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User Manual MP104E - Physik Instrumente

1. Internal GND limit switch and logic Output Encoder A Output Encoder A Output Encoder B Output Encoder B MP104E Version 1 1 0 43 10 Technical Data P I 10 3 2 Model with Stepper Motor Connector 15 pin sub D m Input Phase 1a Input Phase 1b Input Phase 2a Input Phase 2b Not connected Not connected Not connected Not connected Not connected Not connected Input 5 V supply from controller Output Limit switch signal positive side GND Internal Output Limit switch signal negative side 44 Version 1 1 0 MP104E M 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 11 Old Equipment Disposal 11 Old Equipment Disposal Since 13 August 2005 in accordance with the EU directive 2002 96 EC WEEE electrical and electronic equipment can no longer be disposed of in the member states of the EU with other wastes When disposing of your old equipment observe the international national and local rules and regulations To meet the manufacturer s product responsibility with regard to this product Physik Instrumente PI GmbH amp Co KG ensures environmentally correct disposal of old Pl equipment that was first put into circulation after 13 August 2005 free of charge If you have old Pl equipment you can send it postage free to the following address Physik Instrumente PI GmbH amp Co KG Auf der R merstr 1 D 76228 Karlsruhe Germany M 231 Linear Actuators MP104
2. p 37 gt To lubricate follow the instructions given in the maintenance manual which you can obtain from our customer service department M 231 Linear Actuators MP104E Version 1 1 0 33 7 Maintenance P I 7 3 Cleaning the M 231 Prerequisites v You have disconnected the linear actuator from the controller Cleaning the linear actuator gt When necessary clean the linear actuator surface with a towel lightly dampened with a mild cleanser or disinfectant gt Do not use any organic solvents 34 Version 1 1 0 MP104E M 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 8 Troubleshooting Troubleshooting Reduced positioning accuracy Functional impairment after system modification The mechanical system does not move The mechanical system does not move but generates operating noise The mechanical system did not stop in time and ran into the hard stop Mounting screw not tight gt Tighten the mounting screw with a enough or overtightened maximum torque of 0 3 Nm Motor controller has been Motor controller from PI replaced gt Load the parameters from the stage database that correspond to the combination of motor controller and M 231 model p 29 Motor controller from a third party supplier gt Check the operating parameters The cable is not connected gt Check the connector cable correctly or is faulty Lateral forces are affecting Lateral forces increase the friction on the
3. the controller or a corresponding adapter according to the determined length see above either directly or by interposing an additional motor cable c Secure all connections with the integrated screws against accidental disconnection d Remove or label resulting danger areas in accordance with the valid legal regulations and directives Start up the controller see user manual of the controller Configure the controller using the PC software for the used actuator see the user manual of the controller and the PC software If you use a PI controller select the entry in the stage database that precisely matches the actuator version used see the list of available entries p 31 If you use a controller from another manufacturer Enter the parameters in the corresponding PC software that precisely match the actuator version used see overview of the operating parameters for DC motor controllers p 31 or stepper motor controllers p 32 Start a few motion cycles for testing purposes see user manual of the controller 30 Version 1 1 0 MP104E M 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 6 Start Up 6 2 1 M 231 Entries in the Stage Database of PI For motor controllers from PI you can select the connected linear actuator from a stage database in the respective PC software The appropriate operating parameters are thus loaded into the motor controller You can find a detailed description in the user
4. 10 Technical Data 10 Technical Data In this Chapter SPECHICATONS iii aii 39 DIMENSIONS sica ii a da A 42 PIN ASSIM daria ais 43 10 1 Specifications 10 1 1 Data Table a E closed loop with stepper motor CO A a e neoted sensor oy encoder T Sersorresoufon 20 re EI oa CO CC ECON CIN IO CC CN Unidirectional 0 2 0 2 mw o o e o vw SS el ISI A A ee ORI CI E eao rea foma f M 231 Linear Actuators MP104E Version 1 1 0 39 10 Technical Data Drive properties Motor type Operating voltage Electrical power Limit switches Miscellaneous Operating temperature range Material Mass Cable length Connector Recommended controller driver PI M 231 17 M 231 17S ee gearhead motor po a ME PAYA Tolerance nominal Aluminum Aluminum anodized chrome anodized chrome steel brass steel brass 0 5 3 m extension 0 5 3 m extension cable included cable included 15 pin sub D incl Sub D 15 pin encoder driver C 863 single axis C 843 PCI board for up to 4 axes 15 C 663 single axis Avoid lateral forces on the pusher Ask about custom designs Max 0 25 A phase 24 full steps rev motor resolution with C 663 stepper motor controller Version 1 1 0 MP104E M 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 10 Technical Data 10 1 2 Ambient Conditions and Classifications The following ambient conditions and classifications must be obs
5. 15 lt You have read and understood the user manual of the used controller lt You have read and understood the manual of the used PC software Accessories Suitable controller p 11 motor controller card for PC installation or stand alone device incl connection cable to PC PC PC software for the controller for PI controllers included in their scope of delivery f necessary suitable motor cable from PI e g Motor cable C 815 38 3 m Sub D 15 pin m f in the scope of delivery p 11 M 231 Linear Actuators MP104E Version 1 1 0 29 6 Start Up PI Motor cable C 815 83 10 m Sub D 15 pin m f available as optional accessory p 11 Starting up the actuator 1 If you use a motor controller card e g C 843 from PI make sure that it is properly installed or install it see the user manual of the motor controller card If suitable and current PC software for the controller is not on your PC yet install the PC software see the user manual of the controller or the software If you do not use a motor controller card connect the PC with the external controller using a suitable cable For PI products the cable required for this is included in the scope of delivery Connect the actuator with the controller a Determine the minimum necessary cable length between the actuator and the controller b Connect the connector of the connection cable with the Sub D socket of
6. anno nn nn nan nan anne nn nnnn ran nanannn nes 12 3 8 1 aaae ee E E E E E reis 12 3 8 2 Limit SWITCHES vases catseseeeeestcuxenetennceedss eiii de 12 4 Unpacking 13 5 Installation 15 5 1 General Notes on Installation oo oooccconnncccnnnonccccononnncnanonnncnano nn nnnnnnnnncnnnrnnncnnnos 15 5 2 Installing the Actuator in a Mechanical Mounting cccononccccccnnnononinconcnncnnnananannns 16 5 2 1 Providing a Suitable Mechanical Mounting and Installation Environment onrera an aaa a aaa a aA Ea 17 5 2 2 Installing the Actuator in a Mechanical Mounting 19 10 11 12 5 3 Installing the Actuator in a Micropositioning Stage cccescceceteeessteeeeseeeeenees Start Up 6 1 General Notes on Start Up ccccceeeceeeeneeeeeeeeeeeeeeeeeeseaeeeeaaeseeeeeseaeeeseaeeneeeeeaes 6 2 SERNA 6 2 1 M 231 Entries in the Stage Database of Pl ooocccnccinccinicicinacccancccnns 6 2 2 Operating Parameters of the Model with DC Motor ooooccccccccccccn o 6 2 3 Operating Parameters of the Model with Stepper Motor Maintenance 7 1 General Notes on Maintenance onccccnccccnoccconocanonoccnoncnnnnnnnn nn cn nan cc cnn rn narran 7 2 Lubricating the M 23 Viviana aio a OA eet eet 7 3 Cleaning the M 29 Mecca lis nein aaa aa aeaiia eaaa a ai Troubleshooting Customer Service Technical Data TOD Specifications sisien nnii anian adanada aradi adinan 10 1 1 Data Table coi E a is A 10 1 2 Ambient Conditions an
7. are included in the load pusher with a separate scope of delivery of the actuator e g end piece depending onthe _ end pieces model Load Part to be driven This is to be moved in your application If a motor controller card is used the controller component and the connection between the peripheral control equipment and the controller cable are physically inside of the PC 3 2 Features and Applications The M 231 is a compact linear actuator with a 17 mm travel range As a result of the combination of a backlash free preloaded DC gear motor with high resolution rotary encoder and an extremely low friction and zero backlash design the M 231 achieves minimum incremental motions of 100 nm and velocities of up to 2 5 mm s A design with a stepper motor is also on offer Integrated limit switches as well as line drivers enable an easy installation in automation solutions and protect the mechanical system of the actuator The M 231 can be installed for example on the fiber positioning system micropositioning stage M 105 or M 106 instead of a micrometer screw or a piezo drive M 231 Linear Actuators MP104E Version 1 1 0 9 3 Product Description P I 3 3 Model Overview Two standard versions of the M 231 are available They differ in terms of their drive type M 231 17 High resolution dc linear actuator 17 mm limit switches M 231 17S High resolution stepper linear actuator 17 mm limit switches gt
8. as all other relevant information provided by the manufacturer gt Only use the device on the basis of the complete user manual Missing information due to an incomplete user manual can lead to slight injury as well as property damage gt Only install and operate the M 231 after having read and understood this user manual Personnel qualification The M 231 may only be started up operated maintained and cleaned by authorized and qualified staff 2 2 2 Safety Measures during Installation A cable break leads to a failure of the linear actuator gt Install the linear actuator so that the cable is not bent or squeezed too severely during operation Lateral forces that affect the pusher of the linear actuator increase the friction on the internal drive components Increased friction impairs the motion of the pusher and increases wear on the drive components gt Avoid lateral forces on the pusher of the M 231 Overtightening the mounting screws can damage the mounting shaft of the linear actuator and hinder the motion of the pusher This reduces the positioning accuracy gt Tighten the mounting screws to a maximum torque of 0 3 Nm 4 Version 1 1 0 MP104E M 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 2 Safety The heat produced during operation of the M 231 can affect your application gt Install the M 231 so that your application is not affected by the dissipating heat 2 2 3 Safety Measures durin
9. manual for the motor controller or in the manual for the PC software used The following table shows the linear actuators and their names in the stage database Name in the Stage Specifications in the Stage Database Database Selection Motor type DC motor conservative set of M 231 17 servo control parameters adjustable initial values limit switches active high M 231 17 Like the M 231 17 except for parameters for M 231 17 PWM PWM output for use with C 842 AP1 PWM to analog adapter box M 231 17S M 231 17S Motor type stepper motor parameters for operating current holding current and holding current delay limit switches active low 6 2 2 Operating Parameters of the Model with DC Motor If you use a DC motor controller from a third party supplier it may be necessary to enter operating parameters to adjust the used linear actuator Parameter wma Recommended start values 0 0 5 I limit 2000 Maximum acceleration 582542 counts s Maximum velocity mm s Maximum velocity 218453 counts s Hardware properties Gear reduction 28 44444 1 EA Encoder resolution 2048 Limit switch polarity Active high ES M 231 Linear Actuators MP104E Version 1 1 0 31 6 Start Up P I 6 2 3 Operating Parameters of the Model with Stepper Motor If you use a Stepper motor controller from a third party supplier it may be necessary to enter operating parameters to adjust the used linear actuator Recommended start values Holding cu
10. minor injury gt Actions to take to avoid the situation NOTICE Dangerous situation If not avoided the dangerous situation will result in damage to the equipment gt Actions to take to avoid the situation M 231 Linear Actuators MP104E Version 1 1 0 ho 1 About this Document P I INFORMATION Information for easier handling tricks tips etc Symbol Meaning 1 Action consisting of several steps whose sequential order must be observed gt Action consisting of one or several steps whose sequential order is irrelevant n 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 1 3 Other Applicable Documents The devices and software tools which are mentioned in this documentation are described in their own manuals For the latest versions of the user manuals contact our customer service department p 37 Controller Document C 843 DC Motor Controller PCI PC MS77E User Manual Board C 863 10 DC Motor Controller MS173E User Manual C 863 11 DC Motor Controller MS205E User Manual C 663 10 Stepper Motor Controller MS138E User Manual C 663 11 Stepper Motor Controller MS208E User Manual 2 Version 1 1 0 MP104E M 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 2 Safety 2 1 2 2 Safety In this Chapter tended USO exo ii AEEA General Safety INSTrUCtONS w oo cimi
11. the pusher internal drive components gt Avoid lateral forces on the pusher of the M 231 Values for the velocity Reduce the velocity acceleration and or load are Reduce the acceleration too high Reduce the load on the mechanical system Velocity is too high see 1 Stop the motor chapter Limit Switches Command the mechanical system p 12 away from the hard stop Limit switch is defective Check the settings of the motor controller for the limit switch Motor controller ignores processing the limit switch signal f the problem that occurred with your system is not listed in the table above or it cannot be solved as described contact our customer service department p 37 M 231 Linear Actuators MP104E Version 1 1 0 35 PIEZO NANO POSITIONING WWW PI WS 9 Customer Service 9 Customer Service For inquiries and orders contact your PI sales engineer or send us an e mail mailto info pi ws 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 The latest versions of the relevant user manuals for your system are available for download on our website http www pi ws M 231 Linear Actuators MP104E Version 1 1 0 37 PIEZO NANO POSITIONING WWW PI WS
12. with grub screw 3 Pusher 4 Mounting shaft with c groove 5 Locating surface 6 Sleeve case 1 If possible place the micropositioning stage on a level surface The moving platform must be visible from above 22 Version 1 1 0 MP104E M 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 5 Installation 2 Unscrew the grub screw in the middle of the front of the micropositioning stage by around three rotations using an Allen wrench or screwdriver Figure 7 Unscrew the grub screw slightly 3 Align the actuator so that the following conditions are met The locating face of the actuator is level with the top edge of the micropositioning stage The mounting shaft is located precisely across from the horizontal hole on the front of the micropositioning stage Figure 8 Aligning the actuator M 231 Linear Actuators MP104E Version 1 1 0 23 5 Installation P I 4 Insert the mounting shaft of the actuator into the horizontal hole on the front of the micropositioning stage until the locating surface of the actuator and the front of the micropositioning stage touch The grub screw is then precisely above the circumferential groove of the mounting shaft Figure 9 Introducing the shaft 5 Screw in the grub screw until you feel resistance The torque must not exceed 0 3 Nm Fine adjustment If necessary correct the position of the locating surface of the actuator in relation to the top edge of the microposit
13. 1 1 2 Symbols and Typographic Conventions cccccceeceeceeeeeeeeeeeeeeseeeeeseaeeesneeeeeeees 1 1 3 Other Applicable DOCUMENIS cc ccceteeeeeeeeeeeeeteeeeecaeeesaaeeeeeeeseaeeesaeseeaaeeeenees 2 2 Safety 3 2 1 mended USE urietni aana anii aaia a aeania a aa aad aaa 3 2 2 General Safety Instructions oooccconoccccnonocnnccanonnncnanononcnnnonnnnnnnr nro rnnnr nn nrnnnnrnnrnnnn nn 3 2 2 1 Organizational Measur8S oooncccinocinnncccconccononanonncnnnoccnnncn nan nn anar cn nnnccins 4 2 2 2 Safety Measures during Installation c ccccceeeeceeeeeeeeeteeeeseeeeeeeeee 4 2 2 3 Safety Measures during Start Up c ccccccceseeeeeeeseeeeeeeeeeteeeeeeeeeees 5 2 2 4 Safety Measures during Operation ccccccsceeececeeeeeteeeeeeseeeeeneeees 6 2 2 5 Safety Measures during Maintenance c ccccceeeeeeeseteeeeseeeeeeeees 6 3 Product Description 7 3 1 SOCIOS A ntn nennntnnetnnsen nsen nsen nenn 8 3 2 Features and Applications ooooonncccnnoncicnnnnaccccnnnacccnnn narran cnc rc 9 3 3 Model OvervieW oooooocccconocccccononcnccononnncnonononccononnnncnnn E Ea EE EAM rn n rra AERE SEENE 10 3 4 Prod ct VW rada 10 3 5 Scope of Delivery cooonooconcccnniconnccnnncccconcccnnrnn anna 11 3 6 Suitable Controllers ooonoocccnnnoccccnononnccnononcncnononnncnnnrnnnncnnnnncnnnnnnnnn naar nn nr nannan ennan 11 3 7 ACCOSSOMES incio alias 12 3 8 Technical Features ocoooonccoccc cnncnnconononcnnconcnnnnnnnoncnnnnnnnn
14. 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 5 Installation gt Avoid or label danger areas that result from the installation of the actuator and from use in accordance with the legal regulations e g risk of crushing in the case of heavy moving loads fast actuator motions and or high drive torques gt Check whether the limit switches for a pusher displacement of 0 mm or 17 mm can be reached with the planned design of your application gt Ifthe limit switches of the actuator cannot be reached with the planned minimum and maximum displacements Make sure that the actuator and the load only move within the planned range Suitable measures Corresponding programming of the controller Emergency off switch Automatic shutdown systems The complete dimensions of the actuator and relevant individual parts can be found in the figures in the section Dimensions p 42 5 2 2 Installing the Actuator in a Mechanical Mounting NOTICE Overtightened mounting screws dh Overtightening the mounting screws can damage the mounting shaft of the linear actuator and hinder the motion of the pusher This reduces the positioning accuracy gt Tighten the mounting screws to a maximum torque of 0 3 Nm M 231 Linear Actuators MP104E Version 1 1 0 19 5 Installation P I Figure 5 Example for the installation in a mechanical mounting sectional view Mechanical Mounting Mounting screw e g M2 grub
15. E Version 1 1 0 45 PIEZO NANO POSITIONING WWW PI WS 12 EC Declaration of Conformity 12 EC Declaration of Conformity PI Declaration of Conformity according to DIN EN ISOMEC 17050 1 Manufacturer Physik Instrumente PI GmbH amp Co KG Manufacturer s Aut dar Roemersira e 1 Address D 76228 Karisruhe Germany The manufacturer hereby declares that the product Product Name Precision Linear Actuator Model Numbers M 231 Product Options all complies with all relevant provisions of the Machinery Directive 2006 42 EC Furthermore it complies with af provisions of the Low Voltage Directive 2006 95 EC and the EMC Directive 2004 108 EC The applied standards certifying the conformity are listed below Safety of Machinery EN 12100 1 EN 12100 2 Safety Low Voltage Directive EN 61010 1 Electromagnetic Emission EN 61000 6 3 EN 55011 Electromagnetic immunity EN 61000 6 1 The person authorized to compile the technical fe is Wolfgang Schobel Address see manufacturer s address April 20 2011 fo gt tae Prysk inatuments PY Gmbh amp Co KG At der Roemersirae 1_ 76728 Katsruhe Germany PETS NANO POSITIONING Prone 49 721 4846 0 Pax 149 771 4840 0019 E a idos wani as aes AAE T u o M 231 Linear Actuators MP104E Version 1 1 0 47
16. For further technical data see the specifications p 39 Pl also produces custom designs upon request Custom designs can differ from the described standard products in respect to dimensions characteristics or other technical data gt If necessary contact our customer service department p 37 directly 3 4 Product View Figure 2 Product view 1 2 3 4 5 10 Version 1 1 0 MP104E M 231 Linear Actuators Moving pusher rotating with M3 5 thread and convex end Mounting shaft with circumferential groove Locating surface Sleeve Cable for connecting to the controller PIEZO NANO POSITIONING WWW PI WS 3 Product Description 3 5 Scope of Delivery M 231 Linear actuator according to order p 10 C 815 38 Motor Cable 3 m Sub D 15 pin m f MP104E User manual this document in printed form 3 6 Suitable Controllers The M 231 must be connected to a suitable controller The following controllers from PI are suitable for the operation of the M 231 Dres controller Axes per PC Multiple Controllers on yP Controller Interface the Same PC DC motor C 843 Internal PCI Yes separate boards bus C 863 1 USB RS 232 Yes same interface daisy chain Stepper C 663 1 USB RS 232 Yes same interface motor daisy chain The required PC software is included in the scope of delivery of the PI controllers The operation of the controllers is described in the corresponding user manuals The operating parame
17. Loads configurations and equipment control commands to the controller e g PC in connection with PC software Controller Controls the motions of the actuator Actuator Produces the motions of the part to be driven or the load in your application Cables Peripheral control equipment to controller Ensures the data communication Controller to actuator Ensures the data communication and the power source of the actuator 8 Version 1 1 0 MP104E PC software e g PIMikroMove included in the scope of delivery of Pl controllers Stand alone device or motor controller card PC add on card Available separately see section Suitable Controllers p 11 Here linear actuator type M 231 Present product Transmission cable between PC and controller Included in the scope of delivery of PI controllers Transmission cable between controller and actuator Part of the actuator or included in the scope of delivery of the piezo actuator M 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 3 Product Description Component Supplied by or available from PI Mechanical structure Ensures among other things Only mounting nut for mechanical the secure fixation of the connection included in the scope of actuator and thus a high delivery of the actuator repeatability Mechanical coupling Establishes the connection Also in case exchangeable parts can between the actuator and the be used all options
18. Measures during Operation For models with DC motors Unsuitable settings made to the servo control parameters can impair the performance of the M 231 The consequences of this can be expressed as follows Oscillations Imprecise approach of the position Settling time is too long gt Ifthe performance of the M 231 is not satisfactory check the settings for the servo control parameters of your controller 2 2 5 Safety Measures during Maintenance The M 231 is precisely aligned gt Do not loosen any sealed screw 6 Version 1 1 0 MP104E M 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 3 Product Description 3 Product Description In this Chapter SYSTEM OVEIVI Wicca li ANAKARA EARR AA Aa 8 Features and Applications cuco di ei de 9 Model Oven ais 10 Product Mi dada 10 Scope of Delivery cicoriciorcadas at tidad Raid iia 11 Suitable Controllers ui caia 11 ACCOSSOMCS ii ed st 12 Technical Features areis ianen aa E aa N aeaaea AAE 12 M 231 Linear Actuators MP104E Version 1 1 0 7 3 Product Description 3 1 System Overview PI The following figure shows an overview of the total system Application total system Drive systemY Motor controller card if applicableq Peripheral control equipment Figure 1 Overall system overview To operate the actuator in your application the following components are necessary Component Supplied by or available from PI Peripheral control
19. PI MP104E M 231 Linear Actuators User Manual Version 1 1 0 Date 22 10 2012 This document describes the following high resolution linear actuators with limit switches pe M 231 17 DC Drive Travel Range 17 mm M 231 17S Stepper Motor Drive Travel Range 17 mm Physik Instrumente PI GmbH amp Co KG Auf der R merstr 1 76228 Karlsruhe Germany Telephon 49 721 4846 0 Telefax 49 721 4846 1019 E Mail info pi ws PIEZO NANO POSITIONING WWW PI WS PI Physik Instrumente PI GmbH 8 Co KG is the owner of the following trademarks PIO PICO PICMA PiLine PIFOC PiezoWalk NEXACT NEXLINE NanoCube NanoAutomation Picoactuator PiInano 2012 Physik Instrumente PI GmbH amp Co KG Karlsruhe Deutschland The text photographs and drawings in this manual are protected by copyright With regard thereto Physik Instrumente PI GmbH amp Co KG retains all the rights Use of said text photographs and drawings is permitted only in part and only upon citation of the source Original instructions First printing 22 10 2012 Document number MP104E MMa Version 1 1 0 Subject to change without notice This manual is superseded by any new release The latest release is available for download on our website http www pi ws PIEZO NANO POSITIONING WWW PI WS Contents 1 About this Document 1 1 1 Goal and Target Audience of this Manual oocicninnccinncconnnnnnnccnancccnnrnnn arrancan
20. ctional view on the right relevant e g for installation in M 105 Slant For dimensions see the sectional view on the right Sleeve with diameter d 19 mm MP104E Version 1 1 0 17 5 Installation PI Figure 4 Example for the installation of a linear actuator here an M 235 A suitable mechanical mounting and installation environment are necessary for the proper use of the actuator gt Make sure that the following conditions have been met Material and statics of the mounting are designed so that the static and dynamic forces that occur can be safely and continuously managed The dimensions of the mounting have been adjusted to the dimensions of the actuator see above figures and dimensions p 42 especially to the following specifications Diameter of the mounting shaft Slant and locating surface if a positive connection is planned Position of the circumferential groove if a fixation with engaging mounting screws is planned The intended motions of the pusher and the load must not be inhibited by the dimensions of the installation environment gt Take into account the following specifications when planning the application and installing the actuator Travel range max 17 mm Space requirements for a kink free and proper guiding of the connection cable and motor cable if necessary Length of the connection cable approx 0 5 m and additional motor cables 3 m or 10 m 18 Version 1 1 0 MP104E M
21. d Classifications ccceecceseeeeeeseeeeeeees 10 1 3 Limit Switch Specifications oooonocinnccnnccnnnnonnnonnnncccnnnnc narra narran 102 DIMENSIONS iii ii 10 3 PIMASSIO Med amistat 10 3 1 Model with DC Gear Motor cccccceeeeeeeeeeeeeeeeeeeseeeeeseeeeeaeeeeeeeee 10 3 2 Model with Stepper MOtor cccceceeeceeeceeeeeeeeneeseeeeeseaeeesaeeeeeeeees Old Equipment Disposal EC Declaration of Conformity PIEZO NANO POSITIONING WWW PI WS 1 About this Document 1 About this Document In this Chapter Goal and Target Audience of this Manual 0 cccccceeceeeeeeceeeeeeeeeeeceeeesaeeesaeeseeeeetaas 1 Symbols and Typographic Conventions cccccceecceceeeeeeeeeeeeaeeeeneeeeeeesaeeeeeeseeeeeeaas 1 Other Applicable DOCUMENTS cc ccceeeeeceeeeeeeeeeeeneeceeeeeeaaeeeeaaeseeeeeetaeeseaaeseeaaeeseneetaas 2 1 1 Goal and Target Audience of this Manual This manual contains information on the intended use of the M 231 It assumes that the reader has a fundamental understanding of basic servo systems as well as motion control concepts and applicable safety procedures For updated releases of this user manual or if you have any questions contact our customer service department p 37 1 2 Symbols and Typographic Conventions The following symbols and typographic conventions are used in this user manual A Dangerous situation If not avoided the dangerous situation will result in
22. ear actuator and motor controller M 231 Linear Actuators MP104E Version 1 1 0 15 5 Installation P I 5 2 16 INFORMATION The M 231 is suitable for installation in the following fixtures Suitable mechanical mounting PI micropositioning stages fiber positioning systems of the types M 105 and M 106 The necessary steps are described in the following sections INFORMATION To achieve an optimum repeatability the mounting shaft must not have any backlash gt During mounting make sure that there is a faultless connection between the actuator and the mechanical mounting Installing the Actuator in a Mechanical Mounting To install the actuator in a mechanical mounting the following steps are required 1 Providing a suitable mechanical mounting 2 Installing the actuator in the mechanical mounting Detailed instructions can be found in the following sections Version 1 1 0 MP104E M 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 5 Installation 5 2 1 Providing a Suitable Mechanical Mounting and Installation Environment Figure 3 Components installation dimensions in mm M 231 Linear Actuators 1 Pusher rotating with M3 5 thread and R3 convex end Mounting shaft with width a 2 5 mm width c 3 5 mm diameter e 6 mm Circumferential groove for mounting a mounting screw V profile with width b 1 mm angle to the vertical axis 45 Locating surface For dimensions see se
23. ento ascii Intended Use The M 231 is a laboratory device as defined by DIN EN 61010 1 It is intended to be used in interior spaces and in an environment which is free of dirt oil and lubricants Based on its design and realization the M 231 is intended for positioning adjusting and shifting loads in one axis at various velocities The intended use of the M 231 is only possible when installed and with a suitable controller p 11 The controller is not included in the scope of delivery of the M 231 General Safety Instructions The M 231 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 M 231 gt Only use the M 231 for its intended purpose and only use it if it is in a good working order Read the user manual gt Immediately eliminate any faults and malfunctions that are likely to affect safety The operator is responsible for the correct installation and operation of the M 231 M 231 Linear Actuators MP104E Version 1 1 0 2 Safety P I 2 2 1 Organizational Measures User manual gt Always keep this user manual next to the M 231 If the user manual is lost or damaged contact our customer service department p 37 gt Add all information given by the manufacturer to the user manual for example supplements or Technical Notes gt If you pass the M 231 on to other users also turn over this user manual as well
24. er motor should be determined in the application If the commanded velocity is too high the stepper motor might stop without the controller detecting this condition INFORMATION The handwheel of a linear actuator with stepper motor can be used to manually retract and extend the pusher Manually triggered changes in the position of the pusher are not recognized by the connected controller INFORMATION The repeatability of the positioning is only ensured when the same limit switch is always used for the reference move gt Always start reference moves to the same limit switch 28 Version 1 1 0 MP104E M 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 6 Start Up INFORMATION For models with DC motors Unsuitable settings made to the servo control parameters can impair the performance of the M 231 The consequences of this can be expressed as follows Oscillations mprecise approach of the position Settling time is too long gt Ifthe performance of the M 231 is not satisfactory check the settings for the servo control parameters of your controller INFORMATION Moving the pusher outwards corresponds to the positive direction of motion 6 2 Starting Up the Actuator In the following a PC with PC software is used as the peripheral control equipment of the controller Prerequisites You have read and understood the General Notes on Start Up p 27 xXx You have correctly installed the actuator p
25. erved for the M 231 Area of application For indoor use only Maximum altitude 2000 m Relative humidity Highest relative humidity 80 for temperatures up to 31 C Decreasing linearly to 50 relative humidity at 40 C Degree of protection IP40 according to IEC 60529 10 1 3 Limit Switch Specifications Magnetic Hall effect sensor Supply voltage 5 V ground Signal output TTL level Signal logic The signal level changes when passing the limit switch The signal logic depends on the model type Models with DC motor active high That means Normal motor operation low 0 V Limit switch reached high 5 V Models with stepper motor active low That means Normal motor operation high 5 V Limit switch reached low 0 V M 231 Linear Actuators MP104E Version 1 1 0 41 10 Technical Data P I 10 2 Dimensions Dimensions in mm Note that the decimal places are separated by a comma in the drawings Figure 12 M 231 17 and M 231 17S linear actuator dimensions in mm 42 Version 1 1 0 MP104E M 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 10 Technical Data 10 3 Pin Assignment 10 3 1 Model with DC Gear Motor Connector 15 pin sub D m M 231 Linear Actuators Internal Input Motor Input Motor Internal Internal Internal Input 5 V supply from controller Output Limit switch signal negative side Output Limit switch signal positive side
26. g Start Up A motorized linear actuator can generate powerful forces depending on the gear ratio Connecting a linear actuator to an unsuitable controller can cause damage to the linear actuator or controller gt Connecta linear actuator with DC motor to a DC motor controller only gt Connecta linear actuator with stepper motor to a stepper motor controller only Faulty motor controllers can cause unintentional motor motion and run the M 231 into the hard stop The linear actuator can perform an unintentional motion when connecting it to the motor controller gt Do not place any objects in areas where they can get caught by moving parts gt Keep your fingers at a safe distance from the motion range of the M 231 The collision of moving parts with the hard stop end of travel range as well as high acceleration can cause damage to or considerable wear on the mechanical system gt Inthe event of a malfunction of the motor controller stop the motion immediately Ensure that theend of the travel range is approached at low velocity Set your control signal so that the moving part does not stop abruptly or try to continue moving at the end of the travel range gt Determine the maximum velocity for your application M 231 Linear Actuators MP104E Version 1 1 0 5 2 Safety P I gt Ensure that the automatic limit switch halt is supported by the controller or that it is activated in the controller 2 2 4 Safety
27. ioning stage while or before tightening the grub screw so that they are flush with each other Figure 10 Fastening the actuator 6 Check that the actuator is correctly fitted on the micropositioning stage Make sure that the installation result corresponds to the conditions in the following figure 24 Version 1 1 0 MP104E M 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 5 Installation Figure 11 Complete installation M 231 actuator in micropositioning stage here M 105 M 231 Linear Actuators KR ON Moving platform of the micropositioning stage Pusher of the M 231 actuator here completely extended Mounting screw M2 grub screw Locating surface of the M 231 actuator flush with the top edge of the front of the micropositioning stage MP104E Version 1 1 0 25 PIEZO NANO POSITIONING WWW PI WS 6 Start Up 6 Start Up In this Chapter General N tes o Start Up esiseinas iaiaeiaeiaa aaea 27 Starting Up the ACtUatOr cscecaccediensaaciauet aac eneadeisdavaacdiensaanssal aavesealaaedseaVaccutinnd odian naaa 29 6 1 General Notes on Start Up Unintentional motion of the linear actuator while connecting it to the motor controller gt Do not place any objects in areas where they can get caught by moving parts gt Keep your fingers at a safe distance from the motion range of the linear actuator NOTICE Damage if a wrong motor controller is connected Connecting a linear actuat
28. of your application 2 Place the groove of the mounting shaft precisely across the holes for mounting screws 3 Screw all mounting screws into the threaded hole of the mounting with a maximum torque of 0 3 Nm each time until you feel resistance 4 Check that the actuator is correctly fitted in the mounting 5 3 Installing the Actuator in a Micropositioning Stage The M 231 is suitable e g for installation in a Pl micropositioning stage fiber positioning system of the type M 105 or M 106 NOTICE Overtightened mounting screws Overtightening the mounting screws can damage the mounting shaft of the linear actuator and hinder the motion of the pusher This reduces the positioning accuracy gt Tighten the mounting screws to a maximum torque of 0 3 Nm Prerequisites v You have read and understood the General Notes on Installation p 15 M 231 Linear Actuators MP104E Version 1 1 0 21 5 Installation P I v If necessary you have disassembled the drive of the micropositioning stage e g micrometer screw or piezo drive Tools and accessories AF 1 5 Allen wrench for M2 grub screw or corresponding screwdriver Micropositioning stage with suitable mounting for the linear actuator Installing the actuator in a micropositioning stage a C Figure 6 Actuator and stage schematic 1 Moving platform internal 2 Wide micropositioning stage front with a horizontal hole b vertical threaded hole
29. or to an unsuitable controller can cause damage to the linear actuator or controller gt Connect a linear actuator with DC motor to a DC motor controller only gt Connect a linear actuator with stepper motor to a stepper motor controller only NOTICE Damage due to the pusher crashing into the hard stop When the limit switches are deactivated the motion of the pusher is aborted by the hard stop and the M 231 can be damaged gt Do not deactivate the limit switches in the software gt Test limit switch operation at low velocities only M 231 Linear Actuators MP104E Version 1 1 0 27 6 Start Up P I NOTICE Damage or major wear to the mechanical system as a result of high acceleration gt Inthe event of a malfunction of the motor controller stop the motion immediately gt Ensure that the end of the travel range is approached at low velocity gt Set your control signal so that the moving part does not stop abruptly or try to continue moving at the end of the travel range gt Determine the maximum velocity for your application NOTICE Damage from unsuitable controllers and PC software Unsuitable controllers and PC software can cause damage to the actuator gt Ifyou use controllers and software from other manufacturers before starting up the actuator check the technical data to make sure that they are suitable INFORMATION The maximum velocity for a linear actuator with a stepp
30. rrent mA Operating current mA Holding current delay ms Maximum motor current mA Maximum acceleration steps s Maximum velocity mm s Maximum velocity 1706 steps s Hardware properties Phase resistance Maximum phase current 250 mA bipolar 32 Version 1 1 0 MP104E M 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 7 Maintenance 7 Maintenance In this Chapter General Notes on Maintenance oocccccnccccncnonoccnnnnnonononanancnnnn nono ease ceeseueeaueeeeseeeeeeeaneneaes 33 Lubricating the N 23 Torsson ansann in ANNER ins mae haa gents 33 Cleaning the M 23 viciosa at ta dan tds 34 7 1 General Notes on Maintenance Damage due to improper maintenance The M 231 can become misaligned as a result of improper maintenance gt Do not loosen any sealed screws 7 2 Lubricating the M 231 Depending on the operational conditions and the period of use of the linear actuator the following maintenance measures are required Spreading lubricant gt If you operate the M 231 continuously on a small travel range lt 20 of the entire travel range perform a maintenance run every 2000 motion cycles across the entire travel range Lubrication Under laboratory conditions the linear actuator needs extra lubrication in exceptional cases only For continuous industrial use the lubrication intervals must be defined individually gt Do not lubricate the M 231 without consulting our customer service department
31. screw Mounting shaft with circumferential groove KR ODM Sleeve case of the actuator We recommend fixing the actuator with at least one mounting screw which is screwed into each mechanical mounting and engages in the groove of the mounting shaft The following instructions apply to this case gt If you use other designs proceed correspondingly Prerequisites v You have read and understood the General Notes on Installation p 15 v You have provided your application with a suitable mounting for the mounting shaft of the linear actuator in accordance with the instructions of the previous section 20 Version 1 1 0 MP104E M 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 5 Installation v You have made a suitable hole with internal thread in the mechanical mounting for each of the planned mounting screws The hole is positioned so that the mounting screw can engage vertically in the circumferential groove of the mounting shaft after installation The position of the circumferential groove can be found in the above illustration of the components and installation dimensions Tools and accessories Atleast one suitable mounting screw e g M2 grub screw To be able to engage in the groove optimally the screw should have an angled end instead of a flat end Suitable Allen wrench or screwdriver for the mounting screw s Installing the actuator in a mechanical mounting 1 Insert the actuator in the mounting
32. ters must be adjusted depending on the version of the M 231 used p 29 M 231 Linear Actuators MP104E Version 1 1 0 11 PI 3 Product Description 3 7 Accessories Order Description Number C 842 AP1 PWM to analog adapter box for operating M 231 linear actuators with PWM signals C 815 83 Motor cable 10 m Sub D 15 pin m f To order contact our customer service department p 37 3 8 Technical Features 3 8 1 Rotary Encoder The models with DC motors are equipped with a rotary encoder A rotary encoder also called an incremental or incremental rotary encoder is implemented at a rotating point in the drivetrain e g the motor shaft To determine the relative position the controller counts the encoder signals the so called impulses 3 8 2 Limit Switches The M 231 is equipped with non contact Hall effect limit switches Each limit switch sends an overtravel signal on a dedicated line to the controller The controller then stops the motion If the controller does not stop the motion in time the linear actuator runs into the hard stop See Limit Switch Specifications p 41 for more information 12 Version 1 1 0 MP104E M 231 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 4 Unpacking 4 Unpacking 1 Unpack the M 231 with care 2 Compare the contents against the items covered by the contract and against the packing list 3 Inspect the contents for signs of damage If parts are missing or
33. you notice signs of damage contact PI immediately 4 Keep all packaging materials in case the product needs to be returned M 231 Linear Actuators MP104E Version 1 1 0 13 PIEZO NANO POSITIONING WWW PI WS 5 Installation 5 Installation In this Chapter General Notes on Installation ooonnocninnidiniddoninnnonnonnn conocia rca nana nc crac 15 Installing the Actuator in a Mechanical MOUNtINQ ooooncccnnccnnncnnnncccnnnccnnorananacnnancccnnnns 16 Installing the Actuator in a Micropositioning Stage ooccccccconnncnnnccnncccnnnnnnnnccnnancccnnnns 21 5 1 General Notes on Installation NOTICE Cable break A cable break leads to a failure of the linear actuator gt Install the linear actuator so that the cable is not bent or squeezed too severely during operation NOTICE Increased friction Lateral forces that affect the pusher of the linear actuator increase the friction on the internal drive components Increased friction impairs the motion of the pusher and increases wear on the drive components gt Avoid lateral forces on the pusher of the M 231 NOTICE Heating up of the M 231 during operation The heat produced during operation of the M 231 can affect your application gt Install the M 231 so that your application is not affected by the dissipating heat INFORMATION Linear actuators with DC gear motors are equipped with integrated signal drivers for cable lengths of lt 10 m between lin

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