User Manual PLS-85 - Physik Instrumente
Contents
1. 26 mm 1 0 52 mm 2 1 102 mm 4 2 All specifications in this user manual only refer to the 155 mm 6 3 standard products that are included in the Pl miCos cata log Any special features that are different in particular special requests from customers are supplied with the us without LS 012 0 er manual as additional documentation in the form of i i n LS 012 length measuring system Technical Notes Pitch 1 mm limit switch mechanical 0 4 PRODUCT DESC RIPTION Pitch 2 mm limit switch mechanical 1 Pitch 1 mm limit switch Hall effect 2 4 1 Features and Application Area Pitch 2 mm limit switch Hall effect 3 Our products are designed specifically for use in the laboratory www pimicos com info pimicos com phone 49 0 7634 50 57 0 fax 49 0 7634 50 57 393 8 PLS 85 Precision Linear Stage 4 3 Product View Risk of catching by rotating parts such as couplers and ball screws A WARN Risk of squeezing or crushing by moving sliders at the places illustrated WARNING It is recommended that all persons entrusted with working with this product and who therefore come into contact with areas marked by the ESD warning symbol are given train ing and a comprehensive explanation of the ESD warning symbol with respect to the ESD precautions 4 4 Safety Instructions 4 5 Scope of Delivery 1 Stage according to order 2 Mounting accessories screws amp pins in fast2. 10 e To lubricate the guidings follow the instructions specified in the maintenance manual which you can obtain from our customer service department TROUBLESHOOTING 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 see chapter 9 CUSTOMER SERVICE For inquiries and orders contact your PI miCos sales engineer or send us and email info pimicos com If you have questions concerning your system have the following infor mation ready 1 Product codes and serial numbers of all products in the system 2 Current firmware of the controller if present 3 Software version of the driver or the user software if present 4 User operating system if present OLD EQUIPMENT DISPOSAL In accordance with EU directive 2002 96 EC WEEE as of 13 August 2005 electrical and electronic equipment may not be disposed of in the member states of the EU via the municipal residual waste PI milos Dispose of your old equipment according to international national and local rules and regulations In order to fulfil the responsibility as the product manufacturer PI miCos GmbH undertakes environmentally correct disposal of all old PI miCos equipment made available on the market after 13 August 2005 without charge Any old PI miCos equipment can be sent free of charge to the following address PI miCos GmbH Freiburger Strasse 30
3. Measures during Operation e If noise occurs during operation check the settings of the servo control parameters of your controller The highest dynamic force and holding force is achieved at a control sig nal input level of 100 however the motor drive may overheat during continuous operation e During continuous operation at room temperature do not exceed 90 of the control signal level e For continuous operation at other temperatures observe the maxi mum allowable duty cycle in relation to the ambient temperature or obtain information from our customer service department see chapter 9 Measures during Maintenance The PLS 85 is precision adjusted e Do not loosen any sealed screws Dirt oil lubricants and condensation will render the motor drive inopera ble e Keep the PLS 85 free of dirt and condensation PLS 85 Precision Linear Stage 7 3 UNPACKING 4 2 Model Overview 1 Unpack the PLS 85 with care 2 Compare the contents with the items listed in the contract and the packing list 3 Inspect the contents for signs of damage If there is any sign of dam age or missing parts contact PI Ceramic PI miCos immediately 4 Keep all packaging materials in case the product needs to be re turned Order no A WARNING aiid Risk of suffocation for children Keep the packaging foil away from children DC B 033 4 Dispose of packaging materials according to environmen tal regulations 2Phase 045 3
4. 79427 Eschbach Germany 11 EU DECLARATION OF CONFORMITY An EC Declaration of Conformity has been issued for the PLS 85 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 DIN EN ISO 12100 2010 RoHS EN 50581 2012
5. Noise generated during operation of the PLS 85 is a typical sign of oscil lation e Immediately switch off the servo control system of the affected stage axes e Check the settings of the servo control parameters Moving parts attached to devices with motorized stages can accelerate rapidly and generate high forces which can cause injury or damage to equipment The stage can carry out unintentional motions when being connected to the controller for the first time Defective software or wrong operation of the software can also result in unintentional motions e Do not place any objects in areas where they can be caught by mov ing parts Collision of a part in motion at the end of the travel range and high accel erations can cause damage to or wear on the mechanical system e Ensure that the automatic limit switch halt is supported by the control ler or that it is activated in the controller e Do not disable the evaluation of the limit switch signals by the control ler e Check the function of the limit switches at about 10 to 20 of the maximum velocity e Inthe event of a malfunction of the limit switches stop the motion im mediately e Ensure that the end of the travel range is approached at low velocity PI micos 2 2 4 2 2 5 Set the control signal so that the moving part does not stop abruptly or try to continue motion at the end of the travel range e Determine the maximum velocity for your application
6. e The permissible relative humidity is between 20 and 80 e Always keep the PLS 85 free of dirt dust and corrosive gases INSTALLATION General Notes on Installation Prerequisite The axis must be screwed onto a surface with an evenness better than 5 um It is necessary to make sure that no dust dirt or other foreign bodies are between the surface and the axis otherwise the properties of the axis can be impaired by mechanical tension To guarantee the prescribed specifications see Internet www pimicos com the evenness of the mounting surface must be better than 5 um Reference surface of PI miCos measuring granite is 3 um PLS 85 Precision Linear Stage 15 Mounting the Stage Prerequisite You have read and understood the general notes on installation see chapter 5 1 Mounting material Screws pins and auxiliary material or tools supplied see chapter 4 5 Scope of Delivery e DIN 912 screws and DIN 6325 dowel pins m6 tolerance field Tightening torques of the mounting screws to be used should not have values higher than the following e M3 DIN912 1 5 Nm e M4DIN912 2 0 Nm e M5DIN912 2 5 Nm e M6DIN912 3 0 Nm Mounting the PLS 85 1 Displace the moving platform of the PLS 85 to the center position by hand until all of the countersunk holes in the base body required for mounting accessible see following illustration 2 Mount the stage with the screws supplied 3 Make sure that the screw heads do not prot
7. load velocity Max continuous velocity at nominal torque Inertia 1E Continuous torque 1 Rotary encoder i Encoder increments quad counts Current consumption 57 typical Vcc 5 V DC a 0 5E 7 Operating temperature 40 100 1 63 rpm V rpm mNm rpm rom 5210 kgm mNm n Motortype S o Nominal voltage V Max continuous current A Electrical resistance Electrical inductance mH Torque constant mMNm A Velocity constant _ ppmv MM slope curve rpm mNm No load velocity rpm _ Inertia gm O Continuous torque mNm Rotary encoder ooo Encoder increments quad counts n www pimicos com info pimicos com phone 49 0 7634 50 57 0 fax 49 0 7634 50 57 393 10 PLS 85 Precision Linear Stage RE 015 Rotary optical encoder RS 422 quadrature Encoder type RMHF rotary optical encoder Quadrature counts per n 20000 fronton O O Signaotpt eseo Channels ine Current consumption mA 35 typical Vcc 5 V DC PPE Shielded Twisted Pair Positioner Connection Cable PI m los 4 7 3 Measuring System LS 012 sin cos signals Optical encoder sin cos signals Encoder type Incremental linear LIA 20 Grating period Ea ing peri Signal period Stel i A Z Steel Channels CT index Typical Vcc 5 V DC Linear expansion coefficient Approx 10 5e Index position 4 All 50 mm starting in the middle of Connector CE Pigtail lead
8. sealing bag 4 6 Optional Accessories For optional accessories please ask our customer service department chapter 9 for information on possible use of adapter plates or additional A WPNSININTG Z brackets After removing the transport lock if present watch out for moving parts 4 7 Technical Features 4 7 1 Load Capacity Data Protect the product against mechanical damage Never start up an axis if you suspect it to be damaged eso Oo ee DC B 032 50 25 30 20 70 40 h y or broken po s s present ecco fw we ole lela lo PI micos PLS 85 Precision Linear Stage 9 4 7 2 Motors PPE Shielded Twisted Pair Positioner ction Cab Motor Control DC B 032 Motor type DC brush 8257 024CR Rotary encoder RE 010 RS422 2 channel index Encoder increments quad 2000 counts 2Phase 045 Motor type Phase current Step angle Steps Coil resistance RE 010 Coil inductance Rotary optical encoder RS 422 quadrature Holding torque eo a Inertia Encoder type HEDL rotary optical encoder Weight Quadrature counts per 2000 revolution DC B 033 Signal output RS 422 Channels index PK 245 01B 2 phase bipolar half coil ea EE a 3 2 1 2 1 8 S200 0 3 320 6 8E 6 g 0385 AIA 13 ol gt gt Motor type Nominal voltage Max continuous current Electrical resistance Electrical inductance Torque constant i Velocity constant n M slope curve No
9. 00 05 OA VARAA O Linear encoder Sub D 9 pin RS 422 pin assignment Sub D m Function PLS 85 Precision Linear Stage 13 15 pin 8 CUT Eb CSL Encoder channel l a Nc pincer Shield Shield of encoder read head www pimicos com info pimicos com phone 49 0 7634 50 57 0 fax 49 0 7634 50 57 393 14 PLS 85 Precision Linear Stage 4 7 6 Technical Data TECHNICAL DATA Seraighiness Fates pm z Pic prad 2150 Yan om 2130 Weigh ka 1 __ _is_ __is Motor Pitch 1 2mm DC B 032 2Phase 045 DC B 033 Speed max mm sec Resolution calculated ym 0 05 Resolution typical um 005 Bi directional Repeatability um 0 1 Uni directional Repeatability ym 0 05 Nominal Current A Voltage Range V a LOL LJO8 74 5 04 5 Os E SS Accuracy onrequest Vee wey Velocity range mm sec 0 001 100 Te D d Material Aluminum black anodized S AAA ae 1 lt gt cS ue Note FS full step RE rotary encoder More info Detailed information concerning motors and encoders see appendix et Bd 8x M4 78 Tvl QR axgar ve r e ms ws s r eeoa 20 5 Ra npa k Gas gt oy PI muitos 4 8 5 1 Ambient Conditions For indoor use only e The PLS 85 was calibrated at an ambient temperature of 20 C 3 C e The permissible operating temperature is between 20 C and 40 C
10. A PLS 85 Precision Linear Stage 1 Dai 6234 9 1 DC B 032 2Phase 045 3 meyer 4 PLS 85 Precision Linear Stage Order no 6234 9 26 mm 1 0 52 mm 2 1 User Manual Version 00 000 Date 31 07 2015 102 mm 4 2 155 mm 6 3 without LS 012 0 LS 012 length measuring system 1 Pitch 1 mm limit switch mechanical 0 Pitch 2 mm limit switch mechanical 1 Pitch 1 mm limit switch Hall effect 2 Pitch 2 mm limit switch Hall effect 3 PImicos 2 Precision Linear Stage PLS 85 2014 PI miCos GmbH Eschbach Germany The text photographs and drawings in this manual are protected by copyright With regard thereto Pi miCos GmbH retains all rights The use of any text images and drawings is permitted only in part and only when indicating the source Subject to change without notice This manual is superseded by any new release The respective current revision is available for download on our website http www pimicos com File name FILE 001438010_0001_MAN_PLS 85_9 EN DOCX pdf Document ID DOC 000339521 PI micos CONTENTS 1 ABOUT THIS DOCUMENT 1 1 Objective and Target Group of this User Manual 1 2 Symbols and Typographic Conventions 1 3 Other Applicable Documents 2 SAFETY 2 1 Intended Use 2 2 General Safety Instructions 2 2 1 Organizational Measures 2 2 2 Measures during Installation 2 2 3 Measures during Start Up 2 2 4 Measures during Operation 2 2 5 Measures during Maintenance 3
11. Sub D m 15 pin Positioner Shielded Twisted Pair Motor Control Connection Cable ANLA AATNI Vy t If the encoder system will be powered up at a residual voltage between a range of 250 and 400 mV internal sensor parameter will not set correctly This will lead to incorrect encoder signals This behaviour has to be observed especially during reset routines of controllers PLS 85 Precision Linear Stage 11 4 7 4 Limit Switch Hall sensor limit switches DC motor stages Supply voltage Vdd 5 connected to encoder supply Output configuration Open coleco C Contactiype Nomaldoss Output Tye pn LS 012 T E aueiaiue Encoder type Linearincremental LIA 20 _ _ _ Gratingmaterial Steel o La Interpolator Integrated 100 times Signal output RS 422 quadrature Channels index o Supply voltage 5 10 Hall sensor limit switches 2SM motor stages m Typical Vcc 5 V DC Supply voltage Vdd 3 8 24 Frequency range MHz J Supply current oun ep Output configuration _ Opencollector lt Operating temperature ee pen colector Linear expansion Approx 10 5e coefficient Sd Output Type p Contact type Normal closed Absolute accurac ym l y E Operating temperature 40 to 85 Pigtail lead Sub D m 15 pin san Shielded Twisted Pair Positioner Connection Cab Index position All 50 mm starting in the middle of travel Connector www pimicos com info pimico
12. UNPACKING 4 PRODUCT DESCRIPTION 4 1 Features and Application Area 4 2 Model Overview 4 3 Product View 4 4 Safety Instructions 4 5 Scope of Delivery 4 6 Optional Accessories 4 7 Technical Features 4 7 1 Load Capacity Data 4 7 2 Motors 4 7 3 Measuring system 4 7 4 Limit Switch 4 7 5 Connector 10 11 PLS 85 Precision Linear Stage 3 4 7 6 Technical Data 4 8 Ambient Conditions INSTALLATION 5 1 General Notes on Installation 5 2 Mounting the Stage 5 3 Affixing the Load 5 4 Setting up an XY System START UP 6 1 General Notes on Start Up MAINTENANCE TROUBLESHOOTING CUSTOMER SERVICE OLD EQUIPMENT DISPOSAL EU DECLARATION OF CONFORMITY www pimicos com info pimicos com phone 49 0 7634 50 57 0 fax 49 0 7634 50 57 393 4 PLS 85 Precision Linear Stage 1 1 1 2 ABOUT THIS DOCUMENT All specifications in this user manual refer only to the standard products that are included in the Pl miCos catalog Any special features that are different in particular special requests from customers are supplied with the user manual as additional documentation in the form of Technical Notes Objective and Target Group of this User Manual e This user manual contains all information required for the intended use of the PLS 85 e Basic knowledge on servo systems motion control concepts and ap plicable safety measures is assumed e The latest version of the user manual and answers to any questions can b
13. aintained and cleaned by authorized and appropriately qualified personnel Measures during Installation The PLS 85 may be damaged by excessively long screws and wrongly mounted parts e When mounting the PLS 85 make sure that the mounting screws do not interfere with the stage motion The screw heads must not pro trude from the countersunk holes e Observe the depth of the mounting holes in the moving platform e Only use screws of the correct length for the respective mounting holes e Only mount the PLS 85 and the loads on the mounting fixtures holes intended for this purpose e The PLS 85 heats up during operation High temperatures can influ ence your application e Install the PLS 85 so that your application is not affected by the dissi pating heat e Cable extensions can affect the performance of the PLS 85 and dam age the electronics e Only use genuine PI miCos parts to connect the PLS 85 to the elec tronic equipment e Do not use cable extensions If you need longer cables use cable ex tensions from PI miCos e Avoid short circuiting the lines for motor voltages since this can dam age the electronics www pimicos com info pimicos com phone 49 0 7634 50 57 0 fax 49 0 7634 50 57 393 6 PLS 85 Precision Linear Stage 2 2 3 Measures during Start Up e Do not put your PLS 85 into operation until it is fully mounted and connected Your system can be damaged by uncontrolled oscillation of the PLS 85
14. e obtained from our customer service department see chapter 9 Symbols and Typographic Conventions The symbols and typographic conventions used in this manual have the following meanings Dangerous situation If not avoided the dangerous situation will result in death injuries or damage to the equipment gt Actions to take to avoid the situation Information for easier handling tricks tips etc PImicos 1 3 2 1 Other Applicable Documents All products and programs from PI miCos mentioned in this documenta tion are described in separate user manuals The latest versions of the user manuals can be obtained from our cus tomer service department see chapter 9 SAFETY Intended Use The PLS 85 is a laboratory device as defined by DIN EN 61010 1 It is in tended for indoor use and use in an environment which is free of dirt oil and lubricants In accordance with its design the PLS 85 is intended for positioning ad justing and shifting loads at various velocities on one axis The PLS 85 can be mounted horizontally or vertically The intended use of the PLS 85 is only possible in conjunction with suita ble electronics The following options are available 1 Drive electronics and controller with suitable software 2 Combination device with suitable software e The electronics are not included in the scope of delivery of the PLS 85 e The electronics must provide the required voltages To ens
15. rude from the countersunk holes www pimicos com info pimicos com phone 49 0 7634 50 57 0 fax 49 0 7634 50 57 393 16 PLS 85 Precision Linear Stage Mounting the Additional Part D 4m6x12 DIN6325 2x e Select the mounting position so that the existing fixing holes in the slider of the PLS 85 can be used for the additional part to be affixed e Mount the additional part with the corresponding screws 5 3 Affixing the Load uw Rd p Prerequisite marr You have read and understood the general notes on installation see 2x BAHT V6 chapter 5 1 Mounting material e DIN 912 screws and DIN 6325 dowel pins m6 tolerance field Tightening torques of the mounting screws to be used should not have values higher than the following e M3DIN912 1 5 Nm e M4DIN912 2 0 Nm e M5DIN912 2 5 Nm e M6DIN 912 3 0 Nm PI muitos Setting up an XY System Two PLS 85 can be stacked to from an XY system as follows M4x12 DIN912 A2 4x Y D 4m6x12 DIN6325 2x Stift DINe325 S Prerequisite You have read and understood the general notes on installation see chapter 5 1 Tools and accessories for combining PLS 85 e Use the mounting material supplied for example pins screws and washers with the PLS 85 to carry out XY mounting e The mounting procedure is described in chapter 5 2 0 e Special adapter plates are not required for the standard axes e To prevent too much negative influence on the
16. s com phone 49 0 7634 50 57 0 fax 49 0 7634 50 57 393 12 PLS 85 Precision Linear Stage Mechanical limit switches DC motor Sub D 15 pin motor assignment with Hall sensors Sub D m Function 15 pin Contacttype Normalclosed Operations Xt 4 ND 6 Me DC brush motor E1 cal p9 B8 Ea 9 EA Encoder channel A Encoder amp Hall sensor limit supply voltage 1 3 Connector DC motor Sub D 15 pin motor pin assignment with mechanical o Iecoocoo 3 O switches damn Sub D m Function 15 pin 2SM motor HD15 motor pinout with mechanical sensors HD15m___ Function 2 M Motor phase A 6 M _ DEl brush motor _ ES aaa Zooo S eee BE COM i S 5 MB Motor phase B 9 EA i Encoder channel A 6 MB Motor phase B Zoo dne S B8 dne S D de G pO e e e E e ee TEE 9o oo ooo 015 O PI milos 2SM motor HD15 motor pinout with hall sensors HD1i5m Function 2 M Motorphase Ar B3 dne S S r 5 MB Motor phaseB 6 MB Motor phaseB gt a a B Jne S o 3 Jne S ee E BN a Linear encoder Sub D 9 pin sin cos signals pin assignment Sub D m Function 15 pin 1 Encoder channel A sin ess EB nc Encoder channel B cos Encoder channel l Ref Supply encoder GND Encoder supply Encoder channel A sin 7 Encoder channel B cos Encoder channel l Ref one Housing Shield of encoder read head 100
17. travel behavior of the Y axis the shortest possible travel range should be selected In ex treme Y axis positions an adapter plate is used to allow sufficient space for stiffening 6 1 PLS 85 Precision Linear Stage 17 START UP General Notes on Start Up This stage must be started up with a suitable cable and the associated controllers MAINTENANCE Depending on the operating conditions and the period of use of the PLS 85 the following maintenance measures are required Maintenance run The maintenance run is performed to redistribute the existing lubricant on the guidings of the stage e To evenly distribute the existing lubricant on the stage guidings per form a maintenance run across the entire travel range after 500 hours of operation or after 1 year at the latest e If you operate the translation stage continuously over a small travel range less than 20 percent of the entire travel range perform a maintenance run every 5000 motion cycles across the entire travel range Lubrication Under laboratory conditions the guidings of the stage need to be lubri cated in exceptional cases only For continuous industrial use the lubri cation intervals must be defined individually e Do not lubricate the guidings of the PLS 85 without consulting our customer service department see chapter 9 www pimicos com info pimicos com phone 49 0 7634 50 57 0 fax 49 0 7634 50 57 393 18 PLS 85 Precision Linear Stage
18. ure proper performance of the servo control system the electronics must be able to read out and process the signals from reference and limit switches and from the incremental position encoder 2 2 2 2 1 General Safety Instructions The PLS 85 is built according to state of the art technology and recog nized safety standards Improper use of the PLS 85 may result in per sonal injury and or damage to the PLS 85 1 Only use the PLS 85 for its intended purpose and only use it if it is in good working order 2 Read the user manual 3 Immediately eliminate any faults and malfunctions that are likely to af fect safety The operator is responsible for the correct installation and operation of the PLS 85 Organizational Measures User manual e Always keep this user manual available when using the PLS 85 If the user manual is lost or damaged contact our customer service de partment see chapter 9 e Add all information from the manufacturer such as supplements or technical notes to the user manual e Only use the device on the basis of the complete user manual If your user manual is incomplete and is therefore missing important infor mation serious or fatal injury as well as damage to the equipment can result e Only install and operate the PLS 85 after you have read and under stood this user manual 2 2 2 PLS 85 Precision Linear Stage 5 Personnel Qualification The PLS 85 may only be started up operated m
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