User Manual LS-110
Contents
1. 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 LS 110 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 LS 110 is intended for positioning ad justing and shifting of loads at various velocities The LS 110 can be mounted horizontally or vertically The intended use of the LS 110 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 LS 110 e The electronics must provide the required voltages To ensure proper performance of the servo control system the electronics2. squeezing or crushing by moving sliders at the places illustrated A 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 Scope of Delivery 1 Stage according to order e Mounting accessories screws amp pins in fast sealing bag Optional Accessories For optional accessories please ask our customer service department chapter 9 for information on possible use of adapter plates or additional Z brackets LS 110 Linear Stage 9 4 7 Technical Features 4 7 2 Motors 4 7 1 Load Capacity Data DC B 032 Aea a Motortype oo rpm V en DC brush 3257 024 CR 4 i 1 63 mNm A rpm V nominal torque Rotary encoder RE 010 RS422 2 channel index counts RE 010 Rotary optical encoder RS 422 quadrature Encoder type _ HEDL rotary optical encoder Quadrature counts per n 2000 revolution Signal output RS 422 Channels index o FACTS Typical Vcc 5 V DC Code disc inertia 0 5E 7 Operating temperature 40 100 www pimicos com info pimicos com phone 49 0 7634 50 57 0 fax 49 0 7634 50 57 393 10 LS 110 Linear Stage Rotary encoder RE 015 RS422 2 channel index Pre Shielded Twisted Pair Positioner Connection Cable Motor Control Enco
3. 5 Measures during Installation The LS 100 may be damaged by excessively long screws and wrongly mounted parts e When mounting the LS 110 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 LS 110 and the loads on the mounting fixtures holes intended for this purpose e The LS 110 heats up during operation High temperatures can influ ence your application e Install the LS 110 so that your application is not affected by the dissi pating heat e Cable extensions can affect the performance of the LS 110 and dam age the electronics e Only use genuine PI miCos parts to connect the LS 110 to the elec tronics 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 Measures during Start Up e Do not put your LS 110 into operation until it is fully mounted and connected www pimicos com info pimicos com phone 49 0 7634 50 57 0 fax 49 0 7634 50 57 393 6 LS 110 Linear Stage Your system can be damaged by uncontrolled oscillation of the LS 110 Noise generated during operation of the LS 110 is a typical sign of oscil lation e Immedia
4. 90 25s 30s E5V m u Encoder channel I Ref Straightness 7 Fatness i T Supply encoder GND pich ra 100 Cesv__ Encoder supply Yaw in T Ea Encoder channel A Sn Weight iKa 37 7 EB _ Encoder channel B cos Motor Pitch 2 DC B 032 2Phase 045 DC B 033 El SLs Encoder channel l Ref Tne Linear scale pt Ao Speed max mm sec a s o ousing Shield Shield of encoder read head Resolution calculated um 1 RE 10 FS 0 1 RE 0 05 Resolution typical um 005 Unidirectional Repeatability pm 005 Nominal Current A Voltage Range V a _ L 7l mimm gt O 6 Le ee Housing Accuracy on request Velocity range mm sec 0 001 90 Material Aluminum black anodized Note FS full step RE rotary encoder B 2 250 300 360 360 430 480 www pimicos com info pimicos com phone 49 0 7634 50 57 0 fax 49 0 7634 50 57 393 14 LS 110 Linear Stage PI micos 4 8 Ambient Conditions For indoor use only e The LS 110 was calibrated at an ambient temperature of 20 C 3 C e The permissible operating temperature is between 20 C and 40 C e The permissible relative humidity is between 20 and 80 e Always keep the LS 110 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
5. 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 10 11 LS 110 Linear Stage 3 4 7 4 Limit Switch 4 7 5 Connector 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 LS 110 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 LS 110 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 be obtained from our customer service department see chapter
6. LS 110 Linear Stage 1 fonder ss s i i BWG D LS 110 Linear Stage 1 Order no 6236 9 DC B 032 2Phase 045 3 DC B 033 i User manual 26 mm 1 f Version 00 000 Date 31 07 2015 52 mm 2 2 77 mm 3 3 102 mm 4 4 155 mm 6 5 190 mm 6 255 mm 10 7 305 mm 12 8 Without LS 010 0 LS 010 length measuring system steel max 155 mm 1 MLS 020 limit switch mechanical 0 PI muitos 2 LS 110 Linear Stage 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 001438011_0001_ MAN _LS 110 9 EN DOCX pdf Document ID DOC 000339522 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 UNPACKING 4 PRODUCT DESCRIPTION 4 1
7. der increments quad 20000 counts RE 015 Rotary optical encoder RS 422 quadrature Encoder type RMHF rotary optical encoder Quadrature counts per n 20000 revolution Signal output sRS 4B2 Channels 2 inde 4 5 5 5 Current consumption 35 Typical Vcc 5 V DC 1000 Shielded Twisted Pair PK 245 01B 2 phase bipolar half coil e 2 8 3 8 6 8E 6 Positioner Connection Cable DC B 033 Motor type DC brush 3257 024 CR Nominal voltage 24 2 Max continuous current 1 Electrical resistance 1 63 Electrical inductance Torque constant Velocity constant n M slope curve No load velocity 5900 Max continuous velocity at nominal torque Inertia Continuous torque LS 110 Linear Stage 11 4 7 3 Measuring System Supply voltage 5 10 Current consumption lt 60 vt Typical Veo 8V 00 Se Linear optical encoder RS 422 quadrature Linear incremental LIA 20 n nm Index position 50 mm starting in the middle of Current consumption mA lt 200 Typical Vcc 5 V DC l Z ini D Counter capability C m Index position 50 mm starting in the middle of m iti Shielded Twisted Pair Positioner Connection Cable During the power up procedure of the encoder system the operating voltage and the level in the signal lines must be below 250 mV If the encoder is switched on at a residual voltage between 250 to 400 mV internal parameters are not set properly Th
8. e Controller was re placed LS 110 was replaced by another model Functional impairment after system modification Controller and or power supply are connected incorrectly or defective Mechanical system does not move no operating noise can be heard Mechanical system does not move no operating noise can be heard When a PI controller is used There is a motion error of the axis Moving platform has triggered the limit switch PI micos Controller from PI Load the parameters from the stage database that correspond to the com bination of controller and the LS 110 model Controller from a third party supplier Check the operating parameters Check all connecting cables Check the controller If present Check the power supply of the stage Motion error The difference between the current position and the com manded position exceeds the speci fied maximum value in closed loop operation For example motion errors can be caused by malfunctions of the drive or the position sensor of the stage 1 Read out the error code of the con troller in the PC software If there is a motion error error code 1024 is out put 2 Check your system and make sure that all axes can be moved safely 3 In the PC software switch on the servo mode for the axis affected For details see the user manual of the controller If you use a controller from PI 1 In the PC software switc
9. h on the servo mode of the axis affected 2 In the PC software command an axis motion away from the limit switch In the case of models with a stepper mo tor The me chanical sys tem does not move any more but pro duces an op erating noise The motor is over loaded by an external load torque or the mass to be driven in the case of strong acceleration or de celeration The motor skips steps The infor mation on the current position is lost without the controller recognizing this state In the application determine the maximum velocity for a stage with a stepper motor 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 2 3 4 Product codes and serial numbers of all products in the system Current firmware of the controller if present Software version of the driver or the user software if present User operating system if present 10 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 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 miC
10. is can lead to incorrect encoder sig nals lt is particularly important to observe this when resetting controllers LS 011 Optical encoder sin cos signals Forbidden range during power up or reset Encoder type Linear incremental LIA 20 Grating period Signal period Signal period Grating material o S Sted S Signal output 1 Vpp differential sin cos signals www pimicos com info pimicos com phone 49 0 7634 50 57 0 fax 49 0 7634 50 57 393 12 LS 110 Linear Stage 4 7 4 Limit Switch Mechanical limit switches Contacttype Normalclosed _ _ Operations Jo S aiot S Common E1 cal 4 7 5 Connector DC motor Sub D 15 pin with mechanical switches Sub D Function m 15 pin 2 EB Encoder channel B 3 El Encoder channel l 4 EGND Supply encoder GND _ _ 6 M DCbrushmoors 8 COM_ Limitcommon_ 9 EA Encoder channel A 1 00 000008 eere eee PI m los 2SM motor HD15 motor pinout with mechanical sensors HD15m Function Motor phase A E Motor phase B Motor phase B Limit reverse Limit forward Sub D m Function 9 pin 6 B Bo o Pe a Shield of encoder read head LS 110 Linear Stage 13 Linear encoder Sub D 9 pin sin cos signal pin assignment 4 7 6 Technical Data Sub D m Function nm O 5 TECHNICAL DATA m gt Encoder channel A sin EB Encoder channel B cos Travel range mm 55 1
11. low sufficient space for stiffening 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 LS 110 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 LS 110 Linear Stage 17 maintenance run every 5000 motion cycles across the entire travel 7 1 3 Care and maintenance interval range as 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 LS 110 without consulting our cus tomer service department see chapter 9 Do not modify the positioning unit do not make any mechanical changes without e To lubricate the guidings follow the instructions specified in the prior consultation with PlmiCos personnel If the positioning unit does not corre maintena
12. 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 5 2 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 M38DIN912 1 5 Nm e M4DIN912 2 0 Nm e M5DIN912 2 5 Nm e M6DIN 912 3 0 Nm Mounting the LS 110 1 Displace the moving platform of the LS 110 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 protrude from the countersunk holes 5 3 LS 110 Linear Stage 15 D 4m6x12 DIN6325 2x Affixing the Load Prerequisite You have read and understood the general notes on installation see chapter 5 1 Mounting material e DIN 912 screws and DIN 6325 dowel pins m6 tolerance field Tightening t
13. 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 LS 110 is built according to state of the art technology and recog nized safety standards Improper use of the LS 110 can result in personal injury and or damage to the LS 110 1 Only use the LS 100 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 LS 100 Organizational Measures User manual e Always keep this user manual available when using the LS 100 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 LS 100 after you have read and under stood this user manual Personnel Qualification The LS 100 may only be started up operated maintained and cleaned by authorized and appropriately qualified personnel 2 2 2 2 2 3 LS 110 Linear Stage
14. nce manual which you can obtain from our customer service spond to the prescribed specifications contact PlmiCos department 7 1 Supplementary Information 8 TROUBLESHOOTING 7 1 1 Safety If the problem that occurred with your system is not listed in the table above or e This positioning unit is a sensitive device and must be handled with cannot be solved as described contact our customer service department see care Do not throw it or subject it to strong mechanical loading chapter 9 e Do not touch moving parts when the unit is in motion e Do not touch the spindle as this will shorten the lifetime of the unit Reduced Warped base body Mount the LS 110 on an even sur positioning face The recommended evenness of accuracy the surface is 3 um When the LS 110 is Do not exceed the maximum per mounted vertically missible load capacities 7 1 2 Operational environment The unit is calibrated to an ambient temperature of 20 C 3 C Keep the surrounding atmosphere free of corrosive gases and humidity Protect against dirt falling from above Protect against dust Temperature range 20 C 40 C Relative humidity between 20 80 The load exceeds the self locking of the drive Increased wear due Carry out a maintenance run over to small motions over the entire travel range chapter 7 a long period of time www pimicos com info pimicos com phone 49 0 7634 50 57 0 fax 49 0 7634 50 57 393 18 LS 110 Linear Stag
15. nt in particular special requests from customers are supplied with the us er manual as additional documentation in the form of Technical Notes LS 110 Linear Stage 7 4 PRODUCT DESCRIPTION 4 1 Features and Application Area Our products are designed specifically for use in the laboratory 4 2 Model Overview S N ANNER Nae Ea 2 SNS aN a a gt lt Yw 737 2 SS gt lt Y 05 o IN l NEA Wary a a il siy E ley yy ot DC B 032 DC B 033 2Phase 045 Order ne 0 28G D DC B 032 1 Phase O45 3 DC B 033 26 mm 1 52 mm 2 77 mm 3 102 mm 47 155 mm 67 190 mm 255 mm 10 oY on bp wWN H 305 mm 127 without LS 010 LS 010 Linear steel scale max 155 mm MLS5 020 Mechanical limit switches oOo www pimicos com info pimicos com phone 49 0 7634 50 57 0 fax 49 0 7634 50 57 393 8 LS 110 Linear Stage 4 3 Product View 1 Base 2 Slide 3 Motor 4 Damper 4 4 Safety Instructions 4 5 4 6 WARNING After removing the transport lock if present watch out for moving parts rN Protect the product against mechanical damage knocking shock Never start up an axis if you Suspect it to be damaged or broken Do not disconnect or connect connectors when voltage is present PI micos WARNING Risk of catching by rotating parts such as couplers and ball screws WAPNING Risk of
16. orques 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 Additional Part e Select the mounting position so that the existing fixing holes in the slider of the LS 110 can be used for the additional part to be affixed e Mount the additional part with the corresponding screws www pimicos com info pimicos com phone 49 0 7634 50 57 0 fax 49 0 7634 50 57 393 16 LS 110 Linear Stage 5 4 100 2x 4 H7 V6 18x M6 V7 g8gxM4 y7 ff SG E Lop SFOS Zs E 80 ie 6 Setting up an XY System 6 1 Two LS 110 can be stacked to form an XY system as follows T d 6 4 DIN433 A2 4x ee M6x12 DIN912 A2 4x D 4m6x12 DIN6325 2x Sy Prerequisite You have read and understood the general notes on installation see chapter 5 1 PI muitos Tools and accessories for combining two LS 110 e Use the mounting material supplied for example pins screws and washers with the LS 110 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 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 al
17. os 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 79427 Eschbach Germany LS 110 Linear Stage 19 11 EU DECLARATION OF CONFORMITY An EC Declaration of Conformity has been issued for the LS 110 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 www pimicos com info pimicos com phone 49 0 7634 50 57 0 fax 49 0 7634 50 57 393
18. tely 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 motion imme diately e Ensure that the end of the travel range is approached at low velocity 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 PI micos 2 2 4 2 2 5 Measures during Operation e f noise during occurs operation of the LS 110 check the settings of
19. 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 permissible duty cycle in relation to the ambient temperature or contact our customer service department for more information see chapter 9 Measures during Maintenance The LS 110 is precision adjusted e Do not loosen any sealed screws Dirt oil lubricants and condensation will render the motor drive inopera ble Keep the LS 110 free of dirt and condensation water 3 UNPACKING 1 Unpack the LS 110 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 A ZNENIE Risk of suffocation for children Keep the packaging foil away from children Dispose of packaging materials according to environmen tal regulations All specifications in this user manual only refer to the standard products that are included in the Pl miCos cata log Any special features that are differe
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