User Manual MP47E
Contents
1. errar 5 6 Connecting the Motor Cable to the M 06X i inn 5 7 Connecting the Power Supply to the M OGxX oocccooooocccncccnoccconcnononccnncnnnncons Start Up 6 1 General Notes on Start Diamant 6 2 Starting Up the Rotation Stage i 6 2 1 M 06x Entries in the Stage Database of PI 6 2 2 Operating Parameters of the Models with DC Motor 6 2 3 Operating Parameters of the Models with Stepper Motor Maintenance 7 1 General Notes on Maintenance iii 7 2 Performing a Maintenance RUn 7 3 Cleaning the M 06X iui rire cri Troubleshooting Customer Service Technical Data WO o A e ESE entire arena 10 1 1 A PA Aran ira 10 1 2 Maximum RAIOS aires rd ij a reni 10 1 3 Ambient Conditions and Classifications 10 1 4 Reference Point Switch SpecificationS 12 DIMENSIONS ndice lead esoo 10 2 1 M 06x DG M 06x PD M 06x 2S Models 10 2 2 M 06x MO Models 10 3 FIN ASSIQNMEN scaricare tidad ica 10 3 1 Sub D 15 m Controller Connection nn 10 3 2 Mini XLR3 m Power Supply Connection Old Equipment Disposal EC Declaration of Conformity PIEZO NANO POSITIONING WWW PI WS 1 About this Document 1 About this Document In this Cha2. 2493 Screw set for mounting the rotation stage 6 M4x12 socket head cap screws ISO 4762 Allen wrench AF 3 DIN 911 Only M 061 xx M 062 xx models 2498 Screw set for mounting the rotation stage 6 M4x16 socket head cap screws ISO 4762 Allen wrench AF 3 DIN 911 Only M 06x DG M 06x PD M 06x 2S models C 815 38 Motor cable 3 m Sub D 15 m f Only M 06x PD models C 663 PS Wide range input power supply 24 V 42 W K050B0002 Adapter from 5 5 mm x 2 1 mm barrel connector to Mini XLR8 f for the power supply connection 3 6 Accessories Order Description number C 815 83 Motor cable 10 m Sub D 15 m f To order contact our customer service department p 37 12 Version 2 0 0 MP47E M 06x Rotation Stage 3 Product Description PIEZO NANO POSITIONING WWW PI WS 3 7 Suitable Controllers For the M 06x DG M 06x PD and M 06x 2S models the following applies The M 06x must be connected to a suitable controller The following controllers from Pl are suitable for the operation of the M 06x Axes per i Multiple controllers on Drive type Controller PC interface ke amne PC DC motor C 843 2or4 Internal PCI Yes separate boards bus C 863 1 USB RS 232 Yes same interface daisy chain C 884 1to4 USB RS 232 Yes TCP IP Stepper C 663 1 USB RS 232 Yes same interface motor daisy chain PC software is included in the scope of delivery of the controllers from Pl The operation of the controller
3. 4000 resolution Design 32 0 0018 resolution 17 5 0 001 15 0 0008 Incremental S2 145 15 motion Backlash 200 200 240 Unidirectional 50 50 60 repeatability Velocity 90 Mechanical properties Worm gear ratio 50 1 50 1 90 1 90 1 110 1 110 1 Gear ratio M 06x Rotation Stage M 060 DG M 061 DG M 062 DG Rotation gt 360 Rotary encoder 2000 2 1 0 00012 1 2 6 9 x 10 5 0 96 5 5 x 10 5 6 3 6 5 200 200 240 50 50 60 16 9 7 5 50 1 90 1 110 1 28 12 4 1 29 6 1 MP47E M 060 2S M 061 2S M 062 2S Rotation gt 360 19 7 0 0011 10 9 0 00063 8 9 0 00051 40 20 18 200 200 240 50 50 60 36 20 16 50 1 90 1 110 1 Unit cts rev urad urad urad urad Ils Version 2 0 0 Tolerance min max 39 10 Technical Data Motor resolution Load capacity axial force Torque 0x Oy Torque 07 Drive properties Motor type Operating voltage Motor power Reference point switch Miscellaneous Operating tem perature range Material Mass Recommended controller driver 40 M 060 MO M 061 MO M 062 M0 500 550 650 6 6 7 4 6 8 10 to 40 Aluminum 0 42 1 36 2 24 M 060 PD M 061 PD M 062 PD 500 550 650 6 6 7 4 6 8 DC motor ActiveDrive 24 PWM 30 Hall effect 10 to 40 Alumin
4. 7 Maintenance I Lubrication Under laboratory conditions the rotation stage only needs extra lubrication in exceptional cases For continuous industrial use the lubrication intervals must be defined individually gt Do not lubricate the M 06x without consulting our customer service department p 37 gt To lubricate follow the instructions in the maintenance manual which you can obtain from our customer service department 7 3 Cleaning the M 06x Prerequisites v You have disconnected the rotation stage from the controller and the power supply Cleaning the rotation stage gt If necessary clean the surfaces of the rotation stage with a cloth that is lightly dampened with a mild cleanser or disinfectant 34 Version 2 0 0 MP47E M 06x Rotation Stage 8 Troubleshooting PIEZO NANO POSITIONING WWW PI WS 8 Troubleshooting Reduced positioning Warped base body gt Mount the M 06x on an even surface accuracy The recommended evenness of the surface is 10 um Increased wear due to small Perform a maintenance run over at least motions over a long period of one rotation of the platform time Only M 06x DG M Controller has been Controller from Pl 06x PD and M 06x 25 replaced gt Load the parameters from the stage models Impairment of M 06x has been replaced database that correspond to the the function after with another model combination of controller and M 06x system modification model Contr
5. NOTICE Impermissibly high load on the rotation stage An impermissibly high load interferes with the motion of the moving platform and can damage the rotation stage gt In respect to the mass and mounting type of the load observe the maximum permissible forces that are allowed to act on the moving platform according to the specification p 39 M 06x Rotation Stage MP47E Version 2 0 0 23 5 Installation gt I NOTICE Screws that are too long Screws that are inserted too deeply can damage the M 06x gt Observe the depth of the mounting holes in the moving platform p 42 gt Only use screws of the correct length for the respective mounting holes Figure 11 Position of the mounting holes for affixing the load Prerequisites v You have read and understood the general notes on installation p 17 v You have properly attached the rotation stage to a surface p 22 v M 06x DG M 06x PD M 06x 2S The rotation stage is not connected to the controller and the power supply v You have prepared the load so that it can be affixed to the mounting holes on the moving platform The distance between the center of gravity of the load and the center of the platform is as small as possible in all directions Atleast two points are provided for mounting the load on the platform ideally three attachment points 24 Version 2 0 0 MP47E M 06x Rotation Stage 5 Installation PIEZO NANO POSITION
6. effect sensor Supply voltage 5 V GND supplied via the motor connector Signal output TTL level M 06x Rotation Stage MP47E Version 2 0 0 41 10 Technical Data Pp I 10 2 Dimensions 10 2 1 M 06x DG M 06x PD M 06x 2S Models Dimensions in mm Note that the decimal places are separated by a comma in the drawings 42 Version 2 0 0 MP47E M 06x Rotation Stage PIEZO NANO POSITIONING WWW PI WS MP47E Version 2 0 0 M 06x Rotation Stage o foo foo po fo fo fo fo pa E E E a jo fron fe o fofo q E o p e e e e IN UN a e ep e pe E gt A I 10 Technical Data 43 10 Technical Data Pp I 10 2 2 M 06x M0 Models Dimensions in mm Note that the decimal places are separated by a comma in the drawings D8 HH7V4 P14 44 Version 2 0 0 MP47E M 06x Rotation Stage PIEZO NANO POSITIONING WWW PI WS 10 Technical Data M 06x Rotation Stage MP47E Version 2 0 0 45 10 Technical Data Pp I 10 3 Pin Assignment 10 3 1 Sub D 15 m Controller Connection 46 00000000 00000 9 15 Figure 12 Sub D 15 m controller connection front view M 06x DG models Not connected DP foro Motor C CI Dom rene A A AAA CO I AA 6 GND GND Version 2 0 0 MP47E M 06x Rotation Stage PIEZO NANO POSITIONING WWW PI WS 10 Technical Data M 06x PD models Pin sigma Direction i CTI ES 9 Notcomeced O CI A GND GND MAGN PWM magnitude i COLG
7. electric motors MP119EK Short Instructions 1 6 Downloading Manuals INFORMATION If a manual is missing or problems occur with downloading gt Contact our customer service department p 37 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 Pl website gt Follow the corresponding instructions for downloading Downloading freely accessible manuals 1 Open the website http www pi portal ws 2 Click Downloads 3 Click the corresponding product category 4 Goto the corresponding product code The available manuals are displayed 5 Click the desired manual and save it on the hard disk of your PC or on a data storage medium M 06x Rotation Stage MP47E Version 2 0 0 3 1 About this Document gt I Downloading password protected manuals 1 di 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
8. motions When the M 06x is being connected to the controller it can carry out unintentional motions Defective software or wrong operation of the software can also result in unintentional motions gt Do not place any objects in areas where they can get caught by moving parts gt Before connecting the M 06x check whether a macro is defined as the start up macro in the controller and cancel the selection of the start up macro if necessary INFORMATION The maximum velocity for a rotation stage with a stepper motor should be determined in the application If the commanded velocity is too high the stepper motor might stop without the controller detecting this condition 28 Version 2 0 0 MP47E M 06x Rotation Stage 6 Start Up PIEZO NANO POSITIONING WWW PI WS INFORMATION The repeatability of the positioning is only ensured when the reference point switch is always approached from the same side Controllers from PI fulfill this requirement due to the automatic direction sensing for reference moves to the reference point switch INFORMATION For models with DC motors Unsuitable settings made to the servo control parameters can impair the performance of the M 06x The consequences of this can be expressed as follows Oscillations Imprecise approach of the position Settling time is too long gt lf the performance of the M 06x is not satisfactory check the settings for the servo control parameters of y
9. to each other gt If possible simulate the rotation stage motions with a mounted load or make suitable calculations to detect collisions or unfavorable center of gravity constellations gt f necessary take suitable constructive measures to avoid collisions and instability in the overall system M 06x Rotation Stage MP47E Version 2 0 0 17 5 Installation P gt I gt Avoid or mark danger zones that result from the installation of the rotation stage and the application in accordance with the legal regulations 5 1 2 Notes on Models with a Motor NOTICE Cable break A cable break leads to a failure of the rotation stage gt Install the rotation stage so that the cable is not bent or crushed too strongly during operation gt M 06x DG and M 06x PD models If you change the connection orientation of the rotation stage p 18 avoid overstretching the cable between the motor flange and the motor case NOTICE Heating up of the M 06x during operation The heat produced during operation of the M 06x can affect your application gt Install the M 06x so that your application is not affected by the dissipating heat 5 2 Optional Modifying the Connection Orientation on the M 06x INFORMATION Motor and connections of the M 06x DG and M 06x PD models can be rotated around the axis of the motor and fixed at any position gt Check whether the connections of the rotation stage are at a position that is su
10. About this Document 1 1 1 Objective and Target Audience of this User Manual i 1 1 2 Symbols and Typographic CONnventions 1 1 3 Py TM NOMA erre SEE NDA vos cent cucu cp SAD 2 1 4 FIGI Sini iero O 2 1 5 Other Applicable DOCUMENTS i 3 1 6 Downloading Manuals eee eeereea a eerena nr erena na ereeaarerenaanera 3 2 Safety 5 2 1 Mendrad U AM O o one 5 2 2 General Safety Instructions 5 2 3 Organizational MeaSUures 6 3 Product Description 7 3 1 Model OvervieW sostenidas 7 3 2 OCIS W ilaria 9 3 3 Product Lea NAG csi titiritero 10 3 4 Direction of MOON sesisrriinatra rin a 11 3 5 Scope of Delivery iii 12 3 6 ACCESO MES aula i 12 3 7 Suitable Controlle S ua Lada 13 3 8 ln PA 13 3 8 1 o riali 13 3 8 2 Reference Point Switch rare errar 13 3 8 3 Integrated PWM Amplifier eres 14 4 Unpacking 15 5 Installation 17 5 1 General Notes on Installation errei rea ra neaa 17 Dili Notes on all Models errei rear 17 5 1 2 Notes on Models with a Motor ii 18 10 11 12 5 2 Optional Modifying the Connection Orientation on the M 06x 5 3 Optional Aligning the Hole Pattern of the Platform 5 4 Mounting the M 06x on a Surface cccccccoocccnnccccoccnnncconancnnncnnnnnennnnnnnanennnonnnas 5 5 Affixing the Load to the M 06X
11. ING WWW PI WS Tools and accessories Atleast 2 M4 screws of suitable length Suitable tools for fastening the screws Affixing the Load 1 Align the load so that the selected mounting holes in the platform can be used to affix it 2 Use the screws to affix the load on the selected mounting holes in the platform 3 Check that the load is affixed firmly to the platform of the rotation stage 5 6 Connecting the Motor Cable to the M 06x 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 C 815 38 motor cable 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 the motor cable to the M 06x 1 Connect the connector f of the motor cable to the Sub D 15 pin panel plug m of the rotation stage 2 Secure the connector f with the two integrated screws against being unintentionally pulled out of the rotation stage M 06x Rotation Stage MP47E Version 2 0 0 25 5 Installation P gt I 5 7 Connecting the Power Supply to the M 06x Connecting a power supply is only necessary for the M 06x PD models Prerequisites v The power cord is not connected to the power socket Tools and accessories Supplied components 24 V wide range input power supp
12. O a Notcomected CSS CC E E GND GND M 06x Rotation Stage MP47E Version 2 0 0 47 10 Technical Data i gt I M 06x 2S models CN CIO pe E CTC CT E O CR po E uses o AAA i 1 C EO DS ETC fo EO a CNN CEI AN 10 3 2 Mini XLR3 m Power Supply Connection 48 Connecting a power supply is only necessary with the M 06x PD models Figure 13 Mini XLR 3 m power supply connection front view 24 V DC supply voltage Not connected Version 2 0 0 MP47E M 06x Rotation Stage PIEZO NANO POSITIONING WWW PI WS 11 Old Equipment Disposal 11 Old Equipment Disposal In accordance with EU law electrical and electronic equipment may not be disposed of in EU member states via the municipal residual waste Dispose of your old equipment according to international national and local rules and regulations In order to fulfil its responsibility as the product manufacturer Physik Instrumente PI GmbH amp Co KG undertakes environmentally correct disposal of all old Pl equipment made available on the market after 13 August 2005 without charge Any old PI equipment can be sent free of charge to the following address Physik Instrumente Pl GmbH Co KG Auf der Roemerstr 1 D 76228 Karlsruhe Germany M 06x Rotation Stage MP47E Version 2 0 0 49 PIEZO NANO POSITIONING WWW PI WS 12 EC Declaration of Conformity 12 EC Declaration of Conformity For the M 06x an EC Declaration of Co
13. PI MP47E M 06x Rotation Stage User Manual Version 2 0 0 Date 29 05 2015 This document describes the following precision rotation stages gt 360 M 06x DG with closed loop DC gear motor M 06x PD with DC motor and PWM control M 06x 25 with 2 phase stepper motor M 06x MO with manual drive x stands for the platform diameter O 60 mm 1 100 mm 2 120 mm 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 PIO PICO PICMA PILine PIFOC PIMag PiezoWalk NEXACT NEXLINE NanoCube NanoAutomation Picoactuator PInano 2015 Physik Instrumente Pl 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 The use of any text images and drawings is permitted only in part and only when indicating the source Original instructions First printing 29 05 2015 Document number MP47E MMa Version 2 0 0 Subject to change without notice This manual is superseded by any new release The latest release is available for download p 3 on our website PIEZO NANO POSITIONING WWW PI WS Contents 1
14. ase of PI For controllers from Pl you can select the connected rotation stage from a stage database in the corresponding PC software The appropriate operating parameters are thus loaded to the controller You can find a detailed description in the user manual for the controller or in the manual for the PC software used INFORMATION For models with an analog DC gear motor the stage database contains entries with the name affix PWM When these entries are used the controller outputs PWM signals for operating the stage The PWM signals must be converted into the analog signal for the stage by external electronics PWM analog converter and separate amplifier gt Only select an entry containing PWM after you have consulted our customer service department p 37 and provided suitable external electronics in your application 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 for adaptation to the rotation stage used po feo oe ro 5 ro D term 450 500 280 350 280 500 Em Maximum 100 1000 100 1000 100 1000 Vs acceleration 30 Version 2 0 0 MP47E M 06x Rotation Stage PIEZO NANO POSITIONING WWW PI WS 6 Start Up Be fpo os ro 56 ro morro COS SS jas O Encoder resolution 8233 556 Not recommended for continuous operation 6 2 3 Operating Parameters of the Models with Steppe
15. e same or similar thermal expansion properties as the M 06x Figure 10 Position of the holes for mounting the rotation stage on a surface Prerequisites v You have read and understood the general notes on installation p 17 v You have provided a suitable surface for the required position and depth of the holes for accommodating the screws see Dimensions p 42 There are three M4 threaded holes The evenness of the surface is lt 10 um 22 Version 2 0 0 MP47E M 06x Rotation Stage 5 Installation PIEZO NANO POSITIONING WWW PI WS For applications with large temperature changes The surface should have the same thermal expansion properties as the M 06x e g surface made of aluminum v You have accounted for the space required to route cables without bending and according to regulations v M 06x DG M 06x PD M 06x 2S The rotation stage is not connected to the controller and the power supply Tools and accessories Mounting accessories in the scope of delivery p 12 M 060 xx 3 M4x12 screws M 061 xx M 062 xx 3 M4x16 screws Allen wrench AF 3 Mounting the rotation stage on a surface 1 Align the rotation stage on the surface so that the corresponding mounting holes in the rotation stage and the surface overlap 2 Completely screw in the screws into all mounting holes 3 Check that the rotation stage is affixed firmly to the surface 5 5 Affixing the Load to the M 06x
16. iani aiar 9 o A AA A A RS MRI EE CEO EN 10 Direction Of MOTION siii cia 11 Scope of DEVE 12 AECESSOMOS rica 12 Suitable Controllers nana aaa arara aaa 13 Technical Features unir ies 13 3 1 Model Overview Classification of the stages The stages of the M 060 M 061 and M 062 series are summarized in this manual under the designation M 06x All models are precision rotation stages with backlash compensated worm drives and a continuous travel range in both directions of rotation They differ with respect to Platform diameter Drive type Platform diameter mm M 06x Rotation Stage MP47E Version 2 0 0 7 3 Product Description Drive type Direct drive Gearhead PWM analog Detailed model overview Order number M 060 2S Precision Rotation Stage 60 mm 360 2 Phase Stepper Motor gt For further technical data see the specifications p 39 Product name 8 Version 2 0 0 MP47E M 06x Rotation Stage PIEZO NANO POSITIONING WWW PI WS 3 Product Description 3 2 Product View Figure 1 Components of the M 06x 2S models Figure 2 Components of the M 06x PD models Figure 4 Components of the M Figure 3 Components of the M 06x MO models 06x DG models Motor Motor flange Platform Scale ring Base body Controller connection Sub D 15 panel plug Power supply connection Mini XLR3 panel plug Handwheel DN DAA O NN lt M 06x Rotation Stage MP47E Ver
17. itable for your installation situation 18 Version 2 0 0 MP47E M 06x Rotation Stage PIEZO NANO POSITIONING WWW PI WS 5 Installation Figure 7 Optional Continuous rotation of the motor around its axis 2 3 Figure 8 Position of the grub screws on the motor flange left top side right bottom side 1 Grub screw 2 Motor flange 3 Motor case M 06x Rotation Stage MP47E Version 2 0 0 19 5 Installation P gt I Prerequisites v The rotation stage is not mounted on a surface v The rotation stage is not connected to the controller and the power supply Tools and accessories Allen wrench AF 2 Changing the orientation for connection 1 Turn out the grub screws on the motor flange of the rotation stage see figure by a few rotations 2 Rotate the motor case with the connections to the desired orientation Avoid overstretching the cable between the motor flange and the motor case Make sure that no cables are crushed or bent at the desired orientation 3 Tighten the grub screws on the motor flange 4 Check that the motor case is affixed firmly to the motor flange 5 3 Optional Aligning the Hole Pattern of the Platform INFORMATION If necessary you can change the orientation of the 0 mark to the hole pattern for mounting a load The change is made by rotating the scale ring on the moving platform gt Note the following Irrespective of how the scale ring is oriented on the moving p
18. latform the 0 mark on the scale ring is always above the 0 mark in the base body of the M 06x after a reference move 20 Version 2 0 0 MP47E M 06x Rotation Stage PIEZO NANO POSITIONING WWW PI WS 5 Installation The scale ring is fixed on the moving platform of the M 06x with three grub screws Figure 9 Position of the grub screws on the scale ring Access to the grub screw Mounting hole for load Scale ring A O Na 0 mark in the base body Prerequisites v M 06x DG M 06x PD M 06x 2S models The rotation stage is not connected to the controller and the power supply Tools and accessories Allen wrench AF 0 9 Aligning the hole pattern of the platform 1 Turn out the three grub screws on the scale ring see figure by a few rotations 2 Rotate the scale ring until it has reached the desired orientation to the hole pattern of the platform 3 Tighten the grub screws on the scale ring 4 Check that the scale ring is affixed firmly M 06x Rotation Stage MP47E Version 2 0 0 21 5 Installation gt I 5 4 Mounting the M 06x on a Surface NOTICE Warping of the M 06x due to mounting on uneven surfaces Mounting the M 06x on an uneven surface can warp the M 06x Warping reduces the accuracy gt Mount the M 06x on an even surface The recommended evenness of the surface is lt 10 um gt For applications with large temperature changes Only mount the M 06x on surfaces that have th
19. lt in personal injury and or damage to the M 06x gt Only use the M 06x for its intended purpose and only use it if it is in a good working order 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 M 06x M 06x Rotation Stage MP47E Version 2 0 0 5 2 Safety PI 2 3 Organizational Measures User manual gt Always keep this user manual available with the M 06x 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 supplements or technical notes If you give the M 06x to other users also include 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 Missing information due to an incomplete user manual can result in damage to equipment Only install and operate the M 06x after you have read and understood this user manual Personnel Qualification The M 06x may only be installed started up operated maintained and cleaned by authorized and appropriately qualified personnel Version 2 0 0 MP47E M 06x Rotation Stage 3 Product Description PIEZO NANO POSITIONING WWW PI WS 3 Product Description In this Chapter Model OverviewW iii 7 PIOOUCEVICW sicil
20. ly Adapter for the power supply connection barrel connector 5 5 mm x 2 1 mm to Mini XLR3 f Power cord If one of the components supplied for connection to the power source has to be replaced Use a sufficiently measured and certified replacement component Details Power supply Output 24 V DC maximum output current 2 A Power cord Three wires cable cross section at least 3 x 0 75 mm 3 x AWG18 maximum length 2 m Connecting the power supply to the M 06x gt Connect the Mini XLR3 connector f of the adapter to the Mini XLR3 panel plug of the M 06x gt Connect the barrel connector of the adapter to the barrel connector socket of the power supply gt Connect the power cord to the power supply 26 Version 2 0 0 MP47E M 06x Rotation Stage PIEZO NANO POSITIONING WWW PI WS 6 Start Up 6 Start Up In this Chapter General Notes On Start Up iii 27 Starting Up the rotation SIAGO isidro cs 29 The instructions and descriptions in this chapter apply to models with a motor M 06x DG M 06x PD M 06x 2S 6 1 General Notes on Start Up NOTICE Damage from collisions Collisions can damage the rotation stage the load to be moved and the environment gt Make sure that no collisions are possible between the rotation stage the load to be moved and the environment in the motion range of the rotation stage gt Do not place any objects in areas where they can get caugh
21. nformity 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 le M 06x Rotation Stage MP47E Version 2 0 0 51
22. oller from a third party supplier gt Check the operating parameters Only M 06x DG M Controller and or power Check all connecting cables 06x PD and M 06x 2S supply are incorrectly Check the controller models Mechanical connected or defective system does not move no operating noise can be heard If present Check the power supply of the stage M 06x Rotation Stage MP47E Version 2 0 0 35 8 Troubleshooting P I When a controller from Plis Motion error The difference between the used There is a motion error current position and the commanded position of the axis exceeds the specified 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 Readoutthe error code of the controller in the PC software If there is a motion error error code 1024 is output Check your system and make sure that all axes can be moved safely Switch on the servo mode in the PC software for the affected axis For details see the user manual of the controller Only M 06x 2S The motor is overloaded by The motor skips steps The information on models The an external load torque or the the current position is lost without the mechanical system no mass to be driven in the case controller recognizing this state longer moves but of strong acceleration or gt Determine the maximum acceleration generates operating deceleration and veloci
23. onsisting of one or several steps whose sequential order is irrelevant 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 Explanation Maximum load capacity in the vertical direction when the rotation stage is mounted horizontally The contact point of the load is in the center of the platform Sensor encoder for capturing changes of position 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 For better understandability the colors proportions and degree of detail in illustrations can deviate from the a and must not be seen 2 Version 2 0 0 ctual circumstances Photographic illustrations may also differ as guaranteed properties MP47E M 06x Rotation Stage PIEZO NANO POSITIONING WWW PI WS 1 About this Document 1 5 Other Applicable Documents The devices and software tools which are mentioned in this documentation are described in their own manuals C 863 11 DC Motor Controller MS205E User Manual C 663 11 Stepper Motor Controller MS208E User Manual C 843 DC Motor Controller PCI Board MS77E User Manual C 884 DC Motor Controller MS213E User Manual Stages with
24. our controller 6 2 Starting Up the Rotation Stage Prerequisites v You have read and understood the General Notes on Start Up p 27 You have properly installed the stage p 17 lt S You have read and understood the user manual of the controller used lt S You have read and understood the manual of the PC software used S The controller and the required PC software have been installed All connections on the controller have been set up see user manual of the controller the stage is connected via the motor cable Starting up the rotation stage 1 Only M 06x PD models Connect the power cord of the power supply to the power socket 2 Start up the controller see user manual of the controller Configure the controller during start up using the PC software for the stage used see user manual of the controller and of the PC software If you use a controller from PI Select the entry in the stage database that exactly fits the stage model used p 30 M 06x Rotation Stage MP47E Version 2 0 0 29 6 Start Up i gt I lf you use a controller from another manufacturer Enter the parameters into the corresponding PC software that exactly fit the stage model used see the overview of the operating parameters for DC motor controllers p 30 or stepper motor controllers p 31 3 Start a few motion cycles for testing purposes see user manual of the controller 6 2 1 M 06x Entries in the Stage Datab
25. pter Objective and Target Audience of this User Manual eee 1 Symbols and Typographic CONveEntions i 1 A A o ea 2 A PR PEC PEC 0 ii ira 2 Other Applicable DOCUMENtS i 3 Downloading Manuals carter di 3 1 1 Objective and Target Audience of this User Manual This user manual contains the information needed for the intended use of the M 06x The stages of the M 060 M 061 and M 062 series are summarized under the designation M 06x in this manual x stands for the platform diameter here Details can be found in the model overview p 7 Basic knowledge of servo systems motion control concepts and applicable safety measures is assumed 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 M 06x Rotation Stage MP47E Version 2 0 0 1 1 About this Document Symbol Label 1 2 gt p 5 RS 232 A 1 3 Definition Term Load capacity Incremental position sensor 1 4 Figures PI Meaning Action consisting of several steps whose sequential order must be observed Action c
26. r Motor If you use a stepper motor controller from a third party supplier it may be necessary to enter operating parameters for adaptation to the rotation stage used Parametros Juas zas Jum O O A Max velocity Max velocity Hardware properties Full steps steps motor revolution Max phase current bipolar Recommended for continuous operation M 06x Rotation Stage MP47E Version 2 0 0 31 7 Maintenance PIEZO NANO POSITIONING WWW PI WS 7 Maintenance In this Chapter General Notes on MainteNaNCe 33 Performing a Maintenance RUN ie 33 Cleaning the IRON ini 34 7 1 General Notes on Maintenance NOTICE Damage due to improper maintenance Improper maintenance can lead to misalignment and failure of the M 06x gt Only loosen screws according to the instructions in this manual 7 2 Performing a Maintenance Run Depending on the operating conditions and the period of use of the M 06x the following maintenance measures are required Maintenance run The maintenance run serves to distribute the existing lubricant gt To evenly distribute the existing lubricant perform a maintenance run over at least 360 after 500 hours of operation or after 1 year at the latest gt If you operate the M 06x continuously over a small working range lt 20 perform a maintenance run over at least 360 every 5000 motion cycles M 06x Rotation Stage MP47E Version 2 0 0 33
27. s is described in the corresponding user manuals 3 8 Technical Features 3 8 1 Encoder The M 06x DG and M 06x PD models are equipped with an incremental rotary encoder For the encoder resolution refer to the table in the Specifications section p 39 A rotary encoder is implemented at a rotating point in the drivetrain e g the motor shaft 3 8 2 Reference Point Switch The M 06x DG M 06x PD and M 06x 2S models are equipped with a direction sensing reference point switch see Reference Point Switch Specifications p 41 The commands that use the reference signal are described in the user manual of the controller and or in the corresponding software manuals After a reference move of the M 06x the 0 mark on the scale ring of the moving platform is above the 0 mark in the base body M 06x Rotation Stage MP47E Version 2 0 0 13 3 Product Description 3 8 3 Integrated PWM Amplifier The M 06x PD models with direct drive are equipped with a PWM amplifier ActiveDrive concept The PWM amplifier only receives the control signals from the controller whereas the supply voltage is provided via an external power supply The ActiveDrive concept allows high motor power and dynamics at low power loss 14 Version 2 0 0 MP47E M 06x Rotation Stage PIEZO NANO POSITIONING WWW PI WS 4 Unpacking 4 Unpacking M 06x Rotation Stage Unpack the M 06x with care Compare the contents against the items co
28. sion 2 0 0 9 3 Product Description l 3 3 Product Labeling 10 Figure 5 Position of the product labeling 1 M 060 PD Product name example the places after the point refer to the model 1 113050975 Serial number example individual for each M 06x Meaning of the places counting from left 1 internal information 2 and 3 manufacturing year 4 to 9 consecutive numbers WWW PI WS Manufacturer s address website Ea Country of origin Germany Country of origin LE PR Version 2 0 0 MP47E M 06x Rotation Stage PIEZO NANO POSITIONING WWW PI WS 3 Product Description Graduation on the scale ring of the moving platform detail Short line 2 Medium line 10 Long line 90 and 270 Numbers 0 and 180 Power supply connection only for M 06x PD models Controller connection only for M 06x DG M 06x PD and M 06x 2S models 3 4 Direction of Motion Figure 6 Direction of motion of the M 06x 2S top and M 06x PD M 06x DG bottom models Direction of motion on positive command O O mark in the base body After a reference move the 0 mark on the scale ring of the moving platform is above the 0 mark in the base body M 06x Rotation Stage MP47E Version 2 0 0 11 3 Product Description l 3 5 Scope of Delivery lim number Component Rotation stage according to the order p 7 MP119EK Short instructions for stages with electric motors Only M 060 xx models
29. t by moving parts Stop the motion immediately if a controller malfunction occurs gt If possible adapt the travel range limits of your mechanical system in the software that you use for commanding the motion NOTICE Damage if an incorrect controller is connected db Connecting a rotation stage to an unsuitable controller can cause damage to the rotation stage or controller Yy gt Connecta rotation stage with DC motor to a DC motor controller only gt Connecta rotation stage with stepper motor to a stepper motor controller only gt If you use controllers and software from other manufacturers check their technical data to make sure that they are suitable before starting up the stage M 06x Rotation Stage MP47E Version 2 0 0 27 6 Start Up gt I NOTICE Operating voltage too high or incorrectly connected Operating voltages that are too high or incorrectly connected can cause damage to the M 06x gt Do not exceed the operating voltage range p 41 for which the M 06x is specified gt Only operate the M 06x when the operating voltage is properly connected see Pin Assignment p 46 NOTICE Damage or considerable wear due to high accelerations High accelerations can cause damage to or considerable wear on the mechanical system gt Stop the motion immediately if a controller malfunction occurs gt Determine the maximum velocity for your application NOTICE Unintentional
30. ty in the application for the noise rotation stage 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 37 36 Version 2 0 0 MP47E M 06x Rotation Stage 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 gt 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 gt If possible Take photographs or make videos of your system that can be sent to our customer service department if requested The latest versions of the user manuals are available for download p 3 on our website M 06x Rotation Stage MP47E Version 2 0 0 37 PIEZO NANO POSITIONING WWW PI WS 10 Technical Data In this Chapter 10 Technical Data OS CHIC A ONO ARR RI 39 DIMEN ION tercios ERREI aitor 42 PIAS 919 141 Capa Fio E Zn io O irirasi 46 10 1 Specifications 10 1 1 Data Table M 060 MO M 060 PD M 061 MO M 061 PD M 062 MO M 062 PD Active axes Rotation Rotation Motion and positioning Rotation range gt 360 gt 360 Integrated Rotary encoder sensor Sensor
31. um 0 94 1 88 2 76 C 863 single axis C 843 PCI board for up to 4 axes M 060 DG M 061 DG M 062 DG 500 550 650 6 61 7 4 6 8 DC gear motor 12 differential 3 Hall effect 10 to 40 Aluminum 0 94 1 88 2 76 C 863 single axis C 843 PCI board for up to 4 axes Specifications for vacuum versions can differ With C 663 stepper motor controller Max 0 85 A phase 400 full steps rev Version 2 0 0 MP47E M 060 2S M 061 2S M 062 2S 6400 500 550 650 6 6 7 4 6 8 2 phase stepper motor 24 4 8 Hall effect 10 to 40 Aluminum 0 96 1 9 2 78 C 663 single axis PI Unit Tolerance steps rev N Nm max Nm max C kg M 06x Rotation Stage PIEZO NANO POSITIONING WWW PI WS 10 Technical Data 10 1 2 Maximum Ratings The M 06x rotation stages are designed for the following operating data Maximum operating Maximum power Device Operating frequency voltage consumption 10 1 3 Ambient Conditions and Classifications The following ambient conditions and classifications must be observed for the M 06x Area of application For indoor use only Maximum altitude 2000 m Relative humidity Max 80 for temperatures up to 31 C Linearly decreasing to 50 at 40 C Transport temperature Degree of protection according IP40 to IEC 60529 10 1 4 Reference Point Switch Specifications Type Magnetic Hall
32. vered by the contract and against the packing list Inspect the contents for signs of damage If parts are missing or you notice signs of damage contact Pl immediately Keep all packaging materials in case the product needs to be returned MP47E Version 2 0 0 15 5 Installation PIEZO NANO POSITIONING WWW PI WS 5 Installation In this Chapter General Notes on Installation 17 Optional Modifying the Connection Orientation on the M 06X 18 Optional Aligning the Hole Pattern of the PlatforM ccccccccccocnncconnnccononononenonnnnnos 20 Mounting the M 06x on a Surface 22 Affixing the Load to the M 06X 23 Connecting the Motor Cable to the M 06X erre 25 Connecting the Power Supply to the M 06X erre 26 5 1 General Notes on Installation 5 1 1 Notes on all Models NOTICE Unintentional changes in position with vertical mounting If the load exceeds the self locking of the drive when the stage is mounted vertically unintentional changes in the position of the moving platform occur Unwanted changes in the position of the moving platform can damage the drive the load or the environment gt When the stage is mounted vertically make sure that the installed load is lower than the self locking of the drive INFORMATION For optimum repeatablity all components must be firmly affixed
33. 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 2 0 0 MP47E M 06x Rotation Stage 2 Safety PIEZO NANO POSITIONING WWW PI WS 2 Safety In this Chapter apo IS presin o yn 5 General Safety Instructions iii 5 Organizational MeaSUures i 6 2 1 Intended Use The M 06x is a laboratory device as defined by DIN EN 61010 It is intended for indoor use and use in an environment that is free of dirt oil and lubricants In accordance with its design and realization the M 06x is intended for single axis positioning adjusting and shifting of loads at different velocities The M 06x is not intended for applications in areas in which a failure would present severe risks to human beings or the environment The M 06x is intended for horizontal or vertical mounting For the load limits with vertical mounting see General Notes on Installation p 17 The intended use of the M 06x is only possible when completely mounted and connected The M 06x must be operated with a suitable controller p 13 The controller is not included in the scope of delivery of the M 06x 2 2 General Safety Instructions The M 06x is built according to state of the art technology and recognized safety standards Improper use can resu
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