PI U-628 User Manual

MP112E

Version: 1.2.0

Date: 21.08.2015

U-628 Rotation Stage

User Manual

This document describes the following
product:

 U-628.03

PILine® rotation stage, >360° rotation
range, velocity 720°/s, incremental
encoder, 17 µrad resolution, 49 mm
diameter, piezoelectric ultrasonic motor

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstr. 1, 76228 Karl sruhe, Germany
Phone: [phone], Fax: [phone], E-mail: [email protected]

Physik Instrumente (PI) GmbH & Co. KG is the owner of the following trademarks:
PI®, PIC®, PICMA®, PILine®, PIFOC®, PiezoWalk®, NEXACT®, NEXLINE®,
NanoCube®, NanoAutomation®, Picoactuator®, PInano®, PIMag®

PI owns the following patents or patent applications for the technology field Ultrasonic
Piezo Motors (PILine®):

Germany: DE102004024656A1, DE102004044184B4, DE102004059429B4,
DE102005010073A1, DE102005039357B4, DE102005039358A1,
DE102006041017B4, DE102008012992A1, DE102008023478A1,
DE102008058484A1, DE102010022812A1, DE102010047280A1, DE102010055848,
DE102011075985A1, DE102011082200A1, DE102011087542B3,
DE102011087542B3, DE102011087801B4, DE102011108175, DE102012201863B3,
DE19522072C1, DE19938954A1

Europe: EP0789937B1E P1 2107 59 B1, E P12 674 25 B1, EP158 1992B1, EP1656705B1,
EP1747594B1, EP1812975B1, EP1861740B1, EP1915787B2, EP1938397B1,
EP2095441B1, EP2130236B1, EP2153476B1, EP2164120B1, EP2258004B1,
EP2608286A2

USA: US2010/0013353A1, US5872418A, US6765335B2, US6806620B1,
US6806620B1, US7218031B2, US7598656B2, US7737605B2, US7795782B2,
US7834518B2, US7973451B2, US8253304B2, US8344592B2, US8482185B2

Japan: JP2011514131, JP2011522506, JP3804973B2, JP4377956, JP4435695,
JP4477069, JP4598128, JP4617359, JP4620115, JP4648391, JP4860862,
JP4914895, JP2013539346

China: ZL200380108542.0, ZL200580015994.3, ZL200580029560.9,
ZL200580036995.6, ZL200680007223.4, ZL200680030007.1, ZL200680042853.5

International patent applications: WO2009059939A2, WO2010121594A1,
WO2012048691A2, WO2012113394A1, WO2012155903A1, WO2013034146A3,
WO2013117189A2

© 2015 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 retains all the rights. The use of any
text, images and drawings is permitted only in part and only when indicating the
source.

Original instructions
First printing: 21.08.2015
Document number: MP112E, CBo, Version 1.2.0

Subject to change without notice. This manual is superseded by any new release. The
latest release is available for download (p. 3) on our website.

Contents

1 About this Document 1

1.1 Objective and Target Audience of this User Manual ............................................ 1

1.2 Symbols and Typographic Conventions ............................................................... 1

1.3 Definition ............................................................................................................... 2

1.4 Figures .................................................................................................................. 3

1.5 Other Applicable Documents ................................................................................ 3

1.6 Downloading Manuals .......................................................................................... 3

2 Safety 5

2.1 Intended Use ........................................................................................................ 5

2.2 General Safety Instructions .................................................................................. 5

2.3 Organizational Measures ...................................................................................... 7

3 Product Description 9

3.1 Product View......................................................................................................... 9

3.2 Product Labeling .................................................................................................10

3.3 Scope of Delivery ...............................................................................................11

3.4 Suitable Controllers ............................................................................................12

3.5 Accessories ........................................................................................................12

3.6 Technical Features .............................................................................................13

3.6.1 Rotary Encoder .................................................................................13

3.6.2 Reference Point Switch ....................................................................13

3.6.3 ID Chip ..............................................................................................13

4 Unpacking 15

5 Installation 17

5.1 General Notes on Installation .............................................................................17

5.2 Connecting the U-628 to the Protective Earth Conductor ..................................19

5.3 Mounting the U-628 on a Surface ......................................................................21

5.4 Affixing the Load to the U-628 ............................................................................23

6 Start-Up and Operation 25

6.1 General Notes on Start-Up and Operation .........................................................25

6.2 Starting up the U-628 .........................................................................................28

7 Maintenance 31

7.1 General Notes on Maintenance ..........................................................................31

7.2 Performing a Maintenance Run ..........................................................................31

7.3 Cleaning the U-628 .............................................................................................32

8 Troubleshooting 33

9 Customer Service 35

10 Technical Data 37

10.1 Specifications......................................................................................................37

10.1.1 Data Table ........................................................................................37

10.1.2 Reference Point Switch Specifications .............................................38

10.1.3 Maximum Ratings .............................................................................38

10.2 Ambient Conditions and Classifications .............................................................39

10.3 Motor Power .......................................................................................................40

10.3.1 Motor Power and Operating Voltage ................................................40

10.3.2 Velocity and Torque ..........................................................................41

10.3.3 Motor Power and Lifetime .................................................................42

10.3.4 Influence of Downtimes on the Torque .............................................43

10.4 Dimensions .........................................................................................................44

10.5 Pin Assignment ...................................................................................................45

11 Old Equipment Disposal 47

12 EC Declaration of Conformity 49

1 About this Document

Downloading Manuals ................................................................................................... 3

1 About this Document

In this Chapter

Objective and Target Audience of this User Manual ..................................................... 1

Symbols and Typographic Conventions ........................................................................ 1

Definition ........................................................................................................................ 2

Figures ........................................................................................................................... 3

Other Applicable Documents ......................................................................................... 3

1.1 Objective and Target Audience of this User Manual

This manual contains information on the intended use of the U-628.
It assumes that the reader has a fundamental understanding of basic servo systems

as well as motion control concepts and applicable safety procedures.
The latest versions of the user manuals are available for download (p. 3) on our

website.

1.2 Symbols and Typographic Conventions

The following symbols and typographic conventions are used in this user manual:

CAUTION

Dangerous situation

If not avoided, the dangerous situation will result in minor injury.
 Actions to take to avoid the situation.

NOTICE

Dangerous situation

If not avoided, the dangerous situation will result in damage to the equipment.
 Actions to take to avoid the situation.

U-628 Rotation Stage MP112E Version: 1.2.0 1

1 About this Document

INFORMATION

Information for easier handling, tricks, tips, etc.

Symbol/
Label

1.

2.

 Action consisting of one or several steps whose



p. 5 Cross-reference to page 5

RS-232

1.3 Definition

Term Explanation

Load capacity Maximum load capacity in the vertical direction when the

Meaning

Action consisting of several steps whose sequential
order must be observed

sequential order is irrelevant
List item

Labeling of an operating element on the product
(example: socket of the RS-232 interface)

Warning signs affixed to the product that refer to
detailed information in this manual.

rotation stage is mounted horizontally. The contact point of the
load is in the center of the platform.

Rotary encoder The rotary encoder is an incremental sensor for capturing

changes in position. Signals from the sensor are used for axis
position feedback. After switching on the controller a reference
point definition must be performed before absolute target
positions can be commanded and reached.

2 Version: 1.2.0 MP112E U-628 Rotation Stage

1 About this Document

1.4 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.

1.5 Other Applicable Documents

The devices and software tools which are mentioned in this documentation are
described in their own manuals.

Description Document

C-867.1U PILine® controller MS223E user manual
C-867.2U PILine® controller MS231E user manual
C-877.1U11 PILine® controller MS232E user manual
C-877.2U12 PILine® controller MS233E user manual
PIMikroMove SM148E software manual
PILine® stage MP121EK short instructions

1.6 Downloading Manuals

INFORMATION

INFORMATION

If a manual is missing or problems occur with downloading:
 Contact our customer service department (p. 35).

For products that are supplied with software (CD in the scope of delivery), access to
the manuals is protected by a password. Protected manuals are only displayed on
the website after entering the password.

The password is included on the CD of the product.

U-628 Rotation Stage MP112E Version: 1.2.0 3

1 About this Document

For products with CD: Identify the password

1. Insert the product CD into the PC drive.

2. Switch to the Manuals directory on the CD.

3. In the Manuals directory, open the Release News (file including releasenews
in the file name).

4. Find the user name and the password in the section "User login for software
download" in the Release News.

Downloading Manuals

1. Open the website http://www.pi.ws.

2. Click Info.

3. If you have a user name and password:
a) Click Login.

b) Log in with the user name and password.

4. Click >> Product Downloads.

5. In the Product Files area, click the corresponding product category.

6. On the right-hand side of the page, select the corresponding sub-category.

7. Navigate to the product code on the page.
The following manuals are displayed:

− Freely accessible manuals

− Manuals that are protected by a password

8. Click the desired manual and save it to the hard disk of your PC or to a data
storage medium.

4 Version: 1.2.0 MP112E U-628 Rotation Stage

2 Safety

Organizational Measures ............................................................................................... 7

2 Safety

In this Chapter

Intended Use ................................................................................................................. 5

General Safety Instructions ........................................................................................... 5

2.1 Intended Use

The U-628 is a laboratory device as defined by DIN EN 61010-1. It is intended for
indoor and use in an environment that is free of dirt, oil and lubricants.

In accordance with its design, the U-628 is intended for single-axis positioning,
adjustment and rotation of loads at different velocities in interval operation. The U-628
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 U-628 is only possible when completely mounted and
connected.

The U-628 uses a PILine® ultrasonic piezomotor as drive and must be operated with a
suitable controller (p. 12). The controller is not included in the scope of delivery of the
U-628.

2.2 General Safety Instructions

The U-628 is built according to state-of-the-art technology and recognized safety
standards. Improper use can result in personal injury and/or damage to the U-628.

 Only use the U-628 for its intended purpose, and only use it if it is in a good

working order.

 Read the user manual.
 Immediately eliminate any faults and malfunctions that are likely to affect

safety.

The operator is responsible for the correct installation and operation of the U-628.

U-628 Rotation Stage MP112E Version: 1.2.0 5

2 Safety

Piezomotors are driven by piezo actuators. After disconnection from the electronics,
piezo actuators can remain electrically charged for several hours. Temperature
changes can also induce charges in piezo actuators. Touching charged parts of the
U-628 can cause slight injuries from electric shock.

 Do not open the U-628.
 Do not touch the contacts in the connector of the U-628.

If a protective earth conductor is not or not properly connected, dangerous touch
voltages can occur on the U-628 in the case of malfunction or failure of the system. If
touch voltages exist, touching the U-628 can result in minor injuries from electric
shock.

 Connect the U-628 to a protective earth conductor (p. 19) before start-up.
 Do not remove the protective earth conductor during operation.
 If the protective earth conductor has to be removed temporarily (e. g. in the

case of modifications), reconnect the U-628 to the protective earth conductor
before starting it up again.

Mechanical forces can damage or misalign the U-628.

 Avoid impacts that affect the U-628.
 Do not drop the U-628.
 Do not exceed the maximum permissible stress and load capacities according

to the specifications (p. 37).

6 Version: 1.2.0 MP112E U-628 Rotation Stage

2 Safety

2.3 Organizational Measures

User manual

 Always keep this user manual available with the U-628.

The latest versions of the user manuals are available for download (p. 3) on
our website.

 Add all information from the manufacturer to the user manual, for example

supplements or Technical Notes.

 If you give the U-628 on to other users, 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 result in minor injury and
damage to equipment.

 Only install and operate the U-628 after you have read and understood this

user manual.

Personnel qualification

The U-628 may only be installed, started up, opera ted, maintained and cleaned b y
authorized and appropriate l y qualif ied pers on nel .

U-628 Rotation Stage MP112E Version: 1.2.0 7

3 Product Description

Technical Features ...................................................................................................... 13

3 Product Description

In this Chapter

Product View ................................................................................................................. 9

Product Labeling .......................................................................................................... 10

Scope of Delivery ........................................................................................................ 11

Suitable Controllers ..................................................................................................... 12

Accessories ................................................................................................................. 12

3.1 Product View

Figure 1: U-628 product view
1 Base body

2 0° mark: After a reference move of the U-628, the red point on the moving

platform is above the 0° mark in the base body.
3 Moving platform
4 Cable for connecting to the controller
5 Protective earth connection
The arrow in the figure shows the positive direction of motion.

U-628 Rotation Stage MP112E Version: 1.2.0 9

3 Product Description

3.2 Product Labeling

Figure 2: U-628: Position of the product labeling (example view)

Position Labeling Description

A
A
A
A U-628.03 Product name

A 113050975 Serial number (example), individual for each U-628

A WWW.PI.WS Manufacturer's address (website)
A

A
A Country of origin:

Germany

Manufacturer's logo
CE conformity mark
Warning sign "Observe manual!"

Meaning of the places (counting from left):
1 = internal information
2 and 3 = year of manufacture
4 to 9 = consecutive numbers

Data matrix code (example; contains the serial
number)

Old equipment disposal (p. 47)
Country of origin

B

10 Version: 1.2.0 MP112E U-628 Rotation Stage

Symbol for the protective earth conductor, marks the
protective earth connection of the U-628 (p. 19)

3 Product Description

Figure 3: U-628: "Residual voltage" warning sign on connector

Warning sign "Residual voltage": Notice of risk of electric shock (p. 5)

3.3 Scope of Delivery

Item ID Components

U-628.03 PILine® rotation stage, >36 0° rotation range, velocity 720°/s ,

incremental encoder, 17 µrad resolution, 49 mm diameter,
piezoelectric ultrasonic motor

000036450 M4 screw set for protective earth, consisting of:

 1 M4x8 flat-head screw with cross recess, ISO 7045
 2 safety washers
 2 flat washers

000042783 Screw set for mounting the U-628, consisting of:

 4 M2.5x16 socket-head cap screws, ISO 4762
 4 M2.5 flat washers, ISO 7092
 1 Allen wrench AF 2.0

MP121EK Short instructions for the PILine® stage

U-628 Rotation Stage MP112E Version: 1.2.0 11

3 Product Description

3.4 Suitable Controllers

Order Number Description

C-867.1U Piezomotor controller / driver, networkable, 1 channel, for

PILine® systems with Sub-D connector(s)

C-867.2U Piezomotor controller with drive electronics, networkable,

2 channels, for PILine® systems with Sub-D connector(s)

C-877.1U11 Compact, cost-efficient piezomotor controller with drive

electronics, 1 channel, for PILine® systems with low power
consumption

C-877.2U12 Compact piezomotor controller with drive electronics, 2 channels,

for PILine® systems

 To order, contact our customer service department (p. 35).

3.5 Accessories

Order Number Description

U-600.A01 Extension cable for PILine®, 15-pin Sub-D, 1 m*
U-600.A03 Extension cable for PILine®, 15-pin Sub-D, 3 m*
U-600.A05 Extension cable for PILine®, 15-pin Sub-D, 5 m*

* Other cable lengths available on request.

 To order, contact our customer service department (p. 35).

12 Version: 1.2.0 MP112E U-628 Rotation Stage

3 Product Description

3.6 Technical Features

3.6.1 Rotary Encoder

The U-628 is equipped with an optical rotary encoder. For the encoder resolution,
refer to the table in the "Specifications" section (p. 37).

Optical rotary encoders measure the actual position directly (direct metrology).
Therefore, errors occurring in the drivetrain, such as nonlinearity, backlash or elastic
deformation, cannot influence the measurement of the position.

3.6.2 Reference Point S witch

The U-628 has an optical reference point switch (see "Reference Switch
Specifications", p. 38).

See the controller user manual and/or associated software manuals for the commands
which make use of the reference point signal.

After a reference move of the U-628, the red dot on the moving platform is above the
0° mark in the base body.

3.6.3 ID Chip

The connector of the U-628 stages contains an ID chip. Information on the stage (e.g.,
type, serial number, date of manufacture, version of the hardware) is stored in
parameters on the ID chip.

When switched on or rebooted, controllers from PI read the data from the ID chip.
For more information on the ID chip recognition, see the manual of the controller used.

U-628 Rotation Stage MP112E Version: 1.2.0 13

4 Unpacking

4 Unpacking

1. Unpack the U-628 with care.

2. Compare the contents with the items listed in the contract and the packing list.

3. Inspect the contents for signs of damage. If parts are missing or you notice
signs of damage, contact PI immediately.

4. Keep all packaging materials in case the product needs to be returned.

U-628 Rotation Stage MP112E Version: 1.2.0 15

5 Installation

Affixing the Load to the U-628 ..................................................................................... 23

5 Installation

In this Chapter

General Notes on Installation ...................................................................................... 17

Connecting the U-628 to the Protective Earth Conductor ........................................... 19

Mounting the U-628 on a Surface ............................................................................... 21

5.1 General Notes on Installation

CAUTION

Dangerous voltage and residual charge on piezo actuators!

Piezomotors are driven by piezo actuators. After disconnection from the electronics,
piezo actuators can remain electrically charged for several hours. Temperature
changes can also induce charges in piezo actuators. Touching or short-circuiting the
contacts in the connector of the U-628 can lead to minor injuries from electric shock.

 Do not touch the contacts in the connector of the U-628.

NOTICE

Lubricants, dirt, condensation!

Dirt, oil, lubricants and condensation will render the motor/drive inoperable.
 Ensure that the piezomotor of the U-628 does not come into contact with

lubricants.

 Keep the U-628 free from dirt and condensation.

NOTICE

Heating up of the U-628 during operation!

The heat produced during operation of the U-628 can affect your application.
 Install the U-628 so that your application is not affected by the dissipating heat.

U-628 Rotation Stage MP112E Version: 1.2.0 17

5 Installation

NOTICE

Unsuitable cables!

Unsuitable cables can cause damage to the controller and affect the performance of
the U-628.

 Only use genuine PI parts to connect the U-628 to the controller.
 If you need longer cables, use extension cables from PI (p. 12).

NOTICE

Unintentional changes in position with vertica l mounting!

If the load exceeds the maximum torque of the drive when the rotation stage is
mounted vertically, unintentional changes in the position of the moving platform
occur. Unintentional changes in position of the moving platform can damage the
drive, the load or the environment.

 When a rotation stage is mounted vertically, make sure that the installed load is

lower than the maximum torque of the drive (p. 37).

INFORMATION

For optimum repeatability, all components must be firmly affixed to each other.

INFORMATION

When manually displacing the moving platform in a de-energized state, differences in
the holding force may be noticeable across the travel range.

There are mechanical reasons for fluctuations in the holding force and they have no
influence on the function of the stage.

 If possible, simulate the rotation stage motions with a mounted load or make

suitable calculations in order to identify collisions or unfavorable center of
gravity constellations.

 If necessary, take suitable constructive measures to avoid collisions and

instabilities in the overall system.

18 Version: 1.2.0 MP112E U-628 Rotation Stage

5 Installation

 Avoid or mark danger zones that result from the installation of the rotation

stage and the application, in accordance with the legal regulations.

For more information on operating conditions, refer to the "Motor Power" section
(p. 40).

5.2 Connecting the U-628 to the Protective Earth
Conductor

INFORMATION

 Observe the applicable standards for mounting the protective earth conductor.

On the U-628, there is an M4 hole next to the cable exit for connecting the protective
earth conductor. In the following figure, this hole is marked with the symbol for the

protective earth conductor

Figure 4: M4 threaded hole for connecting the protective earth conductor

.

U-628 Rotation Stage MP112E Version: 1.2.0 19

5 Installation

Figure 5: Mounting of the protective earth conductor (profile view)
1 Base body of the U-628

2 Flat washer
3 Safety washer
4 Screw
5 Cable lug
6 Protective earth conductor

Prerequisites

 You have read and understood the general not es on ins tallation (p. 17).
 The U-628 is not connected to the controller.

Tools and accessories

 Suitable protective earth conductor: Cross-sectional area of the cable

≥0.75 mm

2

 Supplied M4 screw set for protective earth (p. 11) for mounting a protective

earth conductor

 Suitable screwdriver

Connecting the U-628 to the protective earth conductor

1. If necessary, fasten a suitable cable lug to the protective earth conductor.

2. Fasten the cable lug of the protective earth conductor using the M4 screw on
the protective earth connection of the U-628 as shown in the profile view.

3. Tighten the M4 screw with a torque of 1.2 Nm to 1.5 Nm.

4. Make sure that the contact resistance at all connection points relevant for
mounting the protective earth conductor is <0.1 Ω at 25 A.

20 Version: 1.2.0 MP112E U-628 Rotation Stage

5 Installation

5.3 Mounting the U-628 on a Surface

NOTICE

Warping of the base body!

Incorrect mounting can warp the base body. Warping of the base body will increase
wear and reduce accuracy.

 Mount the U-628 on an even surface. The recommended evenness of the

surface is 10 µm.

 For applications with large temperature changes:

Only fasten the U-628 to surfaces that have the same or similar thermal
expansion properties as the U-628 (e.g. surfaces made of aluminum).

INFORMATION

The positive direction of motion of the U-628 is shown in the product view (p. 9).

Figure 6: Mounting holes for mounting the U-628 on a surface

U-628 Rotation Stage MP112E Version: 1.2.0 21

5 Installation

Prerequisites

 You have read and understood the general not es on ins tallati on (p. 17).
 You have provided a suitable surface (for the required position of the holes for

accommodating the screws, see "Dimensions" (p. 44)).

− Two M2.5 holes with a thread depth of at least 8 mm are present.

− The evenness of the surface is ≤10 µm.

− For applications with large temperature changes: The surface should have

the same thermal expansion properties as the U-628 (e.g., surface made
of aluminum).

 You have accounted for the space required to route cables without bending

and according to regulations.

 The U-628 is not connected to the controller.

Tools and accessories

 Mounting accessories in the scope of delivery (p. 11):

− 2 M2.5x16 screws

− 2 M2.5 flat washers

− Allen wrenc h AF 2.0

Mounting the U-628 on a Surface

1. Align the U-628 on the surface so that the corresponding holes in the U-628
(see arrows in the figure) and the surface overlap.

2. Put one flat washer on each screw.

3. Insert the two screws with the attached washers into the holes in the base
body of the U-628.

4. Tighten the two screws with a torque of 52 Ncm each.

5. Check that the U-628 is affixed firmly to the surface.

22 Version: 1.2.0 MP112E U-628 Rotation Stage

5 Installation

5.4 Affixing the Load to the U-628

NOTICE

Impermissibly high forces and torques!

Impermissibly high forces and torques that are applied to the moving platform can
damage the U-628.

 For affixing type and mass of the load, observe the maximum permissible forces

according to the specifications (p. 37).

 Avoid tilting torques >0.1 Nm on the moving platform.

NOTICE

Screws that are too long!

The U-628 can be damaged by screws that are too long.

 Note the depth of the mounting holes in the moving platform (p. 44).
 Only use screws of the correct length for the respective mounting holes.

Figure 7: U-628, holes for affixing the load

Black arrows: M1.6 holes
White arrows: M2.5 holes

U-628 Rotation Stage MP112E Version: 1.2.0 23

5 Installation

Prerequisites

 You have read and understood the general not es on ins tallati on (p. 17).
 You have properly attached the U-628 to a surface (p. 21).
 The U-628 is not connected to the controller.
 You have prepared the load so that it can be affixed to the mounting holes on

the moving platform:

− The distance between the center of gravity of the load and the center of

the moving platform is as small as possible in all directions.

− At least three points are provided for affixing the load on the moving

platform.

Tools and accessories

 At least three screws of suitable length (p. 44). Options:

− M1.6 screws

− M2.5 screws

 Suitable tools for tightening the screws

Affixing the Load

1. Align the load on the U-628 so that the mounting holes in the load and the
holes in the moving platform overlap.

2. Affix the load with at least three screws.

3. Check that the load is affixed firmly to the moving platform of the U-628.

24 Version: 1.2.0 MP112E U-628 Rotation Stage

6 Start-Up and Operation

Starting up the U-628 .................................................................................................. 28

6 Start-Up and Operation

In this Chapter

General Notes on Start-Up and Operation .................................................................. 25

6.1 General Notes on Start-Up and Operation

CAUTION

Risk of electric shock if the protective earth conductor is not connected!

If a protective earth conductor is not or not properly connected, dangerous touch
voltages can occur on the U-628 in the case of malfunction or failure of the system. If
touch voltages exist, touching the U-628 can result in minor injuries from electric
shock.

 Connect the U-628 to a protective earth conductor (p. 19) before start-up.
 Do not remove the protective eart h conduc t or during o per ati on.
 If the protective earth conductor has to be removed temporarily (e. g. in the case

of modifications), reconnect the U-628 to the protective earth conductor before
starting it up again.

NOTICE

Damage if an incorrect controller is connected!

Connecting a rotation stage to an unsuitable controller can cause damage to the
rotation stage or controller.

 Only connect the rotation stage with PILine® ultrasonic piezomotors to PILine®

controllers (p. 12).

U-628 Rotation Stage MP112E Version: 1.2.0 25

6 Start-Up and Operation

NOTICE

Operating voltage too high or incorrectly connected!

Operating voltages that are too high or incorrectly connected can cause damage to
the U-628.

 Only operate the U-628 with controllers/drivers and original accessories from PI.
 Do not exceed the operating voltage range (p. 38) for which the U-628 is

specified.

 Only operate the U-628 when the operating voltage is properly connected; see

"Pin Assignment" (p. 45).

NOTICE

Unintentional motions!

When the U-628 is being connected to the controller, it can carry out unintentional
motions. Defective software or wrong operation of the software can also result in
unintentional motions.

 Do not place any objects in areas where they can be caught by moving parts.
 Before connecting the U-628, check whether a macro is defined as the start-up

macro in the controller, and cancel the selection of the start-up macro if
necessary.

NOTICE

Damage from collisions!

Collisions can damage the rotation stage, the load to be moved and the environment.
 Make sure that no collisions are possible between the rotation stage, the load to

be moved and the environment in the motion range of the rotation stage.

 Do not place any objects in areas where they can be caught by moving parts.
 Stop the motion immediately if a controller malfunction occurs.
 If possible, adapt the travel range limits of your mechanical system in the

software that you use for commanding the motion.

26 Version: 1.2.0 MP112E U-628 Rotation Stage

6 Start-Up and Operation

NOTICE

Uncontrolled oscillation!

Your application can be damaged by uncontrolled oscillation of the U-628.
If you encounter noise during operation:

 Immediately switch off the servo-control system of the affected axes.
 Check the settings of the servo-control parameters.

NOTICE

Overheating during continuous operation!

The highest torque or holding force is reached at maximum motor power; however,
the U-628 may overheat during continuous operation.

 Observe the recommended motor power depending on the duty cycle and the

ambient temperature (p. 42).

NOTICE

Damage or considerable wear from high accelerations!

High accelerations can cause damage to or considerable wear on the mechanical
system.

 Stop the motion immediately if a controller malfunction occurs.
 Determine the maximum velocity for your application.
 Observe the information in the "Motor Power" section (p. 40).

INFORMATION

Although in theory the U-628 operates quietly, noise levels of up to 50 dB (A) are
possible during operation. The ultrasonic drive of the U-628 can also generate higher
noise levels at frequencies between 100 and 500 kHz.

INFORMATION

The positive direction of motion of the U-628 is shown in the product view (p. 9).

U-628 Rotation Stage MP112E Version: 1.2.0 27

6 Start-Up and Operation

INFORMATION

For maximum force generation, a run-in procedure is necessary during the start-up of
the U-628 and after longer downtimes; see also "Influence of Downtimes on the
Torque" (p. 43). The U-628 reaches its maximum torque after the run-in procedure.

 For run-in, command a few motion cycles at low velocity. The motion cycles

should comprise full revolutions if possible.

For more information on operating conditions, refer to the "Motor Power" section
(p. 40).

6.2 Starting up the U-628

NOTICE

Incorrect parameter settings!

If you use the software which is included in the scope of delivery of the controller
(p. 12), the operating parameters of the U-628 can be loaded from a stage database.
The PIStages2.dat stage database contains the default parameter values of your
rotation stage for performing initial test motions during star t-up. Depending on the
application, using the default parameter values (e. g., for P term, I term, D term,
acceleration and velocity) can cause damage to the rotation stage, especially when
operated with heavy loads.

 If possible: Perform the first start-up without a load.
 Always install the latest version of the PIStages2.dat stage databas e onto your

PC.

For start-up with a load:

 Before start-up, make sure that the U-628 has been properly installed (p. 17).
 For optimum performance of the moving axis, adjust the operating parameters of

the controller (e.g., P term, I term, D term, acceleration, velocity; see controller
manual).

 Save the new parameter values to a stage database on the PC or to the

nonvolatile memory of the controller for future use (see controller manual and
PIMikroMove manual).

28 Version: 1.2.0 MP112E U-628 Rotation Stage

6 Start-Up and Operation

INFORMATION

If the total cable length between the stage and the controller is more than 3 m, it is
necessary to adjust the parameter values in the controller for optimum motor power.
The default parameter values in the PIStages2.dat stage database are suitable for a
total cable length of 3 m.

Total cable length of 3 m to 6.5 m:

1. Adjust the value of the Frequency Shift parameter (ID 0x64) in the controller.
Possible values: 20, 15, 10, 5, 0, -5, -10, -15, -20.

2. Repeat step 1 until the U-628 has reached optimum motor power.

3. Save the new parameter values to a stage database on the PC or the
nonvolatile memory of the controller for future use (see controller manual and
PIMikroMove manual).

Total cable length >6.5 m:
 Contact our customer service department (p. 35).

Prerequisites

 You have read and understood the general notes on start-up and operation

(p. 25).

 You have read and understood the user manual of the controller (p. 3).
 In the case of start-up with a load: The U-628 has been properly installed

(p. 17).

 The controller (p. 12) and the required software have been installed. All

connections on the controller have been set up (see controller manual).

Starting up the U-628

 Start up the axis (see controller manual).

Start-up involves the following steps:

− Selecting the stage type

− Defining the reference point of the axis

− Commanding initial motions in closed-loop operation for testing and for

run-in of the mechanical system

The controller manual describes start-up using the PIMikroMove program.

U-628 Rotation Stage MP112E Version: 1.2.0 29

7 Maintenance

Cleaning the U-628 ...................................................................................................... 32

7 Maintenance

In this Chapter

General Notes on Maintenance ................................................................................... 31

Performing a Maintenance Run ................................................................................... 31

7.1 General Notes on Maintenance

NOTICE

Damage due to improper maintenance!

Improper maintenance can result in the failure of the U-628.

 Only loosen screws according to the instructions in this manual.
 Ensure that the piezomotor of the stage does not come into contact with

lubricants.

7.2 Performing a Maintenance Run

Depending on the operating conditions and the period of use of the U-628, a
maintenance run may be required. The maintenance run is performed to redistribute
the existing lubricant in the bearing of the U-628. The stage must rotate by at least
one full revolution during the maintenance run.

 To evenly distribute the existing lubricant in the stage bearing, perf orm a

maintenance run after 500 hours of operation or after 1 year at the lates t.

 If you move your U-628 over a small working range (<20°) in continuous

industrial operation, perform a maintenance run after every 5000 motion
cycles.

U-628 Rotation Stage MP112E Version: 1.2.0 31

7 Maintenance

7.3 Cleaning the U-628

Prerequisites

 You have disconnected the rotation stage from the controller.

Cleaning the rotation stage

 When necessary, clean the rotation stage surface with a cloth lightly

dampened with a mild cleanser or disinfectant.

32 Version: 1.2.0 MP112E U-628 Rotation Stage

8 Troubleshooting

8 Troubleshooting

Problem Possible Causes Solution

Noise during
operation

Rotation stage
positions
inaccurately

Reaching the target
position takes too
long

Increased wear Warped base body  Mount the U-628 on an even
Reduced accuracy

Uncontrolled
oscillation of the
U-628

Settling window
around the target
position is too large

Settling window
around the target
position is too small

 Immediately switch off the servo-

control system of the affected axes.

 Check the settings of the servo-

control parameters.

 Reduce the settling window by

changing the parameter values for
the settling window limits on the
controller. See the controller user
manual (p. 3) for details.

 Enlarge the settling window by

changing the parameter values for
the settling window limits on the
controller. See the controller user
manual (p. 3) for details.

surface. The recommended
evenness of the surface is 10 µm.

 For applications with large

temperature changes:
Only mount the U-628 on surfaces
that have the same or similar
thermal expansion properties as the
U-628 (e.g. surfaces made of
aluminum).

U-628 Rotation Stage MP112E Version: 1.2.0 33

8 Troubleshooting

Problem Possible Causes Solution

No or limited motion Excessive load  Reduce the load (see "Data Table",

p. 37).

 When the rotation stage is mounted

vertically, make sure that the
installed load is lower than the
maximum torque of the drive
(p. 37).

If the problem that occurred with your system is not listed in the table above or cannot
be solved as described, contact our customer service department (p. 35).

The default
parameter values
are not suitable for
operating with high
loads

The default
parameter values
are not suitable for
cables longer than
3 m

 Adjust the operating parameters

according to the description in
"Starting up the U-628".

 Adjust the operating parameters

according to the description in
"Starting up the U-628".

34 Version: 1.2.0 MP112E U-628 Rotation Stage

9 Customer Service

9 Customer Service

For inquiries and orders, contact your PI sales engineer or send us an e-mail
([email protected]).

 If you have questions concerning your system, have the following information

ready:

− Product codes and serial numbers of all products in the system

− Firmware version of the controller (if present)

− Version of the driver or the software (if present)

− Operating system on the PC (if present)

 If possible: Take photographs or make videos of your system that can be sent

to our customer service department if requested.

The latest versions of the user manuals are available for download (p. 3) on our
website.

U-628 Rotation Stage MP112E Version: 1.2.0 35

10 Technical Data

Pin Assignment ............................................................................................................ 45

10 Technical Data

In this Chapter

Specifications .............................................................................................................. 37

Ambient Conditions and Classifications ...................................................................... 39

Motor Power ................................................................................................................ 40

Dimensions .................................................................................................................. 44

10.1 Specifications

10.1.1 Data Table

Active axes θZ
Motion and Positioning
Rotation range >360 °
Integrated sensor Incremental encoder
Design resolution 17 µrad
Min. incremental motion 51 µrad typ.
Bidirectional repeatability ±102 µrad
Velocity 720 °/s max.
Mechanical Properties
Load capacity / axial force 5 N max.
Holding torque 0.03 Nm max.

Torque cw / ccw (θ

Drive Properties
Motor type PILine® ultrasonic piezomotor,

U-628.03 Unit Tolerance

) 0.025 Nm max.

Z

performance class 1

Reference point switch Optical

U-628 Rotation Stage MP112E Version: 1.2.0 37

10 Technical Data

Miscellaneous

U-628.03 Unit Tolerance

Operating temperature range 0 to 40 °C
Material Al (black anodized)
Mass 300 g ±5 %
Cable length 1.5 m typ.
Connector Sub-D connector, 15-pin (m)
Recommended controller /

driver

C-877.1U11: 1 channel,
affordable compact device

C-867.1U: 1 channel
C-867.2U: 2 channels
C-877.2U12: 2 channels,

affordable bench-top

Ask about custom designs!

10.1.2 Reference Point Switch Sp ecifications

Type Optical sensor
Supply voltage +5 V/GND, supply via the motor connector
Signal ou tput TTL level

10.1.3 Maximum Ratings

The U-628 rotation stages are designed for the following operating data:

Maximum Operating
Voltage

160 Vpp or 57 V

210 to 225 kHz 20 W

eff

Operating Frequency Maximum Power

Consumption

38 Version: 1.2.0 MP112E U-628 Rotation Stage

10 Technical Data

10.2 Ambient Conditions and Classifications

The following ambient conditions and classifications must be observed for the U-628:
Area of application For indoor use only

Maximum altitude 2000 m
Air pressure 1100 hPa to 0.1 hPa

(corresponds to roughly 825 torr to 0.075 torr)

Relative humidity Highest relative humidity 80 % for temperatures up to

31 °C

Decreasing linearly to 50 % relative humidity at 40 °C
Operating temperature 0 °C to 40 °C
Storage temperature -20 °C to 75 °C
Transport temperature -20 °C to 75 °C
Overvoltage category II
Protection class I
Degree of pollution 1
Degree of protection

IP20
according to IEC 60529

U-628 Rotation Stage MP112E Version: 1.2.0 39

10 Technical Data

10.3 Motor Power

10.3.1 Motor Power and Operating Voltage

INFORMATION

The operating voltage is limited by the controller using the Maximum Motor Output
(V) (ID 0x7c) parameter. If you load the operating parameters of the U-628 from the

PIStages2.dat stage database, the parameter is set to the maximum permissible
value.

The following table shows the relationship between the operating voltage and the
motor power of the U-628. The operating voltage is output by the controller and
depends on the actual control value. The polarity sign of the control value determines
the direction of motion.

Motor Power Operating Voltage*

(Rounded)

0 % 0 V
25 % 14 V
50 % 29 V
75 % 43 V
100 % 57 V

0

eff

8192 or -8192

eff

16384 or -16384

eff

24575 or -24575

eff

(max.) 32767 or -32767

eff

Corresponding Control Value on the
Controller**

* Exceeding the maximum value in the Maximum Motor Output (V) (ID 0x7c)
parameter is not permitted and can damage the motor.

** Generated in closed-loop operation via the control algorithm or set in open-loop
operation via the SMO command.

For further information, see the user manual of the controller (p. 3) used to operate the
U-628.

40 Version: 1.2.0 MP112E U-628 Rotation Stage

10 Technical Data

10.3.2 Velocity and Torque

The following figure can be used to estimate the velocity and torque of the U-628 with
different motor powers. Motion is possible starting at a motor power of approx. 30 %.

Figure 8: Relationship between velocity and torque of the U-628 with different motor power levels

U-628 Rotation Stage MP112E Version: 1.2.0 41

10 Technical Data

10.3.3 Motor Power and Lifetime

Motor power, duty cycle and ambient temperature influence the lifetime of the rotation
stage. In order to prevent overheating and high wear, the motor power and the duty
cycle should not exceed the limits given in the following graph. A load cycle
corresponds to a positioning run and includes the acceleration, motion, deceleration
as well as downtime (break). The motor should only sporadically be operated at peak
power; the peak power serves as a control reserve.

Figure 9: U-628: Recommended duty cycle and motor power depending on the ambient temperature

42 Version: 1.2.0 MP112E U-628 Rotation Stage

10 Technical Data

10.3.4 Influence of Downtimes on the Torque

Figure 10: Torque of the U-628 depending on the downtime of the motor

U-628 Rotation Stage MP112E Version: 1.2.0 43

10 Technical Data

10.4 Dimensions

Dimensions in mm. Note that the decimal places are separated by a comma in the
drawings.

Figure 11: U-628, moving platform in reference position

44 Version: 1.2.0 MP112E U-628 Rotation Stage

10 Technical Data

10.5 Pin Assignment

Connector: Sub-D 15 (m)

Figure 12: Front view of the Sub-D 15 connector

Pin Signal Function

1 NC Not connected
2 USM_P1 Input: Piezo 57 VAC (RMS)
3 USM_P2 Input: Piezo 57 VAC (RMS)
4 VDD Input: +5 V
5 NC Not connected
6 ID_CHIP Bidirectional: Data line for ID chip
7 ENCA- Output: Encoder channel A (invert ed), RS -422
8 ENCB- Output: Encoder channel B (invert ed), RS -422
9 USM_P1 Input: Piezo 57 VAC (RMS)
10 GND 0 V
11 USM_P3 Input: Piezo 57 VAC (RMS)
12 NC Not connected
13 REFSWITCH Output: Reference point switch
14 ENCA+ Output: Encoder channel A, RS-422
15 ENCB+ Output: Encoder channel B, RS-422

U-628 Rotation Stage MP112E Version: 1.2.0 45

11 Old Equipment Disposal

11 Old Equipment Disposal

In accordance with EU law, electrical and el ect ronic eq uipment may not be disposed
of in EU member states via the municipal residual waste.

Dispose of your old equipment accord ing to internat ion al, nat ion al, and local ru les and
regulations.

In order to fulfil its responsibility as the product manufacturer, Physik Instrumente (PI)
GmbH & Co. KG undertakes environmentally correct disposal of all old PI equipment
made available on the market after 13 August 2005 without charge.

Any old PI equipment can be sent free of charge to the following address:

Physik Instrumente (PI) GmbH & Co. KG
Auf der Roemerstr. 1
D-76228 Karlsruhe, Germany

U-628 Rotation Stage MP112E Version: 1.2.0 47

12 EC Declaration of Conformity

12 EC Declaration of Conformity

For the U-628, an EC Declaration of Conformity has been issued in accordance with
the following European directives:

2006/95/EC, Low Volta ge D irec ti ve
2004/108/EC, EMC Directive
2011/65/EU, RoHS Directive
The applied standards certifying the conformity are listed below.
Safety (Low Voltage Directive): EN 61010-1:2010
EMC: EN 61326-1:2013
RoHS: EN 50581:2012

U-628 Rotation Stage MP112E Version: 1.2.0 49