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L-412.259232
User Manual
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PI L-412.XX9232 Series, L-412.059232, L-412.039232, L-412.179232, L-412.219232 User Manual

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L412M0006EN ‒ 3/14/2019
User Manual
L-412.XX9232 HIGH-LOAD LINEAR STAGE
M O T I O N | P O S I T I O N I N G
Page 2
Contents
1 Legal Information.........................................................................................................4
2 About this Document..................................................................................................5
2.2.1 Typographic Conventions................................................................. 5
2.2.2 Symbols Used.................................................................................... 5
3 Safety............................................................................................................................7
3.3.1 User Manual....................................................................................... 7
3.3.2 General Personnel Qualification.......................................................7
4 Product Description..................................................................................................... 8
4.2.1 Type Plate........................................................................................... 9
4.4.1 Base Body......................................................................................... 10
4.4.2 Drive.................................................................................................. 10
4.4.3 Purge Air System............................................................................. 10
5 Unpacking.................................................................................................................. 12
6 Installation................................................................................................................. 13
7 Startup / Operation................................................................................................... 19
8 Maintenance...............................................................................................................21
9 Troubleshooting......................................................................................................... 23
10 Transportation............................................................................................................24
CONTENTS
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11 Customer Service Department.................................................................................25
12 Technical Data............................................................................................................ 26
13 Old Equipment Disposal........................................................................................... 31
14 Appendix.................................................................................................................... 32
14.1.1 Drive Connector............................................................................... 32
14.1.2 Rotary Encoder Connector.............................................................. 32
14.1.3 Limit Switch Connector................................................................... 33
15 EU Declaration of Conformity...................................................................................36
CONTENTS
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1 Legal Information
The following company names and brands are registered trademarks of Physik Instrumente (PI) GmbH & Co. KG:
PI®, PIC®, NanoCube®, PICMA®, PIFOC, PILine®, NEXLINE®, PiezoWalk®, PicoCube®, PiezoMove®, PIMikroMove, NEXACT®, Picoactuator®, PInano®, NEXSHIFT®, PITOUCH®, PIMag®, PIHera, Q-Motion®
The patents held by PI can be found in our list at http://www.physikinstrumente.com/en/
about-pi/patents.
© 2019 Physik Instrumente (PI) GmbH & Co. KG, Karlsruhe, Germany. The text, photographs, and drawings in this manual are protected by copyright. With regard thereto, Physik Instrumente (PI) GmbH & Co. KG reserves all rights. The use of any text, images and drawings is permitted only in part and only when indicating the source.
Original instructions First print: 3/14/2019 Document number: L412M0006en, ASt
Subject to change. This manual is superseded by any new release. The latest versions of the user manuals are available for download (p. 6) at www.pi.ws.
Publisher:
PI miCos GmbH Freiburger Strasse 30 79427 Eschbach Germany
[email protected] www.pi.de
Customer service department:
Physik Instrumente (PI) GmbH & Co. KG Auf der Roemerstrasse 1 76228 Karlsruhe Germany
[email protected] www.pi.de
1 LEGAL INFORMATION L412M0006EN ‒ 3/14/2019
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2 About this Document
2.1 Objective and Target Group
This user manual contains the information needed for the intended use of the L-412.xx9232. Basic knowledge of closed-loop systems, motion control concepts, and applicable safety
measures is assumed.
2.2 Explanation of Symbols
This chapter explains the symbols and markings used by PI in their user manuals.
2.2.1
Typographic Conventions
Symbol / Label Meaning
1.
2.
Action consisting of several steps whose sequential order must be ob­served
■ List item
p. 5 Cross-reference to page 5
RS-232
Labeling of an operating element on the product (example: socket of the RS-232 interface)
Start > Settings
Menu path in the PC software (example: to open the menu, the
Start
and
Settings
menus must be clicked successively)
POS?
Command line or a command from PI's General Command Set (GCS) (example: command to get the axis position)
Device S/N
Parameter name (example: parameter where the serial number is stor­ed)
5
Value that must be entered or selected via the PC software
2.2.2 Symbols Used
Symbol / Label Meaning
General hazard symbol
DANGER
Dangerous situation
Failure to observe can lead to death or serious injury. ► Measures for avoiding the risk.
WARNING
Dangerous situation
Failure to observe can lead to serious injury. ► Action to take to avoid the risk.
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CAUTION
Dangerous situation
Failure to observe can lead to minor injury. ► Actions to take to avoid the risk.
NOTICE
Dangerous situation
Failure to observe can lead to material damage. ► Action to take to avoid the risk.
Information
Additional information on the L-412.xx9232 that can affect your application.
2.3 Figures
For better understandability, the colors, proportions and degree of detail in illustrations can deviate from the actual circumstances. Photographic illustrations may also differ and must not be seen as guaranteed properties.
2.4 Downloading Manuals
The latest versions of the user manuals can be downloaded (p. 6) at www.pi.ws. For products that are supplied with software (data storage device in the scope of delivery),
access to the manuals is protected by a password. Protected content is only displayed on the website after entering the access data. You need the data storage device for the product to get the access data.
If a manual is missing or problems occur with downloading, contact our customer service
department (p. 25).
Downloading Manuals
1. Open the website www.pi.ws.
2. If the product was shipped with a data storage device: Log into the website: a)
Click Login.
b) Enter the login data.
The login data is in the [...]_Releasenews_[...].pdf in the Manuals directory on the data storage device.
If necessary: Follow the link and register yourself to get the login data.
c)
Click Login or press the
Enter key.
3. Search for the product: a)
Click Search. b) Enter the product number up to the period (e.g., L-412) into the search field. c)
Click Start search or press the
Enter key.
d)
If necessary: Click Load more results at the bottom of the list.
4. Click the corresponding product in the list of search results.
5.
Click the Downloads tab.
➔
The manuals are shown under
Documentation
.
6. Click the desired manual and save it.
2 ABOUT THIS DOCUMENT
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3 Safety
3.1 Intended Use
The L-412.xx9232 is a laboratory device as defined by DIN EN 61010-1. It is intended for indoor use and use in an environment that is free of dirt, oil, and lubricants.
In accordance with its design, the L-412.xx9232 is intended for positioning, adjusting and shifting loads in one axis at various velocities. The L-412.xx9232 is not intended for applications in areas, in which a failure would present severe risks to human beings or the environment.
The intended use of the L-412.xx9232 is only possible when completely mounted and connected. The thermal protection sensor built into the L-412.xx9232's motor must be evaluated and monitored. The L-412.xx9232 must be operated with suitable electronics. The electronics are not in the scope of delivery of the L-412.xx9232.
The L-412.xx9232 may not be used for purposes other than those stated in this user manual. The L-412.xx9232 may only be used in compliance with the technical specifications and instructions in this user manual.
3.2 General Safety Instructions
The L-412.xx9232 is built according to state-of-the-art technology and recognized safety standards. Improper use of the L-412.xx9232 may result in personal injury and/or damage to the L-412.xx9232.
► Use the L-412.xx9232 only for its intended purpose and if it is in perfect condition. ► Read the user manual. ► Eliminate any faults and malfunctions that are likely to affect safety immediately.
The operator is responsible for correct installation and operation of the L-412.xx9232.
3.3 Organizational Measures
3.3.1 User Manual
►
Always keep this user manual available with the L-412.xx9232. The latest versions of the user manuals can be downloaded (p. 6) at www.pi.ws.
► Add all information from the manufacturer such as supplements or technical notes to the
user manual.
► If you give the L-412.xx9232 to a third party, also include this user manual as well as other
relevant information provided by the manufacturer.
► Only use the device on the basis of the complete user manual. Missing information due to
an incomplete user manual can lead to serious or fatal injuries and damage to equipment.
► Only install and operate the L-412.xx9232 after you have read and understood this user
manual.
3.3.2
General Personnel Qualification
The L-412.xx9232 may only be installed, started up, operated, maintained, and cleaned by authorized and appropriately qualified personnel.
3 SAFETY
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4 Product Description
4.1 Model Overview
High-load linear stage, xx mm travel range, 116 mm width, 400 N load capacity, incremental rotary encoder with A/B quadrature signal transmission, 20000 counts/ rev, synchronous servo motor, to 320 V
Product number Travel range: xx
L-412.039232 52 mm (2")
L-412.059232 102 mm (4")
L-412.099232 204 mm (8")
L-412.139232 305 mm (12")
L-412.179232 407 mm (16")
L-412.219232 508 mm (20")
L-412.259232 610 mm (24")
4.2 Product Labeling
1
1
3
2
2
4
2
5
6
Figure 1: Product labels on the L-412.xx9232
1. Warning symbol: Risk of crushing
2. Connector labels
3. Warning symbol: Hot surface
4. Warning symbol: Electrostatic-sensitive device
5. Type plate
6. Protective earth connector
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4.2.1 Type Plate
Figure 2: Type plate of the L-412.xx9232
1. Data matrix code (example; contains the serial number)
2. Product number (example)
3. Serial number (example), individual for each L-412.xx9232 Meaning of the position (counting from the left): 1 = internal information, 2 and 3 = year of manufacture, 4 to 9 = consecutive numbers
4. Warning and conformity symbols (old equipment disposal (p. 31), CE mark (p. 36))
4.3 Scope of Delivery
Product number Description
L-412.xx9232 Linear stage according to the order (p. 8)
For L-412.xx9232 with xx = 03, 05, 09, 13: L412B0048
Mounting kit for mounting the L-412.xx9232, consisting of
■ 10 socket head screws, ISO 4762 M6×30
■ 2 dowel pins, ISO 8734, 4m6 × 12
For L-412.xx9232 with xx = 17, 21, 25: L412B0049
Mounting kit for mounting the L-412.xx9232, consisting of
■ 16 socket head screws, ISO 4762 M6×30
■ 2 dowel pins, ISO 8734, 4m6 × 12
L412M0006 User manual for the L-412.xx9232 (this docu-
ment)
4.4 Overview
1
2
3
4
5
6
Figure 3: Elements of the L-412.xx9232
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1. Base body
2. Motion platform
3. Drive
4. Drive and sensor connector
5. Connectors for limit switch signals and purge air
6. Grease nipple for relubricating the drive screw
4.4.1 Base Body
The base body is the basis of the positioner. The L-412.xx9232 is mounted onto a surface via
the base body (p. 13).
The base body comprises the following subassembly (subassemblies):
Drive screw
The drive screw converts the rotary motion of the drive to linear motion of the motion platform.
Limit switches
The limit switches are sensors at each end of the travel range that enable the electronics to abort motion in order to prevent the motion platform from colliding with the mechanical hard stop.
4.4.2
Drive
The drive generates the torque required for the dynamics of the motion platform.
The drive comprises the following subassembly (subassemblies):
Motor
The motor generates the torque required for the dynamics of the motion platform.
Rotary encoder
The rotary encoder measures the motor shaft's angle of rotation. This signal can be used by suitable electronics for commutating the motor and for calculating the position of the motion platform after a reference move .
4.4.3
Purge Air System
The purge air system protects the drive and guides of the L-412.xx9232 against surrounding dust.
The purge air system comprises the following subassembly (subassemblies):
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Passive dust protection
The passive dust protection consists of covering strips that seal the openings on the side of the L-412.xx9232's base body and therefore reduces the amount of dust that can penetrate.
Active dust protection
The active dust protection consists of a purge air connector on the base body of the L-412.xx9232, which creates a slight overpressure in the L-412.xx9232 and therefore reduces the amount of dust that can penetrate.
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5 Unpacking
Unpacking the L-412.xx9232
1. Unpack the L-412.xx9232 with care. Hold the L-412.xx9232 by its base body only.
2. Compare the contents with the scope of delivery according to the contract and the delivery note.
3. Inspect the contents for signs of damage. If any parts are damaged or missing, contact our customer service department (p. 25) immediately.
4. If the L-412.xx9232 was supplied with ESD protective caps on the connectors: Do not remove the ESD protective caps.
5. Keep all packaging materials in case the product needs to be returned.
5 UNPACKING
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6 Installation
6.1 Mounting the L-412.xx9232
Overview
Figure 4: Mounting the L-412.xx9232 onto an underlying surface
Tools and Accessories
■ Screw set for mounting the L-412.xx9232 (p. 9)
■
Suitable screwdriver
Requirements
✓
You have read and understood the general safety instructions (p. 7).
✓
You have provided a suitable surface with the holes necessary for the screws and if
required, locating pins (p. 29).
■
The flatness of the surface is ≤ 2 μm.
■
For applications with large temperature changes: The surface should have the same or similar thermal expansion properties as the L-412.xx9232.
✓
You have accounted for the space required to route cables without bending and according to regulations.
DANGER
Risk of electric shock if the protective earth conductor is not connected!
If the protective earth conductor is missing or not properly connected, risk of dangerous touch voltages on the L-412.xx9232 in the event of malfunction or failure of the system. If there are touch voltages, touching the L-412.xx9232 leads to serious injuries or death by electric shock.
► Connect the L-412.xx9232 to a protective earth conductor before startup. ► Do not remove the protective earth conductor during operation. ► If the protective earth conductor has to be removed temporarily (e.g., for modifications),
reconnect the L-412.xx9232 to the protective earth conductor before restarting.
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CAUTION
Risk of crushing by moving parts!
Risk of minor injuries from crushing between the moving parts of the L-412.xx9232 or the load and a fixed part or obstacle.
► Use safeguards to protect limbs in areas where they could be caught by moving parts. ► Maintain the safety distances according to DIN EN ISO 13857 when installing protective
structures.
NOTICE
Damage due to collisions!
Collisions can damage the L-412.xx9232, the load to be moved, and the surroundings. ► Make sure that collisions are not possible between the L-412.xx9232, the load to be
moved, and the surroundings in the motion range of the L-412.xx9232.
► Do not place any cables or other objects in areas where they could be caught by moving
parts.
NOTICE
Excessively long screws and locating pins
Screws and locating pins that are inserted too deeply can damage the L-412.xx9232.
► Pay attention to the depth of the mounting and locating holes (p. 30) in the L-412.xx9232. ► Only use screws and locating pins of the correct length for the respective mounting holes.
Mounting the L-412.xx9232 on a Surface
1. If necessary: Insert the locating pins into the corresponding holes in the surface.
2. Align the L-412.xx9232 on the surface so that the corresponding mounting holes in the L-412.xx9232 and the surface are aligned.
3. Place the L-412.xx9232 onto the surface so that the locating pins can be inserted into the corresponding locating holes of the L-412.xx9232.
4. If necessary: Allow access to the mounting holes in the base body of the L-412.xx9232. Possible measures:
■ Temporary startup of the L-412.xx9232 (p. 19) and commanding the motion platform
to a suitable position
■ Push the motion platform by hand (p. 22)
5. Tighten the screws in all accessible mounting holes completely. Recommended torque: 3 Nm
6. If necessary: Repeat steps 4 to 5 for all concealed mounting holes.
7. Check that the L-412.xx9232 is fixed firmly to the surface.
6.2 Connecting the L-412.xx9232 to the Protective Earth Conductor
The L-412.xx9232 must be connected to the protective earth conductor via the drive connector.
It is only necessary to connect the L-412.xx9232's base body to the protective earth conductor when both of the following conditions are met:
■ The load on the motion platform must be connected to the protective earth conductor, but it is not possible to connect the protective earth conductor directly.
■ The load and the motion platform are connected conductively to each other.
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Overview
Figure 5: Protective earth connector on the L-412.xx9232
1. Connector for the protective earth conductor on the L-412.xx9232, indicated by the protective earth symbol
2. Safety washer
3. Flat washer
4. Protective earth conductor lug
5. Screw, ISO 7045 M4×8
Tools and Accessories
■
Suitable protective earth conductor:
■
Cable cross section ≥ 0.75 mm
2
■
Contact resistance <0.1 Ω at 25 A at all connection points relevant for attaching the protective earth conductor
■
Suitable screwdriver
Requirements
✓
You have read and understood the general safety instructions (p. 7).
DANGER
Risk of electric shock if the protective earth conductor is not connected!
If the protective earth conductor is missing or not properly connected, risk of dangerous touch voltages on the L-412.xx9232 in the event of malfunction or failure of the system. If there are touch voltages, touching the L-412.xx9232 leads to serious injuries or death by electric shock.
► Connect the L-412.xx9232 to a protective earth conductor before startup. ► Do not remove the protective earth conductor during operation. ► If the protective earth conductor has to be removed temporarily (e.g., for modifications),
reconnect the L-412.xx9232 to the protective earth conductor before restarting.
Information
► Observe the applicable standards for connecting the protective earth conductor.
Connecting the L-412.xx9232 to the Protective Earth Conductor
1. If necessary, attach a suitable cable lug to the protective earth conductor.
2. Attach the cable lug of the protective earth conductor to the protective earth connection as shown in the illustration of the L-412.xx9232.
3. Tighten the screw with a torque of 1.2 Nm to 1.5 Nm.
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4. Make sure that the contact resistance is <0.1 Ω at 25 A at all connection points relevant for attaching the protective earth conductor.
6.3 Mounting the Load onto the L-412.xx9232
Overview
Figure 6: Mounting the load onto the L-412.xx9232
1. Screws
2. Load
3. Motion platform of the L-412.xx9232
Tools and Accessories
■
At least 3 screws with suitable dimensions (p. 30)
■ Suitable tool for tightening the screws
■ Optional: 2 suitably dimensioned dowel pins as locating pins for aligning the load on the
L-412.xx9232
Requirements
✓
You have read and understood the general safety instructions (p. 7).
✓
You have mounted the L-412.xx9232 on the surface (p. 13) properly.
✓
The L-412.xx9232 is not connected to the electronics.
✓
You have prepared the load so that it can be fixed to the mounting holes on the motion platform:
■
The distance between the center of gravity of the load and the center of the motion platform is as small as possible in all directions.
■
At least three points are provided for fixing the load on the motion platform.
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NOTICE
Impermissibly high load on the L-412.xx9232
An impermissible high load impairs the motion of the platform and can damage the L-412.xx9232.
► Pay attention to the maximum permissible forces (p. 26) that may act on the motion
platform.
► In the case of multi-axis systems, include the masses of the positioners to be moved
when calculating the load.
Fixing the Load
1. If necessary: Insert the locating pins into the corresponding holes in the motion platform.
2. Align the load on the motion platform so that the mounting holes selected in the motion platform can be used for mounting the load.
3. Place the load onto the motion platform so that the locating pins are inserted into the corresponding locating holes in the load.
4. Tighten the screws in all mounting holes.
5. Check that the load is fixed firmly to the motion platform.
6.4 Connecting the L-412.xx9232
Tools and Accessories
■
Suitable cable set
■
If necessary: Suitable screwdriver for the locking screws of the connectors.
■
Optional: Purge air connector with the following properties: Pressure: 2 to 6 bar (200 to 600 kPa); purge air hose: Outer diameter 4 mm; air quality as stated in the specifications (p. 26)
Requirements
✓
You have read and understood the general safety instructions (p. 7).
✓
You have read and understood the user manual for the electronics.
✓
You have installed the electronics properly.
✓
The electronics are switched off.
✓
The L-412.xx9232 is connected to the protective earth conductor (p. 14).
NOTICE
Damage due to incorrect connection of the L-412.xx9232!
Connecting unsuitable electronics or the wrong cable can lead to damage to the L-412.xx9232 or the electronics.
► Make sure that the electronics support the drive type of the L-412.xx9232 and has been
configured accordingly.
► Use cables from PI miCos only to connect the L-412.xx9232 to the electronics. ► Pay attention to correct pin assignment (p. 32).
Connecting the L-412.xx9232
1. If necessary: Remove the ESD protective caps from the connectors of the L-412.xx9232.
2. All of the L-412.xx9232's connections must be made in the following order: a) Limit switch connector b) Optional: Purge air connector
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Permissible pressure: 2 to 6 bar (200 to 600 kPa)
c) Rotary encoder connector d) Drive connector
3. Secure the connectors against unintentional removal.
4. If necessary: Turn the drive and encoder connector carefully to a position suitable for your installation conditions.
The drive and encoder connector of the L-412.xx9232 can be turned up to 180° (in steps of approximately 7°).
≈7°
Figure 7: Rotation range of the L-412.xx9232's drive/sensor connectors
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7 Startup / Operation
7.1 Starting and Operating the L-412.xx9232
Requirements
✓
You have read and understood the general safety instructions (p. 7).
✓
For startup with a load or in a multi-axis system: You have installed the L-412.xx9232
properly (p. 13).
✓
The L-412.xx9232 is connected to the protective earth conductor (p. 14).
✓
You have read and understood the user manual for the electronics used.
✓
If a digital controller is used: You have read and understood the manual for the PC software used.
✓
The electronics and if required, the PC software, have been installed (see the user manual for the electronics).
DANGER
Risk of electric shock if the protective earth conductor is not connected!
If the protective earth conductor is missing or not properly connected, risk of dangerous touch voltages on the L-412.xx9232 in the event of malfunction or failure of the system. If there are touch voltages, touching the L-412.xx9232 leads to serious injuries or death by electric shock.
► Connect the L-412.xx9232 to a protective earth conductor before startup. ► Do not remove the protective earth conductor during operation. ► If the protective earth conductor has to be removed temporarily (e.g., for modifications),
reconnect the L-412.xx9232 to the protective earth conductor before restarting.
CAUTION
Risk of crushing by moving parts!
Risk of minor injuries from crushing between the moving parts of the L-412.xx9232 or the load and a fixed part or obstacle.
► Use safeguards to protect limbs in areas where they could be caught by moving parts. ► Maintain the safety distances according to DIN EN ISO 13857 when installing protective
structures.
CAUTION
Burning due to hot surface!
The drive of the L-412.xx9232 and the surroundings can heat up during operation. Touching the drive and surrounding parts can result in minor injuries from burning.
► Make sure that the hot drive and the surrounding parts cannot be touched.
NOTICE
Operating voltage excessively high or incorrectly connected!
Operating voltages that are too high or incorrectly connected can cause damage to the L-412.xx9232.
► Pay attention to the operating voltage range (p. 28), which is specified for the
L-412.xx9232.
► Pay attention to correct pin assignment (p. 32).
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NOTICE
Unintentional change in position due to missing self-locking!
The drive of the L-412.xx9232 does not have self-locking. The L-412.xx9232 can therefore move unintentionally when the controller is switched off, e.g., when deactivating the servo mode or switching the electronics off. Unintentional changes in position can damage the L-412.xx9232, the load to be moved, and the surroundings.
► If you want to operate the positioner with a vertically aligned or inclined motion axis:
Attach suitable gravity compensation or a holding brake (not in the scope of delivery).
► Before switching off the controller, take suitable measures to ensure that unintentional
changes in the position of the motion platform are not possible.
NOTICE
Damage due to collisions!
Collisions can damage the L-412.xx9232, the load to be moved, and the surroundings.
► Stop the motion immediately if an electronics malfunction occurs. ► If possible, adapt the travel range limits of your mechanical system in the software that
you use for commanding the motion.
NOTICE
Uncontrolled oscillation!
Oscillation can cause irreparable damage to the L-412.xx9232. Oscillation is indicated by a humming noise and can result from the following causes:
■ The load and/or dynamics during operation differ considerably to the calibration settings.
■ The L-412.xx9232 is operated near to its resonant frequency.
► If you notice oscillation, stop the L-412.xx9232 immediately.
Starting and Operating the L-412.xx9232
1. Start the electronics (see the user manual for the electronics).
2. Configure the electronics for the L-412.xx9232 during startup:
■
If you are using a digital controller from PI: In the PC software, select the entry in the positioner database that matches the L-412.xx9232 exactly.
■
If you are using electronics from another manufacturer: Configure the electronics according to the parameters of the L-412.xx9232.
3. Start a few motion cycles for testing purposes (see the user manual for the electronics).
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8 Maintenance
NOTICE
Damage due to improper maintenance!
Improper maintenance can lead to misalignment and failure of the L-412.xx9232. ► Loosen screws only according to the instructions in this manual or the instructions of our
customer service department (p. 25).
8.1 Maintenance Run
The maintenance run serves the purpose of distributing the existing lubricant. The following intervals for the maintenance run depend on the operating conditions and the
period of use:
■ After 200 operating hours or at least after one 1 year
■ If the L-412.xx9232 is moved over a small travel range (<40 mm) during industrial
operation: After every 2000 motion cycles
Performing a Maintenance Run
1. Make sure that collisions between the L-412.xx9232, the load to be moved, and the surroundings are not possible over the entire travel range of the L-412.xx9232. If necessary, remove the load from the motion platform of the L-412.xx9232 for the maintenance run.
2. Perform a maintenance run over the entire travel range: a) Command the L-412.xx9232 to the end of a travel range and from there to the opposite
end of the travel range (see manual for the electronics).
b) If necessary: Command the L-412.xx9232 to a position, where the load can be mounted
onto the motion platform again and mount the load back onto the L-412.xx9232 (p. 16).
8.2 Relubricating
The L-412.xx9232 is equipped with a grease nipple for relubricating the drive screw. For continuous industrial use, the lubrication intervals and the lubrication quantity must be determined individually.
Use Klüber STABURAGS NBU 12/300 KP only as lubrication for the L-412.xx9232. If you have any questions on relubricating, contact our customer service department (p. 25).
8.3 Cleaning
Requirements
✓
You have disconnected the L-412.xx9232 from the electronics.
Other Materials Required
■ Soft, lint-free cloth
■ Mild cleaning agent or disinfectant
If you have any questions on the auxiliary materials recommended for the L-412.xx9232, contact our customer service department (p. 25).
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NOTICE
Damage due to unsuitable cleaning agents!
Some cleaning agents can cause rusting on the L-412.xx9232 or dissolve plastics, paints or adhesives.
► Do not clean with water or acetone.
Cleaning the L-412.xx9232
1. Dampen the cloth with the cleaning agent or disinfectant.
2. Carefully wipe the surfaces of the L-412.xx9232.
8.4 Moving the Motion Platform by Hand
It can be necessary to move the motion platform manually to provide access to mounting holes for mounting screws in the base body of the positioner.
Requirements
✓
You have disconnected the L-412.xx9232 from the electronics.
Moving the Motion Platform by Hand
1. Exert a steady force on the motion platform to move it.
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9 Troubleshooting
The positioner does not move, no operating noise can be heard
There is a motion error.
► Reset the moon error.
Defective electronics
► Check the electronics.
Electronics not connected correctly
► Check all connecng cables (p. 17).
Reduced positioning accuracy
When the L-412.xx9232 is mounted vertically: Load exceeds the self-locking of the drive
► Make sure that the self-locking of the
drive (p. 26) is not exceeded.
Warped base body
► Mount the L-412.xx9232 onto an even sur-
face (p. 13).
Increased wear due to small motion over a long period of time
► Perform a maintenance run (p. 21).
Uncontrolled oscillation
Large changes to the load or the alignment of the L-412.xx9232
► Switch o the servo control system or the con-
troller immediately.
► Check whether the servo control parameter set-
tings correspond to the selected closed-loop control mode; see user manual for the controller.
► If necessary, correct the sengs of the servo
control parameters.
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10 Transportation
Preparing the L-412.xx9232 for Transportation
1. Pay attention to the ambient conditions and classifications (p. 28).
2. Pack the L-412.xx9232 in the original packaging.
3. If the L-412.xx9232 is to be sent, use a stable outer box.
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11 Customer Service Department
For enquiries and orders, contact your PI miCos representative or send us an email. If you have any questions concerning your system, provide the following information:
■ Product and serial numbers of all products in the system
■ Firmware version of the controller (if applicable)
■ Version of the driver or the software (if applicable)
■ Operating system on the PC (if applicable)
If possible: Take photographs or make videos of your system that can be sent to our customer service department if requested.
Customer service address:
Physik Instrumente (PI) GmbH & Co. KG Auf der Roemerstrasse 1 76228 Karlsruhe Germany
[email protected] www.pi.de
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12 Technical Data
12.1 Specifications
Motion L-412.03 L-412.05 L-412.09 L-412.13 Unit Toler-
ance
Active axes X X X X
Travel range 52 102 204 305 mm
Pitch / yaw ±9 ±14 ±19 ±29 μrad max.
Straightness / flat­ness
±1.5 ±2.5 ±4 ±6 μm max.
Velocity, unloaded 300 300 300 300 mm/s max.
Positioning accura­cy, uncalibrated
±5 ±6 ±8 ±10 μm max.
Motion L-412.17 L-412.21 L-412.25 Unit Toler-
ance
Active axes X X X
Travel range 407 508 610 mm
Pitch / yaw ±39 ±48 ±58 μrad max.
Straightness / flat­ness
±8 ±9 ±10 μm max.
Velocity, unloaded 300 300 300 mm/s max.
Positioning accura­cy, uncalibrated
±12 ±14 ±16 μm max.
Encoder options
L-412.xxx232 basic option
Unit Toler-
ance
Integrated sensor Incremental rotary encoder
Sensor signal A/B quadrature, RS-422
Sensor resolution 20000 Cts./
rev.
Design resolution 0.25 μm
Minimum incremental mo­tion
1 μm
Bidirectional repeatability ±1 μm max.
Limit switches Hall effect, N/C contact, 5 V, NPN
Sensor connector M23
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Mechanical properties L-412.xxxxxx L-412.xxxxxxB Unit Toler-
ance
Guide type Recirculating ball
bearing guide
Recirculating ball bearing guide
Drive screw type Ball screw Ball screw
Holding brake – Electromagnetic safe-
ty brake
Drive screw pitch 5 5 mm
Push/pull force, power on 700 700 N max.
Holding force, power off – 500 N typ.
Load capacity in Z 400 400 N max.
Permissible lateral force 200 200 N max.
Permissible torque in θX 20 20 N·m max.
Permissible torque in θY 15 15 N·m max.
Permissible torque in θZ 20 20 N·m max.
Drive properties
L-412.xx9 Unit Toler-
ance
Drive type Synchronous Servo Motor
Intermediate circuit voltage, RMS
320 V DC max.
Peak torque 2.76 N·m typ.
Nominal torque 0.7 N·m typ.
Peak current, RMS 10.9 A typ.
Nominal current, RMS 2.73 A typ.
Torque constant, RMS 0.32 N·m/A typ.
Resistance phase-phase 5.22 Ω typ.
Inductance phase-phase 9.7 mH typ.
Back EMF phase-phase 20.4 V/
kRPM
max.
Number of pole pairs 3
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Miscellaneous L-412 Unit Toler-
ance
Operating temperature range 5 to 40 °C
Material Aluminum, black anodized
stainless steel
Overall mass L-412.03 (52 mm travel range): 6.4
L-412.05 (102 mm travel range): 6.9 L-412.09 (204 mm travel range): 7.9 L-412.13 (305 mm travel range): 8.9 L-412.17 (407 mm travel range): 9.8 L-412.21 (508 mm travel range): 10.8 L-412.25 (610 mm travel range): 11.8
kg ±5 %
Moved mass 1.4 kg ±5 %
MTBF 20000 h
Connector M23 (motor)
M23 (rotary encoder) Optional connection for linear encoder Fitting for purge air hose with outside diame-
ter 4 mm Funnel-type grease nipple for drive screw lu-
brication
Limit switch connection M8 8-pin
Purge air system Operating pressure: 2 to 6 bar (200 to 600
kPa) Relative humidity: < 70 % Absolute humidity: < 35 g/m
3
Recommended controllers ACS modular controller
Connecting cables are not in the scope of delivery and must be ordered separately.
12.2 Maximum Ratings
The L-412.xx9232 is designed for the following operating data:
Maximum operating voltage
Maximum operating fre­quency
Maximum peak current, RMS
320 V – 10.9 A
12.3 Ambient Conditions and Classifications
The following ambient conditions and classifications for the L-412.xx9232 must be observed:
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Area of application For indoor use only
Maximum altitude 2000 m above msl
Relative humidity Max. 80 % for temperatures to 31 °C,
linearly decreasing to 50 % at 40 °C
Storage temperature -25 °C to 55 °C
Transport temperature -25 °C to 70 °C
Overvoltage category II
Supply voltage fluctuations Max. ±10 % of the nominal voltage
Protection class I
Degree of pollution 2
Degree of protection according to IEC 60529 IP30
12.4 Dimensions
50
75
100
4 x M6
8
4 x M6
8
4 x M6
8
2 x 2 x
2 x
B
center of travel position
6,6 /
10,8x6,4
20
137,5
1/2 LSW (LE1)
1/2 HDS
1/2 LSW (LE2)
1/2 HDS
41,5
A
F
(Energychain
overlap at hardstop)
4 x
4 H7x7/10
100
C
100
57,5 58,5
7,5
8,5
115 1
E
E+115+1
Figure 8: Dimensions of the L-412.xx9232
Dimensions in mm. Note that the decimal places are separated by a comma in the drawings.
BASIS
MODELL
TRAVEL
NOMINAL
LIMITSWITCH TO
LIMITSWITCH
LSW
HARDSTOP TO
HARDSTOP
HDS
A B C D
E
D1 D2
E1 E2 E3
L-412.xxx2xxEx L-412.xxx0xxEx
L-412.xxxxxxExB
L-412.xxxxxxEx
L-412.xxxx12E1 L-412.xxxx11E1
L-412.xxxxxxE0
L-412.xxx2xx L-412.xxx0xx
L-412.xxxxxxB
L-412.xxxxxx
L-412.xxxx25E1
L-412.03xxxx
52 (2")
52 -55
-
72 290 147,5 100 148,5 114,5 44 28,5 28 78 83
L-412.05xxxx
102 (4")
102 - 105
-
107 334 169,5 100, 200 148,5 114,5 44 28,5 28 89 83
L-412.09xxxx
204 (8")
204 - 207
-
211 438 221,5 100, 200, 300 148,5 114,5 44 28,5 28 82 87
L-412.13xxxx
305 (12")
305 - 308
-
312 539 272 100, 200, 300, 400 148,5 114,5 44 28,5 28 87 82
L-412.17xxxx
407 (16")
407 - 410
-
416 643 324 100, 200, 300, 400, 500 148,5 114,5 44 28,5 28 81 85
L-412.21xxxx
508 (20")
508 - 511
-
516 743 374 100, 200, 300, 400, 500, 600 148,5 114,5 44 28,5 28 86 81
L-412.25xxxx
610 (24")
610 - 613
-
615 845 425 100, 200, 300, 400, 500, 600, 700 148,5 114,5 44 28,5 28 80 85
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50
75
100
50
75
100
4 x M6
8
4 x M6
8
4 x M6
8
2 x
4 H7x7
2 x
4 H7x7
2 x
4 H7x7
Figure 9: Motion platform of the L-412.xx9232: Dimensions and mounting holes
Dimensions in mm. Note that the decimal places are separated by a comma in the drawings.
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13 Old Equipment Disposal
In accordance with EU law, electrical and electronic equipment may not be disposed of in EU member states via the municipal residual waste.
Dispose of your old equipment according to international, national, and local rules and regulations.
In order to fulfil the responsibility as the product manufacturer, PI miCos undertakes environmentally correct disposal of all PI miCos equipment free of charge, if it was made available to the market after August 13, 2005.
Any old PI miCos equipment can be sent free of charge to the following address: PI miCos GmbH
Freiburger Strasse 30 79427 Eschbach Germany
[email protected] www.pi.de
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14 Appendix
14.1 Pin Assignment
14.1.1 Drive Connector
4
A
B
C
D 3
2
1
Figure 10: M23 8 (f)
Pin Signal Function
1 U Phase 1
2 PE Protective earth
3 W Phase 3
4 V Phase 2
A nc Not connected
B nc Not connected
C nc Not connected
D nc Not connected
14.1.2 Rotary Encoder Connector
3
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
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Pin Signal Function
1 B Output: Sensor signal B
2 B inv Output: Sensor signal B inverted
3 A Output: Sensor signal A
4 A inv Output: Sensor signal A inverted
5 Z Output: Sensor signal Z
6 Z inv Output: Sensor signal Z inverted
7 GND Ground
8 THERM+ Output: Temperature sensor
9 THERM- Output: Temperature sensor
10 VCC Input: Power supply
11 NC Not connected
12 NC Not connected
13 NC Not connected
14 NC Not connected
15 U Output: Commutation track U
16 V Output: Commutation track V
17 W Output: Commutation track W
14.1.3 Limit Switch Connector
1
6
7
2
4
3
5
8
Pin Signal Function
1 L+5V Input: Power supply, +5 V DC
2 LGND Ground
3 LE2 Output: Positive limit switch
4 LE1 Output: negative limit switch
5 NC Not connected
6 NC Not connected
7 NC Not connected
8 NC Not connected
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14.2 Limit Switch Specifications
Type Hall sensor
Supply voltage +5 V
Signal output 0 V / +5 V (TTL level)
Signal logic N/C contact, NPN
Figure 11: L-412 at the negative limit switch.
Figure 12: L-412 at the positive limit switch.
14.3 PTC Temperature Sensor
The L-412.xx9232 is equipped with a PTC temperature sensor to prevent the motor from overheating. The electrical resistance of the PTC temperature sensor increases considerably into the critical temperature range. The controller must cut the power supply to the motor (switching threshold) when the critical temperature is reached.
Temperature
Electrical resistance
Up to 150°C
< 550 Ω
155°C (critical temperature)
1000 Ω (switching threshold)
More than 155°C
> 1330 Ω
14.4
Commutation Encoder
The L-412.xx9232's motor has a commutation encoder that codes the position of the magnets in the same way as a Hall effect sensor.
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0 π 2π 3π 4π
V
W
U
UV VWUW
Figure 13: Motorphasen (oben) und Signalausgabe an die Kommutierungsspuren (unten)
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15 EU Declaration of Conformity
An EU Declaration of Conformity was issued for the L-412.xx9232 in accordance with the following European directives:
■ Low Voltage Directive
■ EMC Directive
■ RoHS Directive
The standards applied for certifying conformity are listed below.
■ Safety (Low Voltage Directive): EN 61010-1
■ EMC: EN 61326-1
■ RoHS: EN 50581
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Glossary
Backlash
Position error caused by mechanical play in that drivetrain that occurs when changing the direction. Backlash is caused by mechanical play in drivetrain components such as gearheads, bearings or by friction in the guides. In contrast to hysteresis, backlash can lead to instability in position-controlled systems because it causes dead time in the servo loop. Backlash depends on the temperature, acceleration, load, leadscrew position, positioning direction, wear etc. Backlash is suppressed by preloading the drivetrain. A position measuring method that can detect the position of the platform directly, eliminates all errors in the drivetrain (direct measuring). The data table shows typical measured values. Data for vacuum versions can differ.
Design Resolution
The theoretical minimum movement that can be made. Design resolution must not be confused with minimum incremental motion. In indirect position measurement methods, values for drive screw pitch, gear ratio, motor or sensor/encoder resolution, for example, are included in the calculation of the resolution. Normally, the design resolution is considerably below the minimum incremental motion of the mechanics. In direct measurement methods, the resolution of the sensor system is specified.
Hysteresis
Hysteresis is a position error that occurs when reversing direction. It can be caused by elastic deformation resulting from applying and relieving friction-based tension. Hysteresis of a positioning system changes mostly with load, acceleration and velocity.
Lateral Force
Also: lateral load capacity Maximum permissible force orthogonally to the positioning direction. This value is valid
directly for the motion platform and is reduced when the force acts above the platform.
Limit Switch
Each limit switch sends its signal to the controller on a dedicated line. The controller then interrupts the motion avoiding that the positioner moves until the hard stop and gets damaged. PI positioners have mechanical, noncontact optical or Hall-effect limit switches.
Load Capacity
Maximum load in the vertical direction when the L-412.xx9232 is mounted horizontally. The contact point of the load is at the center of the motion platform.
Reference Point Switch
Many of the positioners are equipped with a direction sensing reference point switch positioned approx. in the middle of the travel range. It is recommended to approach the reference point switch always from the same direction to obtain best position repeatability.
Function: Optical, magnetic
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Sensor resolution
The sensor can be the critical element of position resolution so it may be necessary to specify the sensor resolution separately. Rotary encoder: Impulses per screw rotation. Linear encoder: Smallest motion still detected by the sensor system.
Travel range
The maximum possible travel range is limited by the length of the drive screw. A possible gap between the limit switches determines the travel range.
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