3 DC-Mike Drives and Motor Controllers
Contents
1. 18 d MEN E 19 62 168 25 Two Phase Linear Stepper Mikes 20 TI m rin DAR UE 20 31E Release 4 3 2 Page 1 Contents 022 Specifications ee eee eee eee RE 20 53 Technical Dala RET 21 64 22 DAT M 168 10 M 168 129S 22 642 M 168 30 M 168 40 168 22 168 525 22 WWW pi ws MP 31E Release 4 3 2 Page 2 Model Survey Piezo Nano Positioning PI 1 Model Survey offers motorized micrometers as DC motor driven units DC Mikes or as stepper motor driven units Stepper Mikes Both are high precision linear drives offering repeatabilities of up to 0 1 um They can be mounted on mechanical stages like normal hand driven micrometers The more sophisticated M 230 DC Mike series with limit switches reference switch and for the M 235 a heavy duty ballscrew drive is described in a separate manual 1 1 Safety Precautions CAUTION Following safety precautions should be observed before operating DC Mike Drives DC Mikes and Stepper Mikes are motorized and can generate high forces If handled improperly the drives may cause injuries Be aware that failure of the motor controller may drive the DC Mike or Stepper Mike into a hard stop generating a large force To avoid injury do not put any parts in the gap between the moving DC Mike Stepper Mike a2. 0 0 10 519 Fig 1 22 20 Drawing reference M 221 20 see M 222 20 M 223 20 see M 224 20 M 225 20 see M 226 20 WWW pi ws MP 31E Release 4 3 2 Page 6 Piezo Nano Positioning Operating Considerations for DC Mike Drives 2 3 Mounting Recommendations Whenever possible the DC Mike drives should be mounted with two holders at least one of them clamping at the 19 mm diameter the silverish front part Clamping force at the 16mm diameter shaft should be as small as possible to avoid high friction and possible damage to the screw To avoid excessive friction clamp here but do not overtighten note this is a weak shaft Fig 2 Mounting DC Mike drives 2 4 Travel Ranges DC Mike Drives are available with travel ranges of 10 25 and 50 mm Since the compact design does not allow for internal limit switches care has to be taken not to exceed the allowed range CAUTION To avoid damage do not drive DC Mike Drives to the mechanical limits If driven beyond its limits the non rotating screw may bind and be damaged The drives will have to be disassembled to loosen the screw As all PI motor controllers support limit switches we strongly recommend the use of external limit switches with every DC Mike Drive application WWW pi ws MP 31E Release 4 3 2 Page 7 DC Mike Drives and Motor Controllers 79 50 Nano gt Positioning PI 3 OC Mike Drives and Miotor Controllers
3. UIN uonnjosoJ 5 29 SSW eddeas M 168 Stepper Mikes Piezo Nano Positioning 6 4 Dimensions Dimensions in mm decimal places separated by commas in drawings 6 4 1 M 168 10 M 168 12S 74 D 19 D 16 re 12 138 Fig 9 M 168 10 168 125 6 4 2 M 168 30 M 168 40 M 168 22S M 168 525 111 168 30 168 225 136 M 136 40 M 168 525 D 16 2 5 25 177 8 M 168 30 M 168 22S 2 5 50 202 8 M 136 40 M 168 52S Fig 10 M 168 30 M 168 40 168 225 168 525 Wwww pi ws MP 31E Release 4 3 2 Page 22
4. suonoes sJojenjoy 17 pue sieuonisoQoueN 174 ees 5 12 pue 5174 s103enj3oe Aq 5 e Jo suonoeJ uonnjosoiJ uoneuuoJep onseje pue dnpulm uonouj uonons aamoy uj suoneuirquioo pue uM eq ueo JO JO suonnjosai peysinBulsip pue uonnjosaJ uDiseq jeuoneJedo eonoeJd se si YOIUM ndui eq ueo zey 941 si SW9a SAs 17 Id 15 jo uonnjosaiJ oAJes pue Josues uo spuedep pue uonons Aq JOU 51 SIBUOIISOGOUBN 17 pue sJojenjoe uonnjosaJ 941 uonouu uonnjosaJ uonisod y uey 51 uonnjosau 2 9 mas eAup eAup
5. y JO eui uo peseq ueo zey WINWIUIW eu 5 5 2 5 wur v suun Id ev SALON S1 0 U09 0 9 2 009 9 sdejsoJoiu 00004 eseyd 9 0 soddoyo A pz eseud z 029 0 009 9 80 80 00002 200 09 LO 800 50600 09 ScS 89 L IN OUEN 029 0 009 9 970 eseud z 00002 200 09 LO 800 8000 GC SCC 89 L IN 029 0 009 9 70 915 eseud z 00002 200 09 LO 800 8000 0l 581 891 90 oseud g 90 0002 200 09 Sc 0 09 8 9 L IN 0 oseud g 0002 200 09 Gc 0 SZ 0 Sc 0 GC 0 89 L IN 70 oseud g 90 0004 200 09 Sc 0 Gc O SC 0 Ol 0L 89 L IN eseud 9 aseyd y qo Jeddouo A pz eseud c iuBieMw 9d 10310 A U9jid M S UOnnjosa9iJ J010 A dij 2210 92101 Xe A ysejyoeg
6. encoder M 168 12S 10 mm 2 phase SM 4H4009 none encoder LO3 B M 168 22S 25mm 2 phase SM 4H4009 none encoder LO3 B M 168 52S 50mm 2 phase SM 4H4009 none encoder LO3 B DC DC Motor SM Stepper Motor M 227 to M 235 are described in other manuals Wwww pi ws MP 31E Release 4 3 2 Page 4 Model Survey Piezo Nano Positioning 1 3 Gearhead Ratios Gear Exact Ratio Translation Design head Factor Resolution 141 1 31 9 4 16 89110196616 0 05920276853477 140 7591830514 1 c um um c 29 651 28 12 4 118 5679012346 0 008433985839234 29 641975308 1 c um um c 71 4 Cable Numbers For M 222 20 M 224 20 226 20 use C 815 62 Cable For M 222 50 M 224 50 M 226 50 use C 815 38 Cable WWW pi ws MP 31E Release 4 3 2 Page 5 Piezo Nano Positioning Operating Considerations for DC Mike Drives gt Operating Considerations for DC Mike Drives 2 1 Design Details A flexible coupling with high torsional stiffness transmits the motor output torque to the micrometer screw This coupling does not allow any slip in the transmission If the micrometer gets locked while the full operating voltage is applied to the motor the gearhead the screw or externally connected parts may be damaged e Dimensions Dimensions in mm decimal places separated by commas in drawings in 10 5 M 222 20 max 20 5 flat ribbon cable 0 0 10 f 19 0 0 10 b 19
7. 3 1 Using C 842 Motor Controllers Using C 842 DC Motor controllers with DC Mike Drives QMove software for DOS or WinMove for Windows 95 98 NT can be used for comprehensive motor and motion control C 842 Parameters Setting p Term P400 100 to 500 DP250 100 to 300 d Term 00800 0101200 DD800 _ 010 1200 2000 p to 2000 DL2000 to 2000 3 2 Using C 844 Motor Controllers WWW pi ws Driving DC Mikes with the C 844 DC Motor Controllers DCMove software offers easy commanding of servo control parameters and positionings Recommended parameter settings for C 844 Parameter Value C 844 Command P Term 400 PID 400 0 0 i Term 0 PID 400 0 0 set PID 400 10 1200 if needed D Term 0 PID 400 0 0 set PID 400 10 1200 if needed i Limit 2000 LIM 2000 Acceleration 50000 ACC 50000 Velocity 7000 MVEL 7000 MP 31E Release 4 3 2 Page 8 DC Mike Drives and Motor Controllers F eze Nano Positioning PI NOTE The acceleration setting in the DCMove environment is direct given in counts s2 and is by the factor of 2500 larger than the settings for the C 842 The maximum velocity of M 222 20 M 224 20 and M 226 20 DC Mike Drives at 12 V operating voltage is around 8000 counts s 150 rev s at motor axis if no external load acts on the spindle To allow controlled velocity under changing load conditions velocity should not be set above 7000 The maximum value may be slightly larger or smaller depending on the me
8. DC Mike is still blocked at the hard stop an external DC voltage of 15 V may help Disconnect the DC Mike from the controller and apply the voltage to the motor Use a power supply with a variable output voltage and set the voltage to 15 volts Apply the voltage to the connector for a short moment less than 2 sec Make sure that the polarity is correct to back off from the hard stop see Section 3 3 Direction of Motion for more information 5 1 2 Mechanical Recovery 1 You need 1 2 mm Allen wrench 2 Remove the set screw located about in the middle of the black tube This screw clamps the motor gearhead assembly inside the black housing 3 Hold the Mike with both hands and turn the black section CCW relative to the silver section until it breaks loose Look for the small hole 2 5 mm diam in the black section near the edge to the silverish section This hole allows access to 2 set screws which clamp the bellows coupling to the spindle Rotate until you see the first set screw through the hole and untighten it 4 Turn the black housing until you see the second set screw and untighten it also 5 Turn the black tube CCW until you can pull it apart from the silverish section 6 Turn the spindle CW or CCW in order to loosen the jammed spindle 7 Reassemble the DC Mike WWW pi ws MP 31E Release 4 3 2 Page 16 Troubleshooting DC Mikes Piezo Nano Positioning PI 5 2 Coupling Slippage Wwww pi ws The metal bellows
9. of basic servo systems as well as motion control concepts and applicable safety procedures The manual describes the physical specifications and dimensions of the DC Mike Drives Stepper Mike Drives as well as the hardware installation procedures which are required to put the associated motion system into operation This document is available as PDF file on the product CD Updated releases are available via FTP or email contact your Physik Instrumente sales engineer or write info pi ws Conventions The notes and symbols used in this manual have the following meanings Calls attention to a procedure practice or condition which if not correctly performed or adhered to could result in injury or death Indicates the presence of high voltage gt 50 V Calls attention to a procedure practice or condition which if not correctly performed or adhered to could result in injury or death CAUTION Calls attention to a procedure practice or condition which if not correctly performed or adhered to could result in damage to equipment NOTE Provides additional information or application hints Related Documents The motion controller and the software tools which might be delivered with DC Mike Drives Stepper Mike Drives are described in their own manuals All documents are available as PDF files on the Motion CD or special product CD Updated releases are available via FTP or email contact your Physik Instrumente sale
10. reduction ratio 29 6 1 allowing linear velocities of up to 2 mm sec M 224 50 and M 226 50 DC Mike Drives Fig 4 M 224 50 and M 226 50 DC Mike Drives 4 Conductors White connects to pin 4 5 V Brown connects to pin 6 Limit Sw GND Green connects to pin 5 Positive limit switch Yellow connects to pin 12 Negative limit switch 4 1 1 Connecting External Limit and Reference Switches WWW pi ws The M 224 and M 226 DC Mike drives do not have built in limit or reference switches A 4 conductor cable is provided for connection of external limit switches if desired This cable does not connect to the motor or influence its operation directly it is present simply to facilitate putting signals on the corresponding pins of the motor controller cable socket see table in figure above see Section 4 2 2 for full controller cable pinouts MP 31E Release 4 3 2 Page 11 DC Mikes with 3 Watt Motors Piezo Nano Positioning Labeled solder pads are also provided inside the housing for users who do not wish to use the cable Access to the reference switch line pin 13 is via the solder pad only The exact overtravel and reference condition signal requirements are a function of the controller used Consult the controller User Manual for details DC motor controllers require or default to active high limit switches Many controllers also permit programming switch type as either active high or active low and some requi
11. Piezo Nano Positioning 31E User Manual Drives Stepper Mike Drives Release 4 3 2 Date 2005 09 09 This document describes the following product s B M 222 xx DC Mike Drives B M 224 xx DC Mike Drives M 226 xx DC Mike Drives B M 168 xx Stepper Mike Drives M 168 10 Physik Instrumente GmbH amp KG Auf der R merstr 1 76228 Karlsruhe Germany Tel 49 721 4846 0 Fax 49 721 4846 299 Moving the NanoWorld www pi ws info pi ws www pi ws Copyright 1999 2005 by Physik Instrumente GmbH amp KG Karlsruhe Germany The texts photographs and drawings in this manual enjoy copyright protection With regard thereto Physik Instrumente PI GmbH amp Co KG reserves all rights Use of said texts photographs and drawings is permitted only in parts and only upon citation of the source First printing 2005 09 09 Document Number MP 31E Release 4 3 2 M 22x User MP31E432 doc This manual has been provided for information only and product specifications are subject to change without notice Any change will be reflected in future printings About this Document Users of this Manual This manual is designed to help the reader to install and operate the DC Mike Drives Stepper Mike Drives It assumes that the reader has a fundamental understanding
12. chanical load NOTE If the programmed velocity is too large accelerating and decelerating ramps will not be performed as programmed by SA command The trajectory generator has already completed the move while the stage is still trying to catch up 3 3 Direction of Motion The following instructions refer to 141 1 gearhead equipped DC Mikes models M 222 20 M 224 20 M 226 20 For DC Mikes using other reduction ratios the direction of motion may differ DC Mike Drives with 141 1 gearheads Move inwards by commanding positive directions 1MR1000 Move outwards by commanding negative directions 1MR 1000 Fig 3 A MP31 WWW pi ws MP 31E Release 4 3 2 Page 9 DC Mike Drives and Motor Controllers 92e Nano Positioning WWW pi ws PI Examples Moving Inwards positive direction Example aMR1000 or apply 15 V to Pin1 and GND to pin 6 Moving Outwards negative direction Example aMR 1000 or apply 15 V to pin 6 and GND to pin 1 Pin Assignment of DC Mike Drives flat ribbon cable PIN Function Assigned 1 MOTOR ENCODER CHANNEL A ENCODER CHANNEL B 5 ENCODER GND 6 MOTOR MP 31E Release 4 3 2 Page 10 DC Mikes with 3 Watt Motors Piezo Nano Positioning PI DCGC Mikes with 3 Watt Miotors 4 1 M 224 50 M 226 50 The M 224 50 and M 226 50 DC Mike Drives are designed with C 136 10 drive units Advantages are the higher motor power of 3 watts and the backlash free gearhead
13. coupling is clamped to the spindle by two small radial set screws In the rare case that the coupling slips both these screws have to be re tightened To do this the DC Mike has to be disassembled 1 2 You need is 1 2 mm Allen wrench Remove the set screw located about in the middle of the black tube This set screw holds the motor gearhead assembly in place inside the housing Turn the motor gearhead assembly with the cable until the radial set screws clamping the bellows coupling can be seen through the hole near the transition from the black to the silverish part of the mike Untighten the set screw Turn the motor gearhead assembly further until the second set screw appears beneath the hole Untighten this set screw also Now the motor gearhead assembly can be pulled out of the black tube Examine the connection of the coupling bellow with the gear shaft and tighten both fixing screws Reassemble the DC Mike MP 31E Release 4 3 2 Page 17 M 168 Stepper Mikes Piezo Nano Positioning M 168 Stepper Mikes 6 1 M 168 xO 5 Phase Linear Stepper Mikes M 168 10 M 168 30 and M 168 40 are stepper motor driven micrometers with 10 25 and 50 mm travel respectively A 5 phase stepper motor with 2000 steps rev half step mode allows 0 25 um step resolution 5 phase stepper motors have 10 leads two leads per winding 20 cm long mounted in one 12 pin round connector male to be connected with the con
14. e C 136 10 Drive Unit is used with the M 224 50 and M 226 50 DC Mike Drives It consists of a backlash free gearhead combined with a 3 W DC Motor equipped with a 2000 count rev optical encoder The drive unit can be operated by all DC Motor controllers C 848 C 843 C 842 models MP 31E Release 4 3 2 Page 13 DC Mikes with 3 Watt Motors Piezo Nano Positioning 30 99 0 02 4 0 008 8 5 0 05 67 6 Fig 6 C 136 10 Drive Unit 4 2 1 Specifications Motor type C 124 Motor specs 12 V 3 W Gearhead reduction ratio 29 64197531 1 Resolution at output shaft 0 006 164 4 counts Torque 10 Nom Wwww pi ws MP 31E Release 4 3 2 Page 14 PI DC Mikes with 3 Watt Motors Piezo Nano Positioning 4 2 2 Pin Assignment Osub15f connector Function internal use N Motor input internal use y Motor input internal use internal use 14 Encoder A when using RS422 transmission 19 Encoder B B when using RS 422 transmission 3 WWW pi ws MP 31E Release 4 3 2 Page 15 Troubleshooting DC Mikes Piezo Nano Positioning 5 Troubleshooting DC Mlikes 5 1 Blockage If the Mike is driven into the hard stop at either end the spindle may get jammed and not retract without manual help Here are some instructions on how to loosen the blocked mike 5 1 1 Electrical Recovery If a move command does not work and the
15. nd any rigid structure Never put your finger at a place where the moving DC Mike Stepper Mike or any connected object could possibly trap it When the DC Mike is connected to a DC Motor Controller and or amplifier be aware that the drive could start an undesired move due to whatever reason 1 2 DC Mike Drives Wwww pi ws The PI DC Mike Drives described in this manual are motorized micrometers consisting of a micrometer with non rotating spindle pitch 0 5 mm rev a DC Motor gearhead combination and an optional encoder for use with DC Motor Servo Controller Vacuum versions of the DC Mikes are also MP 31E Release 4 3 2 Page 3 Piezo Nano Positioning PI Model Survey available and will be included in the next release of this manual General Specifications Purpose High Resolution DC Mike Actuators Tip Non rotating Pitch 0 5 mm rev Motor DC Motor 2 or 3 Watts Stepper Motor Operating voltage 12V 1 2 1 DC and Stepper Mike Summary Model Travel Motor Type Motor Gear Encoder mm Model Head Res c rev Ratio M 222 20 10mm DC 2W C 120 80 141 1 60 M 222 50 10mm DC 3W C 136 10 29 6 1 2000 M 224 20 25mm DC 2W C 120 80 141 1 60 M 224 50 25mm DC 3W C 136 10 29 6 1 2000 M 226 20 50mm DC 2W C 120 80 141 1 60 M 226 50 50mm DC 3W C 136 10 29 6 1 2000 M 168 10 10mm 5 phase SM C 545 00 none encoder M 168 30 25mm 5 phase SM C 545 00 none encoder M 168 40 50mm 5 phase SM C 545 00 none
16. re TTL conformant signals Relying on floating signal lines can have results varying from success to erratic behavior Use well defined signals instead Example Normally open mechanical limit switches can be connected as follows to generate active high signals when switch is closed overtravel condition is recognized for a C 862 Mercury 2 controller Positive limit switch across white and green Negative limit switch across white and yellow Pull down resistor between green and brown Pull down resistor between yellow and brown Reliable operation with a variety of controllers can be better assured by providing limit signals with a TTL logic chip rather than pull up or pull down resistors The 5 V line can be used to power the chip A reference sensor line can be soldered to the REF solder pad inside the motor box Most PI controllers expect a 5 V signal on REF when the motor is on one side of the reference point and 0 V when on the other side REF GND L ee ee 0 o o Fig 5 MotorBoxWiring WWW pi ws MP 31E Release 4 3 2 Page 12 DC Mikes with 3 Watt Motors Piezo Nano Positioning PI Solder pads for sensor signal input Note that sensor signals are simply routed to the controller and have no direct effect on motor operation Signal Function Label on PCB REF Reference position not marked L Pos Limit positive L LNeg Limit negative R GND Ground G 4 2 Drive Units Wwww pi ws Th
17. s engineer or write info pi ws Wwww pi ws Contents Model Survey 3 1 1 Safety Precautions 3 12 OCIS DIVES 3 121 DC and Stepper Mike 4 13 Gearhead aes 5 14 Cable Numbers 5 Operating Considerations for DC Mike Drives 6 21 m 6 22 Dimensions 6 29 Mounting T 24 7 DC Mike Drives and Motor Controllers 8 31 Using C 842 Motor 8 32 Using C 844 Motor 5 8 SO 1 nira 9 DC Mikes with 3 Watt Motors 11 4 1 M 224 50 M 226 50 ee 11 41 1 Connecting External Limit and Reference Switches 11 qo Drive a een pester puede S 13 421 Specifications THREE 14 422 Pin Assignment Dsub15f connector 15 Troubleshooting DC Mikes 16 oA oe cle eee ee 16 5 1 1 Electrical Recovery 16 512 Mechanical 16 52 Coupling Slippage E EUER MP DUM ee V PIN SIME 17 M 168 Stepper Mikes 18 61 M 168 x0 5 Phase Linear Stepper Mikes 18 611
18. trol unit The cable has a round connector female type at one end and a DB25 male connector at the end to be connected to a controller 6 1 1 Pin Assignment Motor Lead Color Round 500 Winding Connector Controller DB25 Connector uu yellow pin 1 and 2 Winding 1 white pin D 14 and 15 mE blue pin A 3 and 4 Winding 2 red pin H 16 and 17 m orange pin K o and 6 Winding 3 green pin E 18 and 19 ra in G 7 and 8 Winding 4 ad black pin F 20 and 21 NM brown pin B 9 and 10 Winding 5 22 23 Wwww pi ws MP 31E Release 4 3 2 Page 18 M 168 Stepper Mikes PI Piezo Nano Positioning grey black green nc tT Pw x8 gt T T mem gt lt i beers ET allow gt iin di d ori sii 29 Q hes orange P blue brown Fig 7 Round Connector white blue ye Ilow red violet orange black grey Fig 8 5 Phase Stepper Motor 6 1 2 Specifications WWW pi ws The same C 545 stepper motors are used with M 500 series linear stages and with M 168 micrometer drives Order Number Motor Type Step number Max torque Mass of inertia Nominal current winding Resistance winding C 545 00 RDM545 100A full step 1000 0 367 half step 2000 0 18 13 Nom 0 035 0 5 8 Ohm Switching sequence for full step mode Reference doc
19. ument TN151E MP 31E Release 4 3 2 Page 19 M 168 Stepper Mikes Piezo Nano Positioning PI M 168 x2S Two Phase Linear Stepper Mikes M 168 12S M 168 22S and M 168 52S are stepper motor driven micrometers with 10 25 and 50 mm travel respectively These actuators are equipped with 2 phase stepper motors driving the micrometer spindle In conjunction with the C 600 or the C 630 Apollo Stepper Controller up to 20 000 micro steps per spindle revolution can be performed The Apollo Stepper Motor Controller can be used for simple positioning and for 3D path control See the Apollo User Manual MS 85E 6 2 1 Pin Assignment Connector type sub D 15 m Pin Function 3 not used output Position reference signal 8 not used output Negative end limit signal n c no connection 6 2 2 Specifications Motor Type 4H4009 L03 B Operating Mode bipolar Max current per winding 0 8 Winding resistance 3 3 Ohm Torque 21 Ncm WWW pi ws MP 31E Release 4 3 2 Page 20 Lz obeg ALE S9Aug 9 3 5 exrw 5a SM Id MMM uomoin pue Aq SI 17 p nb s 5 ajeos e qejeedai 10 sjeuonisod 174 Jeuonippe UUM 1 SIDUOIISOGOIOI 10 d 991
Download Pdf Manuals
Related Search