User Manual MP124E - Physik Instrumente
Contents
1. Information on the linear actuator Type Serial number Coefficients of the polynomial for mechanics linearization Settings for the sensor E g interpolation rate corrections of hysteresis phase and offset gain values Data for checking the validity when the contents of the ID chip are read out When switched on or rebooted controllers from PI read the data from the ID chip For more information on the ID chip recognition see the manual of the controller used 12 Version 1 0 0 MP124E V 273 VC Linear Actuator PIEZO NANO POSITIONING WWW PI WS 4 Unpacking 4 Unpacking NOTICE Mechanical overload from incorrect handling An impermissible mechanical load on the V 273 due to transportation without a transport lock and incorrect handling can damage the moving rod of the V 273 as well as cause accuracy losses gt Only ship the V 273 in the original packaging and with a transport lock installed gt Only hold the V 273 by the housing The V 273 is delivered with a transport lock installed Figure 6 Rear side of the V 273 linear actuator hole pattern and transport lock are identical for both standard versions 1 Case 2 Transport lock M2 5 screw Tools and accessories Suitable screwdriver for M2 5 screw Allen wrench AF 2 V 273 VC Linear Actuator MP124E Version 1 0 0 13 PI Unpacking the V 273 4 Unpacking 1 2 3 4 5 14 Unpack the V 273 with care Compare th2. Country of origin WWW PI WWWPLWS Manufacturer s address website 3 3 Scope of Delivery 10 ep es oo Linear actuator according to order p 7 000025499 M2 5x12 A2 screw ISO 14580 as transport lock C 815 18 Sub D 15 m f motor cable 1 m MP124E User manual this document in printed form Version 1 0 0 MP124E V 273 VC Linear Actuator PI PIEZO NANO POSITIONING WWW PI WS 3 Product Description 3 4 Suitable Controllers The V 273 must be connected to a suitable controller The following controllers from PI are suitable for the operation of the V 273 C 413 20 PIMag Motion Controller 2 Channels USB Interface OEM Board Force Control Option C 413 20A PIMag Motion Controller 2 Channels USB Interface Analog Inputs OEM Board Force Control Option C 413 2G PiMag Motion Controller 2 Channels USB Interface Bench Top Device Force Control Option C 413 2GA PIMag Motion Controller 2 Channels USB Interface Analog Inputs Bench Top Device Force Control Option PC software is included in the scope of delivery of the controllers from Pl The operation of the controllers is described in the corresponding user manuals 3 5 Technical Features 3 5 1 Linear Encoder The V 273 is equipped with an optical linear encoder For the resolution refer to the table in the Specifications section p 33 Optical linear encoders measure the actual position directly direct metrology Therefore er
3. The sign indicates that the corresponding pin has not been assigned V 273 VC Linear Actuator MP124E Version 1 0 0 41 PIEZO NANO POSITIONING WWW PI WS 11 Old Equipment Disposal 11 Old Equipment Disposal In accordance with the applicable EU law electrical and electronic equipment may not be disposed of with unsorted municipal wastes in the member states of the EU 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 PI equipment that was first put into circulation after 13 August 2005 free of charge If you have old PI equipment you can send it postage free to the following address Physik Instrumente PI GmbH amp Co KG Auf der Romerstr 1 D 76228 Karlsruhe Germany V 273 VC Linear Actuator MP124E Version 1 0 0 43 PIEZO NANO POSITIONING WWW PI WS 12 EC Declaration of Conformity 12 EC Declaration of Conformity For the V 273 an EC Declaration of Conformity has been issued in accordance with the following European directives 2004 108 EC EMC Directive 2011 65 EU RoHS Directive The applied standards certifying the conformity are listed below EMC EN 61326 1 2013 Safety EN 61010 1 2010 RoHS EN 50581 2012 V 273 VC Linear Actuator MP124E Version 1 0 0
4. supplements or Technical Notes If you pass the V 273 on to other users also turn over this user manual as well as other relevant information provided by the manufacturer Only use the device on the basis of the complete user manual If your user manual is incomplete and is therefore missing important information property damage can result Only install and operate the V 273 after having read and understood this user manual Personnel qualification The V 273 may only be installed started up operated maintained and cleaned by authorized and appropriately qualified personnel 6 Version 1 0 0 MP124E V 273 VC Linear Actuator PIEZO NANO POSITIONING WWW PI WS 3 Product Description 3 Product Description In this Chapter lee Re 7 Product TEE 7 SCOPE OF Delivery eeeheccsseiicevescedens ai taairan naaa iea aaa aaa aaa aa aa aaa aLaaa 10 Suitable ee Tu rel EC 11 11 Re alle RE E TEE 3 1 Model Overview Two standard versions of the V 273 linear actuator are available They differ with regard to the force sensor and thus the dimensions V 273 430 200 mm x 51 mm x 37 2 mm V 273 431 205 5 mm x 51 mm x 37 2 mm Yes gt For further technical data see the specifications p 33 3 2 Product View 3 2 1 Overview Figure 1 V 273 430 left and V 273 431 right V 273 VC Linear Actuator MP124E Version 1 0 0 3 Product Description i 3 2 2 Product Details 1 2 3 Figure 2 Front side of the V
5. 1 1 Data Table Active axes Motion and positioning Travel range Open loop position resolution typ Closed loop position resolution typ Open loop force resolution typ Closed loop force resolution typ Linearity error closed loop typ Repeatability typ Straightness of travel Velocity open loop 250 Velocity closed loop 200 Mechanical properties es ees ee Moved mass without load 56 186 with force typ sensor V 273 VC Linear Actuator MP124E Version 1 0 0 33 10 Technical Data P I V 273 430 Tolerance V GE 431 Drive Drive properties EE type ee voice coil drive moving coil KR Magnet material N52 NdFeB NdFeB w Current constant 0 125 ih Average push pull force Power dissipation with 100 duty cycle 2250 Iw TI Maximum push pull force 6 _ ie Power dissipation with 10 duty cycle HO fw Hee Speringtenpertuerangs foe JS JL Material Aluminum Ce 560 690 with force 5 sensor Cable Cable length ae sensor connection Sub D 15 m with Gi sensor 2 x ie D15 m e controller C 413 pees fn With C 413 controller Allowable average value for continuous operation not to be exceeded 34 Version 1 0 0 MP124E V 273 VC Linear Actuator PIEZO NANO POSITIONING WWW PI WS 10 1 2 Maximum Ratings 10 Technical Data The voice coil drive of the V 273 linear actuator is designed for the following operating data Maximum Operati
6. 3 Force SONSON sani cvicsdsevecesantdctvadstededaansdeasadsescussdatdedsalstedesaaad Ze E eegen 12 3 5 4 2 fei EEN 12 10 11 12 Unpacking Installation 5 1 General Notes on Installation 0 cccccccccscceceeseeeeeeseeeeeessneeeeesseeeessseeeensseeeeeees 5 2 Optional Changing the Contact Piece of the Force Sensor on the V 213 431 MOGC Mice ccevveretienseccasiestelancasaeddsadacatn anna aaa eaa aa aaae aaa aaa aA EARE 5 3 Installing the V 273 in a Mechanical Mountng 5 4 Connecting the Motor Cable to ibeV 272 Start Up and Operation 6 1 General Notes on Start Up and Operation 6 2 Starting Up the V 273 with the C 413 Controller Maintenance 7 1 General Notes on Maintenance 7 2 Cleaning the V 273 reiia ienie a a aa a Ea aaa Troubleshooting Customer Service Technical Data VOT Specifications neniesa aaa aa Ea aE aiana 10 1 1 Data Tabb l eies cxcciescdasteccsceeniacudsscctedihantansdsscacasuecnsacressaadedeeactaraeascecounpese 10 1 2 Maximum RATINGS EE 10 1 3 Ambient Conditions and Classifications ccccccccsseeeessteeeeenaes 10 1 4 Reference Point Switch Specifications 0 ccccecceeeeeeeesteeeeneeeees 10 2 DIMENSIONS eisian aaien aaa eaaa E aa a a aa eiaa a 10 2 1 V 2 79 EIN 10 2 2 N 27 ER EE 10 3 Pin AzSignmen eenegen d2ee ee degen a 10 3 1 Connection of the Motor and Position Gensor 10 3 2 V 273 431 Connection of the Force Sensor ssssssssssssenesenneeeee Old Equipment D
7. 45
8. necessary correct the settings of the servo control parameters Mount the V 273 on an even surface The recommended evenness of the surface is 20 um Avoid lateral forces on the rod of the V 273 Make sure that the rod can be easily moved over the entire travel range Ensure that the end of the travel range is approached at low velocity and with low force Reduce the load and or counterforces in the direction of motion Remove the transport lock If the problem that occurred with your system is not listed in the table above or cannot be solved as described contact our customer service department p 31 V 273 VC Linear Actuator MP124E Version 1 0 0 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 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 user manuals are available for download p 3 on our website V 273 VC Linear Actuator MP124E Version 1 0 0 31 PIEZO NANO POSITIONING WWW PI WS 10 Technical Data 10 Technical Data In this Chapter ee lee 33 Ale EE 37 NR eau 40 10 1 Specifications 10
9. rod of the V 273 3 Check that the connected parts fit without backlash Attaching the V 273 to the fixed part of the mounting 1 Align the linear actuator or surface so that the corresponding mounting holes in linear actuator and surface overlap 2 Screw the screws into the mounting holes on the bottom side of the surface Maximum screw in depth 5 mm Maximum torque 2 6 Nm 3 Check that the V 273 fits on the surface without backlash 5 4 Connecting the Motor Cable to the V 273 Prerequisites v You have read and understood the general notes on installation p 15 v The motor cable is not connected to the controller Tools and accessories C 815 18 motor cable Sub D 15 m f 1 m in the scope of delivery p 10 Connecting the motor cable to the V 273 1 Connect the connector f of the motor cable to the Sub D 15 pin panel plug m of the linear actuator 2 Secure the connector f with the two integrated screws against being accidently pulled out of the linear actuator 20 Version 1 0 0 MP124E V 273 VC Linear Actuator PIEZO NANO POSITIONING WWW PI WS 6 Start Up and Operation 6 Start Up and Operation In this Chapter General Notes on Start Up and Operation 21 Starting Up the V 273 with the C 413 Controller sssnnssssnnnnsennneennnnnenn nnne nnnnnnnnnnne nn 24 6 1 General Notes on Start Up and Operation The start up of the V 273 is done with the PIMag C 413 motion controller from PI
10. the new contact piece onto the M3 threaded bolt of the force sensor Maximum torque 15 Necm 16 Version 1 0 0 MP124E V 273 VC Linear Actuator PIEZO NANO POSITIONING WWW PI WS 5 Installation 5 3 Installing the V 273 in a Mechanical Mounting NOTICE Damage and reduced performance due to torque at the rod Gi An excessive torque at the rod of the V 273 can damage the drive or reduce the performance of the drive gt Make sure that the rod can be easily moved over the entire travel range NOTICE D Increased friction due to lateral forces on the rod Lateral forces that act on the rod of the V 273 increase the friction between the rod and internal drive components Increased friction impairs the motion of the rod and increases the wear of the drive components gt Avoid lateral forces on the rod of the V 273 NOTICE l Screws that are too long Screws that are inserted too deeply damage the V 273 gt Observe the maximum screw in depth for the mounting holes p 37 gt Only use screws of the correct length for the respective mounting holes NOTICE a Warping of the V 273 due to mounting on uneven surfaces Mounting the V 273 on an uneven surface can warp the V 273 Warping reduces the accuracy gt Mount the V 273 on an even surface The recommended evenness of the surface is lt 20 um gt For applications with great temperature changes Only mount the V 273 on surfaces that have the same or sim
11. 273 430 linear actuator 1 Moving rod guide rail 2 Case 3 Connection for motor cable panel plug Sub D 15 x Positive direction of motion 3 4 x Femme H dza 2 H RS Les 1 Figure 3 Front side of the V 273 431 linear actuator Cable exit of the force sensor Exchangeable contact piece of the force sensor Force sensor Moving rod guide rail Case Connection for motor cable panel plug Sub D 15 x Da A Go h A Positive direction of motion 8 Version 1 0 0 MP124E V 273 VC Linear Actuator PIEZO NANO POSITIONING WWW PI WS 3 Product Description T i Figure 4 Force sensor of the V 273 431 model 1 M threaded bolt for screwing the contact piece onto the force sensor Figure 5 Rear side of the V 273 linear actuator hole pattern and transport lock are identical for both standard versions 1 Case 2 Transport lock M2 5 screw 3 2 3 Product Labeling On the case of the V 273 there is a type plate with the following information Data matrix code example contains the serial number V 273 430 Product name example the places after the point refer to the model V 273 VC Linear Actuator MP124E Version 1 0 0 9 3 Product Description 114003601 Serial number example individual for each V 273 Meaning of the places counting from left 1 internal information 2 and 3 manufacturing year 4 to 9 consecutive numbers Old equipment disposal p 43 SSC of origin Germany
12. NOTICE Heating up of the V 273 during operation The heat produced during operation of the V 273 can affect your application gt Ensure sufficient ventilation at the place of installation gt Ensure that the average continuous current and the peak current do not exceed the permissible values p 33 NOTICE D Operating voltage too high or incorrectly connected Operating voltages that are too high or incorrectly connected can cause damage to the V 273 gt Only operate the V 273 with controllers drivers and original accessories from PI gt Do not exceed the operating voltage range p 35 for which the V 273 is specified gt Only operate the V 273 when the operating voltage is properly connected see Pin Assignment p 40 V 273 VC Linear Actuator MP124E Version 1 0 0 21 6 Start Up and Operation II NOTICE Undesired displacement due to lack of self locking D The drive of the V 273 does not have any self locking Switching off or rebooting the controller or switching off the servo mode for the axis can therefore lead to undesired displacements of the moving rod e g due to the weight force of the moving mass As a result the moving rod can move to the hard stop with a high velocity and or collisions between the V 273 the load to be moved and the environment are possible gt When the motion axis is aligned vertically or tilted Perform an AutoZero procedure for the axis on the controller
13. PI MP124E V 273 VC Linear Actuator User Manual Version 1 0 0 Date 30 03 2015 This document describes the following products V 273 430 i PIMag Voice Coil Linear Actuator j 20 mm 6 N Linear Encoder D 0 1 um Resolution V 273 431 PIMag Voice Coil Linear Actuator 20 mm 6N Linear Encoder 0 1 um Resolution Force Sensor Physik Instrumente PI GmbH amp Co KG Auf der Roemerstr 1 76228 Karlsruhe Germany Phone 49 721 4846 0 Fax 49 721 4846 1019 E mail info pi ws PIEZO NANO POSITIONING WWW PI WS PI Physik Instrumente PI GmbH amp Co KG is the owner of the following trademarks PI PIC PICMA PiLine PIFOC PiezoWalk NEXACT NEXLINE NanoCube NanoAutomation Picoactuator Plnano PIMag PI owns the following patents or patent applications for the technology field Magnetic Direct Drives PIMag W0212146709A2 DE102012207082A1 2015 Physik Instrumente PI GmbH amp Co KG Karlsruhe Germany 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 30 03 2015 Document number MP124E KSch Version 1 0 0 Subject to change without notice This manual is superseded by any new release The latest r
14. e contents against the items covered by the contract and against the packing list If parts are incorrectly supplied or missing contact PI immediately Inspect the contents for signs of damage If you notice signs of damage contact PI immediately Remove the transport lock Remove the M2 5 screw on the rear side of the V 273 Keep all packaging materials and the transport lock in case the product needs to be transported again later Version 1 0 0 MP124E V 273 VC Linear Actuator PIEZO NANO POSITIONING WWW PI WS 5 Installation 5 Installation In this Chapter General Notes on Installation ccccccccsecccessseeececsneeeeeesaeeecesaeeeeecaeeessesaeeeessseeeeeeaas 15 Optional Changing the Contact Piece of the Force Sensor on the V 273 431 Model 16 Installing the V 273 in a Mechanical Mounting eeeesseeesssessssrrssssrnssrrrrssrennssrennssrns 17 Connecting the Motor Cable to theV 2 20 5 1 General Notes on Installation NOTICE Heating up of the V 273 during operation The heat produced during operation of the V 273 can affect your application gt Install the V 273 so that the application is not affected by the dissipated heat gt Ensure sufficient ventilation at the place of installation gt Make sure that the complete bottom side of the V 273 is in contact with the surface on which the V 273 is mounted NOTICE Lubricants dirt condensation Dirt oil lubricants and condensation will rend
15. e from opening the V 273 The V 273 is maintenance free Opening the case causes damage to the V 273 gt Only loosen screws according to the instructions in this manual gt Do not open the V 273 7 2 Cleaning the V 273 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 cloth lightly dampened with a mild cleanser or disinfectant V 273 VC Linear Actuator MP124E Version 1 0 0 27 PIEZO NANO POSITIONING WWW PI WS 8 Troubleshooting 8 Troubleshooting Target position is approached too slowly or with overshoot Target position is not kept stable Uncontrolled oscillation of the V 273 Increased wear Reduced accuracy No or limited motion Servo control parameters gt are not optimally set Great changes to the load gt or the alignment of the V 273 Velocity acceleration set improperly Warped case Excessive lateral forces on the rod Excessive torque on the rod when the load is mounted Velocity too high Moving with maximum force to the hard stop Excessive load Excessive counterforces in the direction of motion Transport lock has not been removed Switch off the servo control system or the controller immediately Check whether the servo control parameter settings correspond to the selected closed loop control mode see user manual of the controller If
16. eference position V 273 VC Linear Actuator MP124E Version 1 0 0 37 10 Technical Data P II 10 2 2 V 273 431 Dimensions in mm Note that the decimal places are separated by a comma in the drawings Figure 11 Dimensions of the V 273 431 here without contact piece of the force sensor moving rod in reference position 1 M8 external thread A shows the ideal direction of a force that acts on the force sensor 38 Version 1 0 0 MP124E V 273 VC Linear Actuator PIEZO NANO POSITIONING WWW PI WS 10 Technical Data Figure 12 Dimensions of the V 273 431 here with contact piece of the force sensor moving rod in reference position V 273 VC Linear Actuator MP124E Version 1 0 0 39 10 Technical Data 10 3 Pin Assignment 10 3 1 Connection of the Motor and Position Sensor 40 Sub D 15 m panel plug Bus 9 15 Figure 13 Sub D 15 m panel plug Wee seg C 1 Waar ei SET Fee Tei Fame tat e eer Jess SG PI The sign indicates that the corresponding pin has not been assigned Version 1 0 0 MP124E V 273 VC Linear Actuator PIEZO NANO POSITIONING WWW PI WS 10 Technical Data 10 3 2 V 273 431 Connection of the Force Sensor Sub D 15 m connector 1 9 15 Figure 14 Sub D 15 m connector veer e bes bass mer Fame mei Fame asi SPI_CLK TTL input 15 SPI_CS_ SENSOR TTL input
17. elease is available for download p 3 on our website PIEZO NANO POSITIONING WWW PI WS Contents 1 About this Document 1 1 1 Goal and Target Audience of this User Manual 1 1 2 Symbols and Typographic Conventions sssssseesseesseessr teer resrnssrnsrnsrnssrnssrnsne 1 1 3 OPINION WT 2 1 4 Ss 3 1 5 Other Applicable Documents 3 1 6 Downloading Manual 0 ceeeceeeeeeeeeceeeeeeeeeeeeaeeeeesaaeeeeeseaeeeeeseeeeeeseneaeeeeeneaeees 3 2 Safety 5 2 1 INTENDED USE a ccsccancsssnerces sdveenaydanceectnaatenaetadeecensdaveticnsancxehadtaclietasdewehstevasuvbanaevehuanea 5 2 2 General Safety Instructions cccceecceceeeeeeeeeeeeeeeeeeeeeceaeeeeaaeseeneeseaeeesaaeseenaeeenees 5 2 3 Organizational Measures neinnar iainta aaeain aa 6 3 Product Description 7 3 1 lee Eer H 3 2 PROGUCE EE 7 3 2 1 OVEIVIQW eege eneen heute eege hees EE H 3 2 2 Product Details cccccccececeecceceeeeeeeeeeeeaeeeeeeeseeecaaeaeeeeeeeseeeenieeeeeeees 8 3 2 3 Product Labelmg inun enaena eaea ai Rai 9 3 3 Scope Of Delivery oo ceeecececcccceeeeeeeeeeeeeeeceaeeeeeaeseeeeeceaeeesaaeseeaaesseneeseaeeesaeseeneessaes 10 3 4 Suitable Controllers ccccccccssccecesseececeesneeecessneeecesqeeeeesaeeeessseeesesseeeesssieeeeneea 11 3 5 Technical Features cccccccecceceseeccececeeeeeeeeeeeaeaeeeeeeeseeeaaaeaeeeeeeesaeeneaeeeeeeeeeeeeeees 11 3 5 1 near ENCOQE enisinia aa a aE a a EA E aaa 11 3 5 2 Reference Point Switch 11 3 5
18. er the motor drive inoperable gt Keep the V 273 free from lubricants gt Keep the V 273 free from dirt and condensation INFORMATION If unsuitable cables are used interference can occur in the signal transmission between the linear actuator and the controller gt Only use original PI parts to connect the linear actuator to the controller The maximum cable length is 1 m gt f you need longer cables contact our customer service department p 31 V 273 VC Linear Actuator MP124E Version 1 0 0 15 5 Installation P I INFORMATION For the positive direction of motion of the rod X axis see Product Details p 8 or the dimensional drawing in Dimensions p 37 5 2 Optional Changing the Contact Piece of the Force Sensor on the V 273 431 Model INFORMATION The mechanical coupling of the moving rod to a surface is achieved using the contact piece of the force sensor A contact piece made of aluminum and plastic is installed by default gt Ifyou change the contact piece you may have to adapt the parameter settings of the C 413 controller to the changed contact stiffness Prerequisites v The linear actuator is not connected to the controller Tools and accessories Suitable contact piece with M3 internal thread Changing the contact piece of the force sensor on the V 273 431 model 1 Manually unscrew the contact piece to be replaced from the force sensor of the V 273 431 2 Manually screw
19. ilar thermal expansion properties as the V 273 e g surfaces made of aluminum V 273 VC Linear Actuator MP124E Version 1 0 0 17 5 Installation P I INFORMATION V 273 430 model The movable part of the mechanical mounting can be connected to the moving rod of the linear actuator using screws Figure 7 V 273 430 The white arrows mark the holes for affixing the movable part of the mounting to the rod Figure 8 V 273 430 Mounting holes for attaching the V 273 to a surface identical for V 273 431 Figure 9 V 273 431 The contact piece of the force sensor ideally has an orthogonal orientation to the counterforce that is exerted on the moving rod and is measured 18 Version 1 0 0 MP124E V 273 VC Linear Actuator PIEZO NANO POSITIONING WWW PI WS 5 Installation Prerequisites v v vi You have read and understood the general notes on installation p 15 You have designed the mechanical mounting in which the V 273 is installed as follows No lateral forces are applied to the moving rod No torque is applied to the moving rod Collisions are not possible When a V 273 431 is used the mechanical mounting additionally meets the following conditions When the controller is switched on or rebooted no force is applied to the contact piece of the connected force sensors The contact piece of the force sensor see figure is orthogonally oriented to the counterforce that is applied to the
20. ing product category Go to the corresponding product code The available manuals are displayed Click the desired manual and save it on the hard disk of your PC or on a data storage medium Download password protected manuals 1 2 3 Insert the product CD in the PC drive Switch to the Manuals directory on the CD In the Manuals directory open the Release News file including releasenews in the file name Find the user name and the password in the section User login for software download in the Release News Open the FTP download directory ftp pi ftp ws Windows operating systems Open the FTP download directory in Windows Explorer Log in with the user name and the password from the Release News In the directory of the corresponding product go to the Manuals sub directory Copy the desired manual to the hard disk of your PC or to a data storage medium 4 Version 1 0 0 MP124E V 273 VC Linear Actuator PIEZO NANO POSITIONING WWW PI WS 2 Safety 2 Safety In this Chapter lucius E HEET 5 General Safety INStruCctions cccceesceceeeeeeeeeeeeeaeeeeeeeceeeeeseaeseeaaeseeeeeseaeeseaaeseenaesseneesaas 5 Organizational Measures ssinniinea oinkari iniaa aaaea aaa eaaa aaa aaa 6 2 1 Intended Use The V 273 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 The V 273 has a VC
21. isposal 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 User Manual 1 Symbols and Typographic Conventions ccccccceecceeeeeeeceeeeeeaaeseeeeeseaeeeseaeeeeeeseeeeeseas 1 Mulle EE 2 is 3 Other Applicable Documents 3 Downloading Manuals v zcccecitess atzeess esckcetsevocecebesceaens ESO EELER 3 1 1 Goal and Target Audience of this User Manual This manual contains information on the intended use of the V 273 It assumes that the reader has a fundamental understanding of basic servo systems as well as motion control concepts and applicable safety procedures The latest versions of the user manuals are available for download p 3 on our website 1 2 Symbols and Typographic Conventions The following symbols and typographic conventions are used in this user manual 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 V 273 VC Linear Actuator MP124E Version 1 0 0 1 1 About this Document Symbol Label 1 2 gt p 5 RS 232 A 1 3 Definition PI Meaning Action consisting of several steps whose sequential order must be observed Action consisting of one or several steps whose sequential order is irrelevan
22. linear drive p 2 a position sensor and depending on the model a force sensor as well The V 273 is intended for positioning adjusting and shifting loads in one axis at various velocities and with defined forces The V 273 is a linear actuator for applications in automation or handling technology The V 273 is not intended for applications in areas in which a failure would present severe risks to human beings or the environment The intended use of the V 273 is only possible when installed and in connection with a suitable controller p 11 The controller is not included in the scope of delivery of the V 273 2 2 General Safety Instructions The V 273 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 V 273 gt Only use the V 273 for its intended purpose and only use it if it is in a good working order gt Read the user manual Immediately eliminate any faults and malfunctions that are likely to affect safety The operator is responsible for the correct installation and operation of the V 273 V 273 VC Linear Actuator MP124E Version 1 0 0 5 2 Safety PI 2 3 Organizational Measures User manual gt Always keep this user manual available by the V 273 The latest versions of the user manuals are available for download p 3 on our website Add all information given by the manufacturer to the user manual for example
23. ller NOTICE Unexpected motions ay The V 273 can carry out unexpected motions after the controller is switched on or rebooted Unexpected motions can lead to damage from collisions gt Before connecting the V 273 check whether the controller is configured for automatic execution of the reference move or the AutoZero procedure see user manual of the controller 24 Version 1 0 0 MP124E V 273 VC Linear Actuator PIEZO NANO POSITIONING WWW PI WS 6 Start Up and Operation INFORMATION The type of the connection on the C 413 controller and the parameter settings of the C 413 determine the identifiers that are to be used to command the V 273 Assignment with the default settings of the C 413 controller Motor cable connected to the Motor amp Sensor 1 socket and if present force sensor connected to the Motor amp Sensor 2 socket V 273 is commanded as axis 1 the force sensor can be read out as input signal channel 3 and must be assigned to axis 1 via the Input Channel for Force Feedback parameter ID 0x07000400 Motor cable connected to the Motor amp Sensor 2 socket and if present force sensor connected to the Motor amp Sensor 1 socket V 273 is commanded as axis 2 the force sensor can be read out as input signal channel 1 and must be assigned to axis 2 via the Input Channel for Force Feedback parameter ID 0x07000400 Prerequisites You have read and understood the General Notes on Start Up Yo
24. m gt If aconnection assignment is given on the labels of the controller and or V 273 observe this assignment when connecting the V 273 V 273 VC Linear Actuator MP124E Version 1 0 0 2 o 6 Start Up and Operation I INFORMATION The C 413 controller sets the control value of the axis to the value of the AutoZeroResult parameter ID 0x07000A03 when the servo mode is switched off When an AutoZero procedure has been successfully performed the parameter value is set so that the V 273 compensates for the weight force of the moving mass with the corresponding control value important with a vertically aligned motion axis Further information can be found in the user manual of the C 413 controller INFORMATION The repeatability of the positioning is only ensured when the reference point switch is always approached from the same side Recommended controllers from PI fulfill this requirement with their automatic direction detection for reference moves to the reference point switch INFORMATION The force sensor of the V 273 431 model works as an incremental sensor When the controller is switched on or rebooted the connected force sensor always measures 0 N regardless of the actual force exerted on the force sensor gt In order to allow an absolute force measurement ensure that no force acts on the contact piece of the force sensor when the controller is switched on or rebooted 6 2 Starting Up the V 273 with the C 413 Contro
25. mechanical system gt Stop the motion immediately if a controller malfunction occurs gt Ensure that the end of the travel range is approached at low velocity and with low force gt Set the 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 GD Damage to the V 273 and the load from oscillations The optimum values of the servo control parameters of the controller depend on the application and the moved mass Unsuitable servo control parameter settings of the controller can cause the V 273 to oscillate Oscillations can damage the V 273 and or the load affixed to it gt If the V 273 is oscillating unusual operating noise immediately switch off the servo mode for the axis on the controller or switch off the controller gt Only switch on the servo mode for the axis on the controller after you have modified the servo control parameter settings see the manual of the controller NOTICE aly Damage from transport lock that has not been removed Damage can occur to the linear actuator if the transport lock p 13 of the linear actuator has not been removed and a motion is commanded gt Remove the transport lock before you start up the system consisting of the linear actuator and the controller INFORMATION The C 413 controller and the V 273 are delivered as a preconfigured syste
26. moving rod You have provided a suitable surface on the fixed part of the mechanical mounting for attaching the case of the V 273 Atleast three M4 mounting holes are present For the required position of the holes see Dimensions p 37 The thickness of the surface the depth of the holes and counterbores as well as the length of the used screws are matched so that the maximum screw in depth in the V 273 is observed p 37 The evenness of the surface is 20 um For applications with great temperature changes The surface has the same thermal expansion properties as the V 273 You have accounted for the space required for a cable routing free of kinks and in accordance with regulations The linear actuator is not connected to the controller Tools and accessories If the movable part of the mechanical mounting is to be connected to the moving rod of the V 273 430 1 to 2 M2 screws of suitable length see Dimensions p 37 3 to 5 M4 screws of suitable length see Dimensions p 37 for attaching the case of the V 273 to a surface V 273 VC Linear Actuator MP124E Version 1 0 0 19 5 Installation P I Suitable tools for fastening the screws Affixing the movable part of the mounting to the V 273 430 model 1 Align the moving rod of the linear actuator in the mounting so that the corresponding mounting holes in mounting and rod overlap 2 Affix the movable part of the mounting to the holes in the
27. ng Voltage Maximum Operating Frequency Maximum Power Consumption 10 1 3 Ambient Conditions and Classifications The following ambient conditions and classifications must be observed for the V 273 Area of application Maximum altitude Air pressure Relative humidity Operating temperature Storage temperature Transport temperature Overvoltage category Protection class Degree of pollution Degree of protection according to IEC 60529 corresponds to roughly 825 Torr to 596 Torr Highest relative humidity 80 for temperatures up to 31 C Decreasing linearly to 50 relative humidity at 40 C 10 C to 60 C 20 C to 60 C 20 C to 60 C 1 IP20 MP124E Version 1 0 0 V 273 VC Linear Actuator 35 10 Technical Data P II 10 1 4 Reference Point Switch Specifications Type Optical sensor Supply voltage 5 V GND supply via the motor connector Signal output TTL level Signal logic Direction sensing by means of different signal levels on the left and right side of the reference point switch The signal level changes from 0 to 5 V when the reference point switch is passed 36 Version 1 0 0 MP124E V 273 VC Linear Actuator PIEZO NANO POSITIONING WWW PI WS 10 Technical Data 10 2 Dimensions 10 2 1 V 273 430 Dimensions in mm Note that the decimal places are separated by a comma in the drawings Figure 10 Dimensions of the V 273 430 moving rod in r
28. on or changes of angle Signals from the incremental position sensor are used for axis position feedback After switching on the controller a reference point definition must be performed before absolute target positions can be commanded and reached 1 4 Figures For better understandability the colors proportions and degree of detail in illustrations can deviate from the actual circumstances Photographic illustrations may also differ and must not be seen as guaranteed properties 1 5 Other Applicable Documents The devices and software tools which are mentioned in this documentation are described in their own manuals C 413 PIMag Controller MS224E User Manual PIMikroMove SM148E Software Manual 1 6 Downloading Manuals INFORMATION If a manual is missing or problems occur with downloading gt Contact our customer service department p 31 V 273 VC Linear Actuator MP124E Version 1 0 0 3 1 About this Document P I INFORMATION For some products e g Hexapod systems and electronics that are delivered with a CD access to the manuals is password protected The password is stored on the CD Availability of the manuals Password protected manuals FTP download directory Freely available manuals PI website gt Follow the corresponding instructions for downloading Download freely accessible manuals 1 2 3 4 Open the website http www pi portal ws Click Downloads Click the correspond
29. rors occurring in the drivetrain such as nonlinearity backlash or elastic deformation cannot influence the measurement of the position 3 5 2 Reference Point Switch The V 273 is equipped with a direction sensing reference point switch which is located at about the midpoint of the travel range This sensor transmits a TTL signal that indicates whether the linear actuator is on the positive or negative side of the reference point switch See the controller user manual and or associated software manuals for the commands which make use of the reference point signal For more information see Reference Point Switch Specifications p 36 V 273 VC Linear Actuator MP124E Version 1 0 0 11 3 Product Description i 3 5 3 Force Sensor The V 273 431 model is equipped with a force sensor The force sensor is mounted on the moving rod p 8 The force sensor allows the application of a defined force and the measurement of the counterforce that is applied orthogonally to the contact piece of the sensor p 17 Forces up to 10 N can be measured and forces up to 6 N can be applied each with an open loop resolution of 1 mN The force sensor works as an incremental sensor When the controller is switched on or rebooted the connected force sensor always measures 0 N regardless of the actual force exerted on the force sensor 3 5 4 ID Chip The V 273 linear actuators contain one ID chip per sensor on which the following data is stored
30. so that the weight force of the moving mass is also compensated for when the servo mode is switched off For details see the user manual of the C 413 Before switching off or rebooting the controller take suitable measures to ensure that no undesired displacements of the moving rod are possible Make sure that no collisions are possible between the linear actuator the load to be moved and the environment in the motion range of the linear actuator Ensure that the end of the travel range is approached at low velocity and with low force NOTICE Damage from collisions a Collisions can damage the linear actuator the load to be moved and the environment gt gt Make sure that no collisions are possible between the linear actuator the load to be moved and the environment in the motion range of the linear actuator Do not place any objects in areas where they can get caught by moving parts Stop the motion immediately if a controller malfunction occurs If possible adapt the travel range limits of your mechanical system in the software that you use for commanding the motion 22 Version 1 0 0 MP124E V 273 VC Linear Actuator PIEZO NANO POSITIONING WWW PI WS 6 Start Up and Operation NOTICE D Damage due to high velocity and moving to the hard stop with maximum force High velocities and moving to the hard stop with maximum force can cause damage strong heat development or considerable wear on the
31. t List item Cross reference to page 5 Labeling of an operating element on the product example socket of the RS 232 interface Warning sign on the product which refers to detailed information in this manual VC linear actuator VC linear drive Max push pull force 2 Version 1 0 0 VC Voice Coil The feed is generated by the Lorentz force on an energized coil PIMag principle that couples to a moving rod The V 273 thus combines a relatively long travel range with a high velocity and a high resolution Maximum force in the direction of motion Position or velocity control When a counterforce is exerted on the linear actuator the linear actuator counteracts it with maximum force to maintain the target position or target velocity When the counterforce exceeds the specified value of the push pull force p 33 displacements or changes in velocity can occur Force control When a counterforce is exerted on the linear actuator the linear actuator maximally counteracts it with the target force value If the counterforce exceeds the target force value displacements are possible When the servo mode is switched off the weight force of the moving mass can be compensated for by an AutoZero procedure see user manual of the C 413 controller MP124E V 273 VC Linear Actuator PIEZO NANO POSITIONING WWW PI WS 1 About this Document Incremental position Sensor encoder for capturing changes of positi
32. u have read and understood the user manual of the controller You have read and understood the manual of the PC software You have properly installed the linear actuator p 15 The controller and the required PC software have been installed Sa amp 4 KK All connections on the controller have been set up see user manual of the controller the linear actuator is connected via the motor cable and for V 273 431 additionally via the cable of the force sensor v You have installed the linear actuator so that no force is applied to the contact piece of the force sensor when the controller is switched on or rebooted p 17 Starting up the V 273 with the C 413 controller gt Start up the axis see C 413 user manual The start up involves the following steps Defining the reference point of the axis Optional AutoZero procedure for the axis Optional Selection of the closed loop control mode V 273 VC Linear Actuator MP124E Version 1 0 0 25 6 Start Up and Operation I Commanding initial motions in closed loop operation for testing the mechanical system In the user manual of the C 413 controller the start up is described using the PIMikroMove program 26 Version 1 0 0 MP124E V 273 VC Linear Actuator PIEZO NANO POSITIONING WWW PI WS 7 Maintenance 7 Maintenance In this Chapter General Notes on Maintenance 27 Cleaning the V 273 ME 27 7 1 General Notes on Maintenance NOTICE Damag
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