dashed (blue) and solid (red)lines represents the linear polarization components of the laserlight, propagating from right to left. The first gets reflected bythe polarizing beam splitter (PBS) and absorbed by the beam dump (BD), while the second gets transmitted towards the optical fiber.a retarder ( λ /2) at the exit of each laser. In conjunction with a po-larizing beam splitter (PBS), this allows for attenuation of the laseroutput before coupling it towards the optical tweezers setup(via optical fibers). This gives us control of the trap stiffness andcomposition without affecting the enclosed system’s stability(thermal/mechanical). The transmissive mount is suitable forin-line optical elements and can be further developed for otherapplications, like spatial filtering (aperture control), etc. Thereflective mount came about with the intent to allow for theconstruction of spectrometers and other scanning applications.However, it can also be used as a beam selector, filter revolveror other application requiring stable and silent rotation [20].
5. CONCLUSION
We show an easy way of constructing rotation mounts usingtools and equipment available in most labs. By keeping the de-sign simple and instead implementing functions in the programof the control unit, we have reduced the number of components,the price and the build time considerably in comparison to pre-vious works. A rotation mount and driver can be built withina day for no more than € €
6. ADDITIONAL INFORMATION
Funding
This project is financially supported by the Swedish Foundationfor Strategic Research and the Swedish Research Council (2019-04016).
Disclosures
The authors declare no conflicts of interest.
7. APPENDIX
A. Off-the-shelf Component List
Transmissive Mount: • 1 pc - NEMA 17 Stepper Motor [ , MotionKing]• 1 pc - Drive Belt [ , Contitech] (see figure S3)• 1 pc - Cage Rotation Mount [
CRM1/M , Thorlabs]• 2 pcs - ∅
12 x 150 mm Optical Post [
TR150/M-JP , Thorlabs]• 4 pcs - M6 x 16 mm Socket Screw [
HK76168 , Holo-Krome]• 4 pcs - M6 Hex Nut [189-591, RS PRO]• 8 pcs - No.4 x 6 mm Socket Screw [
HK72018 , Holo-Krome]• 4 pcs - M3 x 8 mm Socket Screw [
HK76012 , Holo-Krome]• 1 pc - M3 x 6 mm Set Screw [ , RS PRO]• 1 pc - M3 Hex Nut [ , RS PRO]
Reflective Mount: • 1 pc - NEMA 17 Stepper Motor [ , MotionKing]• 4 pcs - ∅
12 x 50 mm Optical Post [
TR50/M-JP , Thorlabs]• 4 pcs - M6 x 16 mm Socket Screw [
HK76168 , Holo-Krome]• 4 pcs - M6 Hex Nut [189-591, RS PRO]• 1 pc - M4 x 25 mm Socket Screw [
HK76080 , Holo-Krome]• 1 pc - M4 x 6 mm Set Screw [ , RS PRO]• 4 pcs - M4 Hex Nut [ , RS PRO]• 4 pcs - M3 x 8 mm Socket Screw [
HK76012 , Holo-Krome]• 1 pc - M3 x 6 mm Set Screw [ , RS PRO]• 1 pc - M3 Hex Nut [ , RS PRO]
Control Unit: • Microcontroller Board [
Nano V3.0 or Uno R3 , Arduino]• SilentStepStick Driver Board [
TMC2130 , TRINAMIC]• 12
VDC
Power Adapter [
GST36E12-P1J , MEAN WELL]• 100 µ F Electrolytic Capacitor [
ECA1CM101 , Panasonic]• Schottky Diode [ , ON Semiconductor]• 2.1 x 5.5 mm Barrel Jack [
RND 205-00905 , RND Connect]• Slide Switch (SPST) [
MFS 131 D , KNITTER-SWITCH]• 120 Ω Axial Resistor [ , RS PRO]• Add’l: Breadboard, jumper cables, enclosure, USB-cable. anuscript 7
B. Upload Compiled Binary File with Arduino IDE (V.1.8.12) inWindows (7/8/10)
1. Connect the Arduino board to a computer via USB.2. Start the Arduino IDE and open the Blink sketch(File → Example → → Board/Port).4. Turn on output during uploading (File → Preferences → Settings → Show verbose output during: upload)5. Upload the sketch (Sketch → Upload).6. In the output panel of the IDE, find and copy the AVR-Dudecall, i.e. the first line after the ”Global variables use...” line.7. Paste this command into any text editor and replace therightmost file path (C: \ Users \ ... \ arduino_build_XXXXXX/Blink.ino.hex:i) with the absolute file path to the new binaryfile (C: \ Users \ .../RotorMountController_MWE.ino.hex).8. For Windows 8 or never: Put all three (3) file paths in-side of quotation marks (-CC: \ Users \ .../avrdude.conf ⇒ -C"C: \ Users \ .../avrdude.conf", etc.)9. Open the Command Prompt (Ctrl+Esc → "cmd"), then pasteand run the modified command. anuscript 8 T a b l e1 . A c o m p r e h e n s i v e li s t o f c o mm e r c i a l m o t o r i z e d r o t a t o n m o u n t s ( ° )f o r − mm o p t i c s , i n c l u d i n g c o rr e s p o n d i n g c o n t r o ll e r s a n d s o r t e d a f t e r t h e t o t a l p r i c e f o r o n e m o u n t a n d c o n t r o ll e r . D I Y d e n o t e t h e D o - I t - Y o u r s e l f m o u n t s , w h e r e R M a n d T M a r e t h e r e fl e c t i v e a n d t r a n s m i ss i v e m o u n t s a n d CCR M L DO a m o u n t b y R a k o n j a c e t a l . [ ] M o t o r i ze d R o t a ti o n M o un t s : M a n u f a c t u r e : D I Y D I Y D I Y S t a n d a T h o r l a b s E K S M A O p t i c s T h o r l a b s P I L K - I n s t r u m e n t s N e w p o r t P I M o d e l : R M T M CC R M L D O M R U K C R - P R M Z D T - M A P R PP R S - O p t i c M o u n t : " M u l t i p l e " S M ( " - ) Ø mm " ( M x ) S M ( " - ) " ( M x ) S M ( " - ) Ø mm S M ( " - ) N P ( " - ) Ø mm M o t o r T y p e : S t e pp e r S t e pp e r P i e z o R o t o r S t e pp e r S t e pp e r S t e pp e r D C S e r v o S t e pp e r S t e pp e r S t e pp e r S t e pp e r G e a r i n g : : : : : : : : : : : : V e l o c i t y : * . r a d / s . r a d / s . r a d / s . r a d / s . r a d / s . r a d / s . r a d / s . r a d / s . r a d / s . r a d / s . r a d / s T o r q u e : . N · m . N · m . N · m . N · m . N · m . N · m . N · m . N · m . N · m . N · m . N · m R e s o l u t i o n : ± µ r a d ± µ r a d ± µ r a d µ r a d µ r a d µ r a d . µ r a d . µ r a d µ r a d µ r a d µ r a d A cc u r a c y : µ r a d µ r a d µ r a d - µ r a d - µ r a d µ r a d µ r a d µ r a d µ r a d B a c k l a s h : µ r a d µ r a d † -- µ r a d - µ r a d µ r a d µ r a d µ r a d µ r a d A x i s W o bb l e : µ r a d µ r a d µ r a d µ r a d µ r a d µ r a d µ r a d µ r a d - µ r a d µ r a d H o m i n g : S W ‡ S W ‡ O p t i c a l S w i t c h H a ll O p t i c a l S w i t c h S w i t c h H a ll O p t i c a l H a ll U n i t P r i c e : § ∼ € ∼ € ∼ € € € € € € € € € A cc o m p a n i e d C o n t r o ll e r s : M o d e l : A r d u i n o U n o + x T M C A D u C S M C - U S B - x " I n t e g r a t e d " - x K D C C - . S M C x S M C PP C - . C h a nn e l s ( x ) : - - - , M i c r o s t e p s : - - - - - - - - - U n i t P r i c e : § € - € € € - € € € - € € € € , € € € * M a x i m u m v e l o c i t y a s p e r m i tt e d b y l o w e r i n g t h e r e s o l u t i o n / m i c r o s t e p s . † A s r e d u c e d f r o m µ r a d w i t h S W c o m p e n s a t i o n , s h o w n i n e x a m p l e c o d e R o t o r M o un t C o n t r o ll e r _ M u lti p l e . ‡ S o f t w a r e ( S W ) h o m i n g p r o v i d e d i n e x a m p l e c o d e R o t o r M o un t C o n t r o ll e r _ M u lti p l e . § A s o fJ a n u a r y ( e x V A T ) . T a b l e2 . A s e l e c t i o n g u i d e w i t h a ll t h e D p r i n t e d c o m p o n e n t s a v a il a b l e f o r a r o t a t i o n m o u n t . B r a n c h i n g i n d i c a t e s t h a tt h e r e a r e d i ff e r e n t o p t i o n s a n d o n l y o n e i s n ee d e d . === R e fl e c ti v e M o un t ( R M ) ====== T r a n s m i ss i v e M o un t ( T M ) === R M - B a s e _ M K ( P o s t mm ) . s t l R M - B a s e _ M K ( P o s t . i n ) . s t l T M - B a s e _ M K . ( P o s t mm ) . s t l T M - B a s e _ M K . ( P o s t . i n ) . s t l T r a n m i ss i v e M o u n t - D r i v e W h ee l . s t l R M - R o t o r H o l d e r _ B a s e . s t l R M - R e v o l v e r ( x mm ) . s t l R M - U n i v e r s a l ( M ) . s t l T M - R o t o r W h ee l _ O p e n B a rr e l . s t l T M - R o t o r W h ee l _ U n i v e r s a l ( M ) . s t l R M - R o t o r H o l d e r _ R o u n d ( mm ) . s t l R M - R o t o r H o l d e r _ S q u a r e ( mm ) . s t l anuscript 9 See
Supplement 1 for supporting content.
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