User Manual MP106E - Physik Instrumente
Contents
1. Only when the linear actuator is used in vacuum gt Only touch the linear actuator with powder free gloves gt f necessary wipe the linear actuator clean 36 Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 8 Troubleshooting 8 Troubleshooting Reduced positioning Mounting nut is fastened too gt Tighten the mounting nut to a accuracy tight maximum torque of 1 Nm Drive damaged due to torque gt Contact our customer service on pusher department Functional impairment Controller has been Controller from Pl after system modification replaced gt Load the parameters from the stage M 235 has been replaced database that correspond to the with another model combination of controller and M 235 model p 29 Controller from a third party supplier gt Check the operating parameters The mechanical system The cable is not connected gt Check the connecting cable does not move correctly or is faulty Lateral forces are affecting the Lateral forces increase the friction on pusher the internal drive components gt Avoid lateral forces on the tip and on the pusher of the M 235 The mechanical system Values for the velocity Reduce the velocity does not move but acceleration and or load are too Reduce the acceleration generates operating high Reduce the load on the mechanical NOISE system The mechanical system Velocity is too high see 1 Stop the motor did not stop in time and chapter2. To determine the relative position the controller counts the encoder signals the so called impulses 3 8 2 Limit Switches The M 235 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 43 for more information 3 8 3 Reference Point Switch The M 235 is equipped with a direction sensing reference point switch which is located at about the midpoint of the travel range This sensor sends a TTL signal indicating whether the linear actuator is on the positive or negative side of the reference point switch The rising or falling edge of this signal can be used to indicate a known reference position The difference in the reference points when approached from the positive or the negative side is about 0 2 mm to 0 4 mm M 235 Linear Actuators MP106E Version 1 1 0 13 3 Product Description P I See the controller user manual and or associated software manuals for the commands which make use of the reference point signal For further details refer to the Specifications section p 41 14 Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 4 Unpacking 4 Unpacking INFORMATION When handling the vacuum version of the linear actuator atte
3. 2 Features and Applications ooooononccnnoncicnnnnaccccnnnarccnn nar cnn nn rr cnn rr cnn rr 9 3 3 Model OvervieW ccccceeecceceeeceecaeeeeeeeeeeeecaaeeseaaeseneesaaeeesaaesdeaeeseeeesaeeeeaaeenanees 10 3 4 PrOQUCt VW 11 3 5 Scope of Delivery cooonooconncccnncconnccnoncccconccccnnnn anna 12 3 6 Suitable Controllers ooooncccnnnninncnconcconocccnnnrnnn coran nc cnc narran cnn rn 12 3 7 PACCOSSOMOS cercada ic 13 3 8 Technical Features cooonoccccnnnoccccnnnococonnnonccnnn noc cn naar c cnn rr rc 13 3 8 1 Rotary ENCORE cooonccccconncccccnonccccnnonoccnnnonocnnnnnnecnnnnnnecnnnnnne cnn nana cnn ranas 13 3 8 2 Limit Switches cooooonnnnccnonnccnncccnnonnnnnannnn nc corn nnnncnnnncnnrccrnnnnannn 13 3 8 3 Reference Point Switch oooocccccoconincconccononccnnonnnnnann nono ncnnrn naar n cnn 13 4 Unpacking 15 5 Installation 17 5 1 General Notes on Installation oooonncccininnnnnnonnnnnnnccononccnn anna nara nanr cnn nana 17 5 2 Changing the Tip imita Rda 18 5 3 Providing a Suitable Mechanical Mounting and Installation Environment 21 5 4 Installing the Actuator in a Mechanical MoOuntiNg oococcconnnanocinnnocacnninanananinananos 23 5 4 1 Connecting Cables to Models with Stepper Motor oooooconocccnnccccnnc 25 6 Start Up 6 1 General Notes on Start UP oooonnccinnccnnccononononocnnonocononcnn arc naar carr c rana rn 6 2 SER 6 2 1 M 235 Entries in the Stage Database of PI 6 2 2 Operating Parameters of the Models with DC Mo
4. Limit Switches Command the mechanical system ran into the hard stop p 13 away from the hard stop Limit switch is defective Check the settings of the controller for the limit switch processing Controller ignores the limit switch signal If 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 39 M 235 Linear Actuators MP106E Version 1 1 0 37 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 235 Linear Actuators MP106E Version 1 1 0 39 PIEZO NANO POSITIONING WWW PI WS 10 Technical Data 10 Technical Data In this Chapter SPECICATION iii A aia 41 DIMENSIONS siii ii E 45 PIN ASSIG AMEN diia do dais 48 10 1 Specifications M 235 2DG M 235 2DD M 235 22S M 235 5DG M 235 5DD M 235 52S High resolution High dynamics With stepper and force DC motor
5. Stepper Suitability head motor to 10 hPa M 235 2VD M 235 2VG M 235 5VD M 235 5VG gt For further technical data see the specifications p 41 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 39 directly Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 3 Product Description 3 4 Product View 11 12 Figure 2 Product view M 235 in front M 235 22S version behind M 235 5DG version Wrench flat of the pusher Pusher non rotating M20 thread for mounting nut Mounting nut for clamp connection Mounting shaft Window with position display Sleeve for micrometer assembly Sleeve for DC motor Cable for connecting to the controller ON DAA On a a Hand wheel for manually moving the pusher inwards and outwards Stepper motor case with panel plug not visible here for connecting to the controller End piece flat a a a U N Hole with M6 thread 10 mm deep for integrating the end piece M 235 Linear Actuators MP106E Version 1 1 0 11 3 Product Description P I 3 5 Scope of Delivery M 235 linear actuator according to order p 10 with flat end piece assembled on delivery and spherical end piece C 815 38 Motor Cable 3 m Sub D 15 pin m f MP106E User
6. a DC motor controller only gt Connecta linear actuator with stepper motor to a stepper motor controller only NOTICE Damage due to the pusher crashing into the hard stop aly When the limit switches are deactivated the motion of the pusher is aborted by the hard stop and the M 235 can be damaged gt Do not deactivate the limit switches in the software gt Test limit switch operation at low velocities only M 235 Linear Actuators MP106E 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 als Damage from unsuitable controllers and PC software Unsuitable controllers and PC software can cause damage to the actuator gt If you 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 stepper motor should be determined in the application If the commanded velocity is too high the stepper motor might stop without
7. gear motor Motion and positioning Travel range 20 50 20 50 Integrated sensor Rotary encoder Sensor resolution 2048 Design resolution 0 156 Min incremental motion a 2 Unidirectional 0 1 0 5 0 2 repeatability Mechanical properties La Gear ratio 29 6 1 Motor resolution Pe Push pull force 120 Permissible lateral force Bo ed ho NI O O a al ine ho D a w o l N 6400 100 o S y S 8 x a 2 B g D fe ey O 00 MP106E Version 1 1 0 41 N o a E 5 O D D gt D r O 2 0 10 Technical Data P I M 235 2DG M 235 2DD M 235 22S Tole M 235 5DG M 235 5DD M 235 52S rance Motor type DC motor DC motor 2 phase gearhead stepper motor Operating voltage 0 to 12 0 to 12 24 Ve Limit reference point Hall effect Hall effect Hall effect switches Operating temperature 20 to 65 20 to 65 20 to 65 range Material Aluminum anodized chrome steel ES 10 7 0 5 0 65 0 65 0 8 Cable length 0 5 3 m extension cable included Connector 15 pin sub D 15 pin sub D Sub D 15 pin incl encoder incl encoder driver driver Recommended C 863 single C 863 single C 663 single controller driver axis axis axis C 843 PCI C 843 PCI board for up to board for up to 4 axes 4 axes Specifications for vacuum versions can differ Ask about custom designs 24 V chopper voltage max 0 8 A phase 400 full ste
8. hereby declares that the product Product Name Heavy Duty Precision Linear Actuator Model Numbers M 235 Product Options all complies with all relevant provisions of the Machinery Directive 2006 42 EC Furthermore it complies with all 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 Safoty 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 file is Wollgang Schobel Address see manufacturer s address April 07 2011 Karisruhe Germany Or Kari Spanner Prado Physik bnetursertie Pt Gentes amp Co KG Aud cer Anemersirales 1 76228 Kartoune Germany PIZO MAND POSITIONING Phone 63 721 6346 0 Far 4 721 4846 1019 E eual infopiws wena IATA et NES M 235 Linear Actuators MP106E Version 1 1 0 53
9. low 32 Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 6 Start Up 6 2 2 Operating Parameters of the Models 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 2DG 2VG 5DG 5VG 2DD 2VD 5DD 5VD I term 300 240 E e D term 500 250 Ed Maximum acceleration counts s Gear reduction 29 6 1 29 6 1 Encoder resolution 2048 2048 2048 Limit switch polarity Active high Active high Active high Maximum velocity 121413 121413 61440 M 235 Linear Actuators MP106E Version 1 1 0 33 6 Start Up P I 6 2 3 Operating Parameters of the Models 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 Parameter M 235 versions 22S and 52S Recommended start values Holding current Operating current Holding current delay Max motor current Max acceleration Max velocity Max velocity Hardware properties Max phase current bipolar 34 Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 7 Maintenance 7 Maintenance In this Chapter General Notes on Maintenance ooocccccccccncnononcnnnnnononennancnnnn nono nannnnnnnn nono conan nana cnn nn nnnnns 35 Lubricating the N2395 tinca Ta lA in io 35 Cleaning t
10. manual this document in printed form 3 6 Suitable Controllers The M 235 must be connected to a suitable controller The following controllers from PI are suitable for the operation of the M 235 GH rece eontroner 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 parameters must be adjusted depending on the version of the M 235 used p 29 12 Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 3 Product Description 3 7 Accessories Order Description Number C 842 AP1 Adapter box PWM analog to operate M 235 linear actuators with PWM signals C 815 83 Motor cable 10 m Sub D 15 pin m f C 815 38V Motor cable vacuum 3 m sub D 15 pin m f C 815 VF Vacuum feedthrough sub D 15 pin m f To order contact our customer service department p 39 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
11. mm Note that the decimal places are separated by a comma in the drawings 1 51 M 235 52S 1 21 M 235 22S 115 M 235 52S 196 M 235 52S 166 M 235 22S Figure 9 M 235 x2S dimensions in mm Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 10 Technical Data 10 2 3 End Pieces Dimensions in mm Note that the decimal places are separated by a comma in the drawings Kugel ball tip i i i w Ts o 8 s 1 1 t f 1251 65 221 L 55 65 A Figure 10 Low profile top piece left and spherical end piece right M 235 Linear Actuators MP106E Version 1 1 0 47 10 Technical Data P I 10 3 Pin Assignment 10 3 1 Models with DC Gear Motor Connector Sub D 15 pin m 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 Output Reference point switch signal GND limit switch and logic Output Encoder A Output Encoder A Output Encoder B Output Encoder B 48 Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 10 Technical Data 10 3 2 Models with Stepper Motor Connector Sub D 15 pin m Input Phase 1a Input Phase 1b Input Phase 2a Input Phase 2b Not connected Not connected Not connected Not connected Not con
12. 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 39 Controller Document C 843 DC Motor Controller PCI PC Board MS77E User Manual 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 Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 2 Safety 2 1 2 2 Safety In this Chapter Intended USE ascii ii AEA 3 General Safety INStrUCtONS wcoo cimiento Ri acia caia 3 Intended Use The M 235 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 235 is intended for positioning adjusting and shifting loads in one axis at various velocities The intended use of the M 235 is only possible when installed and with a suitable controller p 12 The controller is not included in the scope of delivery of the M 235 General Safety Instructions The M 235 is built according to state of the art technology and recognized safety standards Improper u
13. 1 PWM to analog adapter box M 235 Linear Actuators MP106E Version 1 1 0 31 6 Start Up P I Name in the stage E ae ead Specifications in the stage database selection database M 235 5DD NEW Motor type DC motor conservative set of servo control parameters adjustable initial values no gear ratio since direct drive travel range 50 mm limit switches active high M 235 5DD Like the M 235 5DD NEW however without reference point switch use only for stages without reference point M 235 5DD switch manufactured until February 2003 M 235 5DD NEW P Like the M 235 5DD NEW except for parameters for PWM output for use with C 842 AP1 PWM to analog adapter box M 235 5DD PWM Like the M 235 5DD NEW P however without reference point switch use only for stages without reference point switch manufactured until February 2003 M 235 2VD M 235 2VD Like M 235 2DD M 235 5VD Like M 235 5DD NEW M 235 5VD M 235 5VD PWM Like the M 235 5DD NEW except for parameters for PWM output for use with C 842 AP1 PWM to analog adapter box M 235 2VG M 235 2VG Like M 235 2DG M 235 5VG M 235 5VG Like M 235 5DG NEW M 235 22S M 235 22S Motor type stepper motor parameters for operating current holding current and holding current delay travel range 20 mm limit switches active low M 235 52S M 235 52S Motor type stepper motor parameters for operating current holding current and holding current delay travel range 50 mm limit switches active
14. 5 can affect your application gt Install the M 235 so that your application is not affected by the dissipating heat 2 2 4 Safety Measures during 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 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 Faulty motor controllers can cause unintentional motor motion and run the M 235 into the hard stop M 235 Linear Actuators MP106E Version 1 1 0 5 2 Safety P I 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 235 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 Determine the maximum velocity for your applic
15. MP106E M 235 Linear Actuators User Manual Version 1 1 0 Date 22 10 2012 PI This document describes the following high load precision linear actuators with recirculating ball screws M 235 22S Travel Range 20 mm Stepper Motor M 235 2DD Travel Range 20 mm DC Direct Drive M 235 2DG Travel Range 20 mm DC Gear Motor M 235 2VD Travel Range 20 mm DC Direct Drive Vacuum Compatible M 235 2VG Travel Range 20 mm DC Gear Motor Vacuum Compatible M 235 52S Travel Range 50 mm Stepper Motor M 235 5DD Travel Range 50 mm DC Direct Drive M 235 5DG Travel Range 50 mm DC Gear Motor M 235 5VD Travel Range 50 mm DC Direct Drive Vacuum Compatible M 235 5VG Travel Range 50 mm DC Gear Motor Vacuum Compatible Physik Instrumente PI GmbH amp Co KG Auf der R merstr 1 76228 Karlsruhe Germany PIEZO NANO POSITIONING WWW PI WS Telephon 49 721 4846 0 Telefax 49 721 4846 1019 E Mail info 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 ph
16. ation Ensure that the automatic limit switch halt is supported by the controller or that it is activated in the controller 2 2 5 Safety Measures during Operation For models with DC motors Unsuitable settings made to the servo control parameters can impair the performance of the M 235 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 235 is not satisfactory check the settings for the servo control parameters of your controller 2 2 6 Safety Measures during Maintenance The M 235 is precisely aligned gt Do not loosen any sealed screw 6 Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 3 Product Description 3 Product Description In this Chapter SYSTEM OVEIVI Wicca ii aida AA Aa A 8 Features and Applications imita di da 9 Model Oven ais 10 Product Mi daa 11 Scope of Delivery A A 12 Suitable Controllers ui caia 12 ACCOSSOMICS ii ed 13 Technical Features ui edi dla 13 M 235 Linear Actuators MP106E Version 1 1 0 7 PI 3 Product Description 3 1 System Overview The following figure shows an overview of the total system Application total system Y 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 n
17. d piece Make sure that the selected end piece is completely screwed in and does not have any backlash 18 Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 5 Installation The end piece is used to establish contact with the load A flat end piece is delivered pre assembled a spherical end piece is also provided 1 2 Figure 3 Mounted end piece flat 1 End piece with a wrench flat 2 Pusher with b wrench flat Prerequisites v You have read and understood the General Notes on Installation p 17 v You have made the M 235 accessible for changing the end piece v The pusher has been moved out so far that you can easily reach the wrench flat with a open end wrench Upon delivery the pusher has been moved out far enough Tools and accessories Supplied end piece p 12 Two AF 8 open end wrenches M 235 Linear Actuators MP106E Version 1 1 0 19 5 Installation P I Figure 4 Changing the end piece schematic 1 End piece flat with a wrench flat 2 _Non turning pusher with b wrench flat 3 Mounting shaft with b thread for clamp connection M20 c mounting nut 4 Sleeve Changing the end piece 1 Attach the pusher apply an AF 8 open end wrench to the wrench flats of the pusher 2 Manually unscrew the end piece to be replaced from the pusher of the M 235 If this is not successful use a second AF 8 open end wrench 3 Screw the new tip by hand int
18. dels with Stepper Motor Prerequisites v You have read and understood the General Notes on Installation p 17 Y The motor cable is not connected to the controller Tools and accessories 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 12 C 815 83 motor cable 10 m Sub D 15 pin m f available as optional accessory p 12 Connecting cables to models with stepper motor 1 Connect the socket of the motor cable to the Sub D panel plug 15 pin m of the linear actuator 2 Secure the socket with the two integrated screws against accidental disconnection from the linear actuator M 235 Linear Actuators MP106E Version 1 1 0 25 PIEZO NANO POSITIONING WWW PI WS 6 Start Up O Start Up In this Chapter General Notes on Start Up cionamiento 27 Starting Up the ACtUatOr recesioni anaana RERNA ARKNA A AKATAA NEE ASNEIRAS 29 o 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 D 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
19. e any backlash gt During mounting make sure that there is a faultless connection between the actuator and the mechanical mounting M 235 Linear Actuators MP106E Version 1 1 0 23 5 Installation P I Figure 7 Clamp connection schematic Mechanical mounting Sleeve Mounting nut M20 Mounting shaft with thread Pusher with end piece flat QA A O Na We recommend installing the actuator in the mechanical mounting with a clamp connection The following instructions refer to this case Prerequisites v You have read and understood the General Notes on Installation p 17 v You have provided your application with a suitable mounting for the mounting shaft of the actuator p 21 Tools and accessories Open end wrench SW 24 Installing the actuator 1 Loosen the mounting nut on the mounting shaft of the actuator 2 Position the actuator in the mounting of your application 3 If necessary stick a suitable flat washer or a suitable spring washer on the mounting shaft 24 Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 5 Installation 4 Manually screw the mounting nut into the thread of the mounting shaft with a few rotations 5 To clamp the actuator in the mounting tighten the mounting nut using the open end wrench until you feel a resistance The torque must not exceed 1 Nm 6 Check that the actuator is correctly fitted in the mounting 5 4 1 Connecting Cables to Mo
20. e cleaned before assembly During assembly and measurement powder free gloves are worn Afterwards the linear actuator is cleaned once again by wiping and shrink wrapped twice in vacuum compatible film gt Only touch the linear actuator with powder free gloves gt If necessary wipe the linear actuator clean after unpacking 2 2 3 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 4 Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 2 Safety The motion of the pusher can be hindered by a mounting nut that has been tightened too strongly This reduces the positioning accuracy gt Tighten the mounting nut to a maximum torque of 1 Nm 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 tip and on the pusher of the M 235 While the end piece is being screwed on or off the torque is transferred to the drive of the linear actuator via the pusher and can damage the drive gt Avoid torques to the pusher gt When screwing an end piece on or off attach the pusher to the wrench flats using an open end wrench The heat produced during operation of the M 23
21. ecessary Peripheral control Loads configurations and control PC software e g PIMikroMove equipment commands to the controller e g PC included in the scope of delivery of in connection with PC software PI controllers Controller Controls the motions of the actuator Actuator Produces the motions of the part to be driven or the load in your application Stand alone device or motor controller card PC add on card Available separately see section Suitable Controllers p 12 Here linear actuator type M 235 Present product 8 Version 1 1 0 Peripheral control equipment to controller Ensures the data communication Controller to actuator Ensures the data communication and the power source of the actuator MP106E 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 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 3 Product Description Mechanical structure Ensures among other things the Only mounting nut for mechanical secure fixation of the actuator and connection included in the scope of thus a high repeatability delivery of the actuator Mechanical coupling Establishes the connection between Also in case exchangeable parts can the actuator and the load pusher be used all options are includ
22. ed in with a separate end piece the scope of delivery of the actuator depending on the model e g end pieces 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 motorized precision drives of the M 235 series are linear actuators with travel ranges of 20 mm or 50 mm They stand out thanks to their high positioning resolution load capacity velocity and lifetime in industrial applications Their design with a low friction and backlash free ball screw enables loads of up to 120 N to be moved with minimum incremental motions of up to 100 nm M 235 xxG and M 235 xxS models or 500 nm M 235 xxD models The non rotating end piece avoids wobbles and supports very uniform motions Integrated limit and reference point switches plus line drivers enable the simple installation in automation solutions and protect the mechanical system of the actuator M 235 Linear Actuators MP106E Version 1 1 0 9 3 Product Description P I 3 3 Model Overview 10 Ten standard versions of the M 235 are available All models are high performance linear actuators with a ball screw They differ in terms of Travel range Drive type Suitability for operation in vacuum Travel range Drive type Vacuum DC gear
23. he M 235 cece scciicevcacedeus tt ia dada aaa 36 7 1 General Notes on Maintenance Damage due to improper maintenance The M 235 can become misaligned as a result of improper maintenance gt Do not loosen any sealed screws 7 2 Lubricating the M 235 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 235 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 235 without consulting our customer service department p 39 gt To lubricate follow the instructions given in the maintenance manual which you can obtain from our customer service department M 235 Linear Actuators MP106E Version 1 1 0 35 7 Maintenance P I 7 3 Cleaning the M 235 Prerequisites v You have disconnected the linear actuator from the controller Cleaning the linear actuator Only when the linear actuator is not used in vacuum 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
24. itch The signal level changes from 0 to 5 V when the reference point switch is passed 10 1 5 Specifications for Vacuum Compatible Versions 44 The specifications of the vacuum compatible versions M 235 2VG M 235 2VD M 235 5VG and M 235 5VD correspond to the specifications of the versions M 235 2DG M 235 2DD M 235 5DG respectively Manufacturer Faulhaber Manufacturer Motor type 2224R012 Faulhaber Gear 22 5 Motor type 23425024 Ratio 29 6 1 Encoder IE2 512 Encoder IE2 512 Materials used Sleeve Stainless steel aluminum alloy AlMgSi1 anodized or uncoated Bearing Steel Drivetrain elements Ball screw steel Electrical components Cable insulation Teflon PTFE Shrink tubing Kynar Solder Sn95 5Ag3 8Cu0 7 Connector AMP HD20 Lemo Connector shell die cast zinc Ni coated Grease Molykote HP 300 Torrlube Barrierta L55 2 Sealing compound Varian TorrSeal Bakeout temperature 80 C 176 F Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 10 Technical Data 10 2 Dimensions 10 2 1 M 235 xDx und M 235 xVx Dimensions in mm Note that the decimal places are separated by a comma in the drawings zal Aa Qo D20 ne 9 0 ag yo 16166 M 235 2Dx 19196 M 235 5Dx Figure 8 M 235 xDx and M 235 xVx dimensions in mm M 235 Linear Actuators MP106E Version 1 1 0 45 10 Technical Data P I 10 2 2 M 235 x2S 46 Dimensions in
25. nected Not connected Input 5 V supply from controller Output Limit switch signal positive side GND Output Reference point switch signal Output Limit switch signal negative side M 235 Linear Actuators MP106E Version 1 1 0 49 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 235 Linear Actuators MP106E Version 1 1 0 51 PIEZO NANO POSITIONING WWW PI WS 12 EU Declaration of Conformity 12 EU Declaration of Conformity PI Declaration of Conformity according to DIN EN ISOVIEC 17050 Manufacturer Physik Instrumente Pt GmbH amp Co KG Manufacturer s Aut der Roemerstra e 1 Addross D 76228 Karlsruhe Germany The manufacturer
26. nrn nn nrrnnnnn crac 1 Symbols and Typographic Conventions ccccceecceceeeeeeeeeeeeaeeeeeeeseeeeesaeeeeaaeseeeeeeeas 1 Other Applicable DOCUMENTS ooooooncccconcccconcconocinonannna no conocia cnn 2 1 1 Goal and Target Audience of this Manual This manual contains information on the intended use of the M 235 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 39 1 2 Symbols and Typographic Conventions The following symbols and typographic conventions are used in this user manual AN Dangerous situation If not avoided the dangerous situation will result in 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 INFORMATION Information for easier handling tricks tips etc ho M 235 Linear Actuators MP106E Version 1 1 0 1 About this Document PI Symbol Meaning Action consisting of several steps whose sequential order must be observed Action consisting of one or several steps whose sequential order is irrelevant List item p 5 Cross reference to page 5 RS 232 Labeling of an operating element
27. ntion must be paid to appropriate cleanliness At PI all parts are cleaned before assembly During assembly and measurement powder free gloves are worn Afterwards the linear actuator is cleaned once again by wiping and shrink wrapped twice in vacuum compatible film gt Only touch the linear actuator with powder free gloves gt If necessary wipe the linear actuator clean after unpacking 1 Unpack the M 235 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 you notice signs of damage contact PI immediately 4 Keep all packaging materials in case the product needs to be returned M 235 Linear Actuators MP106E Version 1 1 0 15 PIEZO NANO POSITIONING WWW PI WS 5 Installation 5 Installation In this Chapter General Notes on Installation ooonnocninnidinildnninnnonnnnnnncconorccnn caca nan cnnc cnn 17 Changing the Tip sesececstctucicsetecacareatintesnchelbecetacesavedessaaniaeadaschcesteceiiel aE E DE naaa 18 Providing a Suitable Mechanical Mounting and Installation Environment 21 Installing the Actuator in a Mechanical Mounting 2 cccceeeeesceeeeeeeeeeeeeeaeeeeeeeeeaees 23 5 1 General Notes on Installation NOTICE D Torque on pusher While the end piece is being screwed on or off the torque is transferred to the drive of the linear actuator via the pushe
28. o the pusher of the M 235 4 Remove the pusher from the open end wrench 20 Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 5 Installation 5 3 Providing a Suitable Mechanical Mounting and Installation Environment Figure 5 Relevant components and dimensions for installation in the mechanical mounting schematic 1 Mounting nut M20 2 Mounting shaft with a diameter 20 mm b clamping width 12 mm to 18 mm usable M 235 Linear Actuators MP106E Version 1 1 0 21 5 Installation PI Figure 6 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 are adapted to the dimensions of the actuator see above figures and dimensions p 45 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 as well when planning the application and installing the actuator Dimensions of the selected end piece see Dimensions p 45 Travel range maximum 20 mm M 235 2xx models or 50 mm M 235 5xxmodels Space requirements f
29. or a kink free and proper guiding of the connection cable and additional motor cables Length of the connection cable approx 0 5 m and additional motor cables 3 m or 10 m Position of the position display of the actuator when it is to be read during operation 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 22 Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 5 Installation Corresponding programming of the controller Emergency off switch Automatic shutdown systems 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 The complete dimensions of the actuator and relevant individual parts can be found in the figures in the section Dimensions p 45 5 4 Installing the Actuator in a Mechanical Mounting NOTICE Incorrect tightening torque of the mounting nut D The motion of the pusher can be hindered by a mounting nut that has been tightened too strongly This reduces the positioning accuracy Tighten the mounting nut to a maximum torque of 1 Nm INFORMATION To achieve an optimum repeatability the mounting shaft must not hav
30. otographs and drawings is permitted only in part and only upon citation of the source Original instructions First printing 22 10 2012 Document number MP106E 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 oonnnninnicinncconnncnnnccnanccnarnnn anna nann cnn 1 1 2 Symbols and Typographic Conventions cc ccceecceceeeeeeeeeeeeeeceeeeeseaeeeenaeeeeeees 1 1 3 Other Applicable DOCUMENIS c ccceeceeeeeeeeeeeeeeeeeeceaeeesaaeeeeeeeseeeesaeeeeaaeeeeeees 2 2 Safety 3 2 1 Intended USE pona a ll atada 3 2 2 General Safety Instructions cceeecceceeeeeeeeceeeeeeeeeeeceaeeeeaaeseeneeceaeeesaaeseeaaeesnees 3 2 2 1 Organizational MCASUFES ceseeeeeeeceeeeeceteeeeaeeeeeeeseeeeeaeeeeaeeeeneeee 4 2 2 2 Measures for Handling Vacuum Compatible Products 4 2 2 3 Safety Measures during Installation 0 ccccceeseeeeeeeeseeeeeeseeeeeeeeees 4 2 2 4 Safety Measures during Start Up ccccccceseeeseeeceeeeeseeeeseeeeeeeeeees 5 2 2 5 Safety Measures during Operation cccccsceeeeeeeeeeeeeeeeeeeseeeeeeeeee 6 2 2 6 Safety Measures during Maintenance ccecceeeeeeseeeeeeseeeeeees 6 3 Product Description 7 3 1 SOCIOS AO 8 3
31. ps rev motor resolution with C 663 stepper motor controller At a velocity of up to 10 mm s 42 Version 1 1 0 MP106E M 235 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 observed for the M 235 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 Not more than 10 of the nominal voltage 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 235 Linear Actuators MP106E Version 1 1 0 43 10 Technical Data P I 10 1 4 Reference Point Switch Specifications Magnetic Hall effect sensor Supply voltage 5 V GND Signal output TTL level Signal logic Direction sensing by means of different signal levels on the left and right side of the reference point sw
32. pter 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 33 or stepper motor controllers p 34 Start a few motion cycles for testing purposes see user manual of the controller 30 Version 1 1 0 MP106E M 235 Linear Actuators PIEZO NANO POSITIONING WWW PI WS 6 Start Up 6 2 1 M 235 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 manual for the motor controller or in
33. r and can damage the drive gt Avoid torques to the pusher gt When screwing an end piece on or off attach the pusher to the wrench flats using an open end wrench 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 tip and on the pusher of the M 235 M 235 Linear Actuators MP106E Version 1 1 0 17 5 Installation P I NOTICE Heating up of the M 235 during operation The heat produced during operation of the M 235 can affect your application gt Install the M 235 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 linear actuator and motor controller 5 2 Changing the Tip INFORMATION The supplied end pieces make it possible to realize different mechanical connections to a load A flat end piece allows a wide area connection to a load Aspherical end piece allows a punctiform connection to a load To achieve optimum repeatability gt Use an en
34. rstood the user manual of the used controller lt You have read and understood the manual of the used PC software Accessories Suitable controller p 12 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 12 M 235 Linear Actuators MP106E 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 12 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 the controller or a corresponding ada
35. se can result in personal injury and or damage to the M 235 gt Only use the M 235 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 235 M 235 Linear Actuators MP106E Version 1 1 0 3 2 Safety P I 2 2 1 Organizational Measures User manual gt Always keep this user manual next to the M 235 If the user manual is lost or damaged contact our customer service department p 39 gt Add all information given by the manufacturer to the user manual for example supplements or Technical Notes gt If you pass the M 235 on to other users also turn over this user manual as well 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 235 after having read and understood this user manual Personnel qualification The M 235 may only be started up operated maintained and cleaned by authorized and qualified staff 2 2 2 Measures for Handling Vacuum Compatible Products When handling the vacuum version of the linear actuator attention must be paid to appropriate cleanliness At PI all parts ar
36. 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 reference point switch is always approached from the same side Motor controllers from PI fulfill this requirement with their automatic direction detection for reference moves to the reference point switch 28 Version 1 1 0 MP106E M 235 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 235 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 235 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 17 lt You have read and unde
37. 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 g Specifications in the stage database selection database Motor type DC motor conservative set of servo control M 235 2DG paramawrs adjustable initial values gear ratio lakean into account travel range 20 mm limit switches active M 235 2DG high Like the M 235 2DG except for parameters for PWM M 235 2DG PWM output for use with C 842 AP1 PWM to analog adapter box Motor type DC motor conservative set of servo control M 235 5DG NEW Parameters adjustable initial values gear ratio ie into account travel range 50 mm limit switches active high Like the M 235 5DG NEW however without reference M 235 5DG point switch use only for stages without reference point M 235 5DG switch manufactured until February 2003 Like the M 235 5DG NEW except for parameters for M 235 5DG NEW P PWM output for use with C 842 AP1 PWM to analog adapter box M 235 5DG PWM Like the M 235 5DG NEW P however without reference point switch use only for stages without reference point switch manufactured until February 2003 M 235 2DD Motor type DC motor conservative set of servo control parameters adjustable initial values no gear ratio since direct drive travel range 20 mm limit switches active M 235 2DD high M 235 2DD PWM Like the M 235 2DD except for parameters for PWM output for use with C 842 AP
38. tor 6 2 3 Operating Parameters of the Models with Stepper Motor 7 Maintenance 7 1 General Notes on Maintenance onccccncccnnncconocnnoncccnoncnnnon cnn nn cnn nc cnn rca cnn cnn 72 Lubricating the Miniclip 7 3 Cleaning the M 235 ou eecececccccceeeenceeeeeeeceeeeeeaaeeeeeeseaeeeeaaeseeaaesseeeesaeeeeaaeseeneeesaes 8 Troubleshooting 9 Customer Service 10 Technical Data 10 1 Specifications a nee det ae 10 1 1 Data Table viii 10 1 2 Ambient Conditions and Classifications 0 ccccceeeceeeeeeeeeseeeeeeees 10 1 3 Limit Switch Specifications 0 cccceeeceeeeeeeeeeeeeeeeeceeeeeseaeeeeaeeeeeeeees 10 1 4 Reference Point Switch Specifications 0 ccccecceeeeeeesteeeeseeeeees 10 1 5 Specifications for Vacuum Compatible Versions cceeeeeeees 10 2 DIMENSION Simi ad 10 2 1 M 235 xDx und MLB VXoocoococococcccnccocnnonononnnonnnnnnnn nn nncnnnananannn nen 10 2 2 M235 da 10 2 3 EN PIOCES iia tddi 10 3 PIM ASSIGNMENT oscuri R di li dd 10 3 1 Models with DC Gear Motor ooooncocinccccoccccconnnononananocononcnnnnnn nano nnnnnccnna 10 3 2 Models with Stepper Motor oooooocccinccccoccccconicononananoccnonccnann nana nnnanccnnna 11 Old Equipment Disposal 12 EU 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 oooonncinnccnnncccnnnccnnoconnnccnnancccn
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