User Manual MP112E
Contents
1. Improper maintenance can result in the failure of the U 628 gt Only loosen screws according to the instructions in this manual gt Ensure that the piezomotor of the stage does not come into contact with lubricants 7 2 Performing a Maintenance Run Depending on the operating conditions and the period of use of the U 628 a maintenance run may be required The maintenance run is performed to redistribute the existing lubricant in the bearing of the U 628 The stage must rotate by at least one full revolution during the maintenance run gt Toevenly distribute the existing lubricant in the stage bearing perform a maintenance run after 500 hours of operation or after 1 year at the latest gt If you move your U 628 over a small working range lt 20 in continuous industrial operation perform a maintenance run after every 5000 motion cycles U 628 Rotation Stage MP112E Version 1 2 0 31 7 Maintenance r I 7 3 Cleaning the U 628 Prerequisites v You have disconnected the rotation stage from the controller Cleaning the rotation stage gt When necessary clean the rotation stage surface with a cloth lightly dampened with a mild cleanser or disinfectant 32 Version 1 2 0 MP112E U 628 Rotation Stage PIEZO NANO POSITIONING WWW PI WS 8 Troubleshooting 8 Troubleshooting Noise during Uncontrolled operation oscillation of the U 628 Rotation stage Settling window positions around the target inaccuratel2. 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 Pl 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 Pl equipment can be sent free of charge to the following address Physik Instrumente Pl GmbH amp Co KG Auf der Roemerstr 1 D 76228 Karlsruhe Germany U 628 Rotation Stage MP112E Version 1 2 0 47 12 EC Declaration of Conformity PIEZO NANO POSITIONING WWW PI WS 12 EC Declaration of Conformity For the U 628 an EC Declaration of Conformity has been issued in accordance with the following European directives 2006 95 EC Low Voltage Directive 2004 108 EC EMC Directive 2011 65 EU RoHS Directive The applied standards certifying the conformity are listed below Safety Low Voltage Directive EN 61010 1 2010 EMC EN 61326 1 2013 RoHS EN 50581 2012 a i U 628 Rotation Stage MP112E Version 1 2 0 49
3. Mounting of the protective earth conductor profile view 1 Base body of the U 628 2 Flat washer 3 Safety washer 4 Screw 5 Cable lug 6 Protective earth conductor Prerequisites v You have read and understood the general notes on installation p 17 Y The U 628 is not connected to the controller Tools and accessories Suitable protective earth conductor Cross sectional area of the cable 20 75 mm Supplied M4 screw set for protective earth p 11 for mounting a protective earth conductor Suitable screwdriver Connecting the U 628 to the protective earth conductor 1 If necessary fasten a suitable cable lug to the protective earth conductor 2 Fasten the cable lug of the protective earth conductor using the M4 screw on the protective earth connection of the U 628 as shown in the profile view 3 Tighten the M4 screw with a torque of 1 2 Nm to 1 5 Nm 4 Make sure that the contact resistance at all connection points relevant for mounting the protective earth conductor is 0 1 O at 25 A 20 Version 1 2 0 MP112E U 628 Rotation Stage 5 Installation PIEZO NANO POSITIONING WWW PI WS 5 3 Mounting the U 628 on a Surface NOTICE Warping of the base body Incorrect mounting can warp the base body Warping of the base body will increase wear and reduce accuracy gt Mount the U 628 on an even surface The recommended evenness of the surface is 10 um gt For applications with large te
4. select the corresponding sub category Navigate to the product code on the page The following manuals are displayed Freely accessible manuals Manuals that are protected by a password Click the desired manual and save it to the hard disk of your PC or to a data storage medium 4 Version 1 2 0 MP112E U 628 Rotation Stage 2 Safety PIEZO NANO POSITIONING WWW PI WS 2 Safety In this Chapter apo USG AAA o yn 5 General Safety Instructions ccccccccccoconnnccnnnncnonononnnenonononononancnnnnnnnononannnennnnnononennnnnnns 5 Organizational MeasuresS oooccccnnccccccononccnnonononononnnnnnnnnonononanennnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnns 7 2 1 Intended Use The U 628 is a laboratory device as defined by DIN EN 61010 1 It is intended for indoor and use in an environment that is free of dirt oil and lubricants In accordance with its design the U 628 is intended for single axis positioning adjustment and rotation of loads at different velocities in interval operation The U 628 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 U 628 is only possible when completely mounted and connected The U 628 uses a PlLine ultrasonic piezomotor as drive and must be operated with a suitable controller p 12 The controller is not included in the scope of delivery of the U 628 2 2 General Safety Instructions The
5. zoo NA AA ee A ee ee ee ee 10 cope OF DEINER ee ee ee rent 11 Suitable Controllers c ccccccccccecceccecceeceeceeceeeaeeceeceeceeceecuecuecuesuececaecaesaesaeeaeeaeeneeseeeaees 12 ACTESSOMOS nee een een 12 Technical Features asas iii 13 3 1 Product View Figure 1 U 628 product view 1 Base body 2 0 mark After a reference move of the U 628 the red point on the moving platform is above the 0 mark in the base body 3 Moving platform 4 Cable for connecting to the controller 5 Protective earth connection The arrow in the figure shows the positive direction of motion U 628 Rotation Stage MP112E Version 1 2 0 9 3 Product Description i 3 2 Product Labeling Figure 2 U 628 Position of the product labeling example view PI Manufacturer s logo CE conformity mark A Warning sign Observe manuall 113050975 Serial number example individual for each U 628 Meaning of the places counting from left 1 internal information 2 and 3 year of manufacture 4 to 9 consecutive numbers WWW PI WS Manufacturer s address website Data matrix code example contains the serial number a Old equipment ula mapa p 47 Country of origin Country of origin m Symbol for the protective earth conductor marks the protective earth connection of the U 628 p 19 10 Version 1 2 0 MP112E U 628 Rotation Stage PIEZO NANO POSITIONING WWW PI WS 3 Product Description Figure 3 U 628 Residual
6. INFORMATION PI Information for easier handling tricks tips etc Symbol Label 1 2 gt p 5 RS 232 AA 1 3 Definition Meaning Action consisting of several steps whose sequential order must be observed Action consisting of one or several steps whose sequential order is irrelevant List item Cross reference to page 5 Labeling of an operating element on the product example socket of the RS 232 interface Warning signs affixed to the product that refer to detailed information in this manual Load capacity Rotary encoder 2 Version 1 2 0 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 The rotary encoder is an incremental sensor for capturing changes in position Signals from the 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 MP112E U 628 Rotation Stage 1 About this Document PIEZO NANO POSITIONING WWW PI WS 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
7. U 628 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 U 628 gt Only use the U 628 for its intended purpose and only use it if it is in a good working order Head 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 U 628 U 628 Rotation Stage MP112E Version 1 2 0 5 2 Safety PI Piezomotors are driven by piezo actuators After disconnection from the electronics piezo actuators can remain electrically charged for several hours Temperature changes can also induce charges in piezo actuators Touching charged parts of the U 628 can cause slight injuries from electric shock gt gt Do not open the U 628 Do not touch the contacts in the connector of the U 628 If a protective earth conductor is not or not properly connected dangerous touch voltages can occur on the U 628 in the case of malfunction or failure of the system If touch voltages exist touching the U 628 can result in minor injuries from electric shock gt gt gt Connect the U 628 to a protective earth conductor p 19 before start up Do not remove the protective earth conductor during operation If the protective earth conductor has to be removed temporarily e g in the case of modifications reconnect the U 628 to th
8. Unit Tolerance Active axes Oz Motion and Positioning Rotation range gt 360 E Integrated sensor Incremental encoder Design resolution 17 urad Min incremental motion 51 urad typ Bidirectional repeatability 102 urad Velocity 720 s max Mechanical Properties Load capacity axial force 5 N max Holding torque 0 03 Nm max Torque cw ccw 07 0 025 Nm max Drive Properties Motor type PlLine ultrasonic piezomotor performance class 1 Reference point switch Optical U 628 Rotation Stage MP112E Version 1 2 0 37 10 Technical Data Miscellaneous Operating temperature range Material Mass Cable length Connector Recommended controller driver Ask about custom designs U 628 03 Unit 0 to 40 C Al black anodized 300 g 1 5 m Sub D connector 15 pin m C 877 1U11 1 channel affordable compact device C 867 1U 1 channel C 867 2U 2 channels C 877 2U12 2 channels affordable bench top 10 1 2 Reference Point Switch Specifications Supply voltage 5 V GND supply via the motor connector PI Tolerance 5 96 typ Signal output TTL level 10 1 3 Maximum Ratings 38 The U 628 rotation stages are designed for the following operating data Maximum Power Consumption Maximum Operating Voltage Operating Frequency 160 Vip or 57 Von 21010 225 KHz Version 1 2 0 MP112E U 628 Rotation Stage 10 Technical Data PIEZO NANO POSITIONING WWW PI WS 10 2 Ambient Conditions and Cla
9. documentation are described in their own manuals C 867 1U PlLine controller C 867 2U PlLine controller C 877 1U11 PlLine controller C 877 2U12 PlLine controller MS233E user manual PIMikroMove SM148E software manual PlLine stage MP121EK short instructions 1 6 Downloading Manuals INFORMATION If a manual is missing or problems occur with downloading Contact our customer service department p 35 INFORMATION For products that are supplied with software CD in the scope of delivery access to the manuals is protected by a password Protected manuals are only displayed on the website after entering the password The password is included on the CD of the product U 628 Rotation Stage MP112E Version 1 2 0 3 1 About this Document gt I For products with CD Identify the password 1 2 3 Insert the product CD into 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 Downloading Manuals 1 2 DU qe m am Open the website http www pi ws Click Info If you have a user name and password a Click Login b Login with the user name and password Click gt gt Product Downloads In the Product Files area click the corresponding product category On the right hand side of the page
10. in the Maximum Motor Output V ID 0x7c parameter is not permitted and can damage the motor Generated in closed loop operation via the control algorithm or set in open loop operation via the SMO command For further information see the user manual of the controller p 3 used to operate the U 628 40 Version 1 2 0 MP112E U 628 Rotation Stage PIEZO NANO POSITIONING WWW PI WS 10 Technical Data 10 3 2 Velocity and Torque The following figure can be used to estimate the velocity and torque of the U 628 with different motor powers Motion is possible starting at a motor power of approx 30 96 Motor Power 100 80 50 O O e I 00 O Y E 360 oO o 9 10 15 Torque in mNm Figure 8 Relationship between velocity and torque of the U 628 with different motor power levels U 628 Rotation Stage MP112E Version 1 2 0 41 10 Technical Data i gt I 10 3 3 Motor Power and Lifetime 42 Motor power duty cycle and ambient temperature influence the lifetime of the rotation stage In order to prevent overheating and high wear the motor power and the duty cycle should not exceed the limits given in the following graph A load cycle corresponds to a positioning run and includes the acceleration motion deceleration as well as downtime break The motor should only sporadically be operated at peak power the peak power serves as a control reserve 100 Peak motol power cycle up to 10 of
11. m U 600 A05 Extension cable for PlLine amp 15 pin Sub D 5 m Other cable lengths available on request gt To order contact our customer service department p 35 12 Version 1 2 0 MP112E U 628 Rotation Stage 3 Product Description PIEZO NANO POSITIONING WWW PI WS 3 6 Technical Features 3 6 1 Rotary Encoder The U 628 is equipped with an optical rotary encoder For the encoder resolution refer to the table in the Specifications section p 37 Optical rotary encoders measure the actual position directly direct metrology Therefore errors occurring in the drivetrain such as nonlinearity backlash or elastic deformation cannot influence the measurement of the position 3 6 2 Reference Point Switch The U 628 has an optical reference point switch see Reference Switch opecifications p 38 See the controller user manual and or associated software manuals for the commands which make use of the reference point signal After a reference move of the U 628 the red dot on the moving platform is above the 0 mark in the base body 3 6 3 ID Chip The connector of the U 628 stages contains an ID chip Information on the stage e g type serial number date of manufacture version of the hardware is stored in parameters on the ID chip When switched on or rebooted controllers from Pl read the data from the ID chip For more information on the ID chip recognition see the manual of the controller us
12. the load cyc 75 s 3 50 a S O 25 0 0 10 20 30 40 Ambient temperature in C Figure 9 U 628 Recommended duty cycle and motor power depending on the ambient temperature Version 1 2 0 MP112E U 628 Rotation Stage PIEZO NANO POSITIONING WWW PI WS 10 Technical Data 10 3 4 Influence of Downtimes on the Torque A E c 3 D lm o 12 16 Downtime inh Figure 10 Torque of the U 628 depending on the downtime of the motor U 628 Rotation Stage MP112E Version 1 2 0 43 10 Technical Data p I 10 4 Dimensions Dimensions in mm Note that the decimal places are separated by a comma in the drawings Figure 11 U 628 moving platform in reference position 44 Version 1 2 0 MP112E U 628 Rotation Stage PIEZO NANO POSITIONING WWW PI WS 10 5 Pin Assignment Connector Sub D 15 m 10 Technical Data Eh Y p 4 1 15 m 1 8 e e 9 e e o N 00000090 J Figure 12 Front view of the Sub D 15 connector Signal Function Input Piezo 57 VAC RMS Input Piezo 57 VAC RMS Output Encoder channel A inverted RS 422 Output Encoder channel B inverted RS 422 Input Piezo 57 VAC RMS Input Piezo 57 VAC RMS 10 11 12 13 14 15 U 628 Rotation Stage MP112E Version 1 2 0 45 PIEZO NANO POSITIONING WWW PI WS 11 Old Equipment Disposal 11 Old Equipment Disposal
13. touch the contacts in the connector of the U 628 NOTICE Lubricants dirt condensation Dirt oil lubricants and condensation will render the motor drive inoperable Ensure that the piezomotor of the U 628 does not come into contact with lubricants gt Keep the U 628 free from dirt and condensation NOTICE Heating up of the U 628 during operation The heat produced during operation of the U 628 can affect your application Install the U 628 so that your application is not affected by the dissipating heat U 628 Rotation Stage MP112E Version 1 2 0 17 5 Installation LI I NOTICE Unsuitable cables Unsuitable cables can cause damage to the controller and affect the performance of the U 628 gt Only use genuine PI parts to connect the U 628 to the controller gt If you need longer cables use extension cables from Pl p 12 NOTICE Unintentional changes in position with vertical mounting If the load exceeds the maximum torque of the drive when the rotation stage is mounted vertically unintentional changes in the position of the moving platform occur Unintentional changes in position of the moving platform can damage the drive the load or the environment gt When a rotation stage is mounted vertically make sure that the installed load is lower than the maximum torque of the drive p 37 INFORMATION For optimum repeatability all components must be firmly affixed to eac
14. 2010 0013353A1 US5872418A US6765335B2 US6806620B1 US6806620B1 US7218031B2 US7598656B2 US7737605B2 US7795782B2 US7834518B2 US7973451B2 US8253304B2 US8344592B2 US8482185B2 Japan JP2011514131 JP2011522506 JP3804973B2 JP4377956 JP4435695 JP4477069 JP4598128 JP4617359 JP46201 15 JP4648391 JP4860862 JP4914895 JP2013539346 China ZL200380108542 0 ZL200580015994 3 ZL200580029560 9 ZL200580036995 6 ZL200680007223 4 ZL200680030007 1 ZL200680042853 5 International patent applications WO2009059939A2 WO2010121594A1 WO2012048691A2 WO2012113394A1 WO2012155903A1 WO2013034146A3 WO2013117189A2 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 Pl 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 21 08 2015 Document number MP112E CBo Version 1 2 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 About this Document 1 1 1 Objective and Target Audience of this User Manual sssssss 1 1 2 Symbols and Typographic Conventions ccooocccncccccnncnncccnonncononononnnonononon
15. 7 EC Declaration of Conformity 49 PIEZO NANO POSITIONING WWW PI WS 1 About this Document 1 About this Document In this Chapter Objective and Target Audience of this User Manual cccccoocncnnccccconcnncnononnconononanenos 1 Symbols and Typographic Conventions ccccccccccccoonnccnnncccnonononcnnnnnnnnononanncnnnononononanennnos 1 LS IDOI race sess m 2 A PR PEC PEC E O A 3 Other Applicable DOCUMENTS cccccccncccnnccnnnnccccononnncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnennnennss 3 Downloading Manuals MN m di 3 1 1 Objective and Target Audience of this User Manual This manual contains information on the intended use of the U 628 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 r Dangerous situation If not avoided the dangerous situation will result in minor injury Actions to take to avoid the situation NOTICE Dangerous situation If not avoided the dangerous situation will result in damage to the equipment Actions to take to avoid the situation U 628 Rotation Stage MP112E Version 1 2 0 1 1 About this Document
16. PI MP112E U 628 Rotation Stage User Manual Version 1 2 0 Date 21 08 2015 This document describes the following product U 628 03 PlLine rotation stage gt 360 rotation range velocity 720 s incremental encoder 17 urad resolution 49 mm diameter piezoelectric ultrasonic motor Physik Instrumente Pl 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 Pl GmbH amp Co KG is the owner of the following trademarks PIO PICO PICMA PlLine PIFOC PiezoWalk NEXACT NEXLINE NanoCube NanoAutomation Picoactuator PInano PIMag Pl owns the following patents or patent applications for the technology field Ultrasonic Piezo Motors PlLine Germany DE102004024656A1 DE102004044184B4 DE102004059429B4 DE102005010073A1 DE102005039357B4 DE102005039358A1 DE102006041017B4 DE102008012992A1 DE102008023478A1 DE102008058484A1 DE102010022812A1 DE102010047280A1 DE102010055848 DE102011075985A1 DE102011082200A1 DE102011087542B3 DE102011087542B3 DE102011087801B4 DE102011108175 DE102012201863B3 DE19522072C1 DE19938954A1 Europe EP0789937B1EP1210759B1 EP1267425B1 EP1581992B1 EP1656705B1 EP1747594B1 EP1812975B1 EP1861740B1 EP1915787B2 EP1938397B1 EP2095441B1 EP2130236B1 EP2153476B1 EP2164120B1 EP2258004B1 EP2608286A2 USA US
17. ashers into the holes in the base body of the U 628 Tighten the two screws with a torque of 52 Ncm each Check that the U 628 is affixed firmly to the surface 22 Version 1 2 0 MP112E U 628 Rotation Stage 5 Installation PIEZO NANO POSITIONING WWW PI WS 5 4 Affixing the Load to the U 628 NOTICE Impermissibly high forces and torques Impermissibly high forces and torques that are applied to the moving platform can damage the U 628 For affixing type and mass of the load observe the maximum permissible forces according to the specifications p 37 gt Avoid tilting torques gt 0 1 Nm on the moving platform NOTICE Screws that are too long The U 628 can be damaged by screws that are too long Note the depth of the mounting holes in the moving platform p 44 gt Only use screws of the correct length for the respective mounting holes Figure 7 U 628 holes for affixing the load Black arrows M1 6 holes White arrows M2 5 holes U 628 Rotation Stage MP112E Version 1 2 0 23 5 Installation PI Prerequisites v v v v You have read and understood the general notes on installation p 17 You have properly attached the U 628 to a surface p 21 The U 628 is not connected to the controller 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
18. cnnncnonanenos 1 1 3 AP ae ne Eee a ee 2 1 4 x9 Seen e Taler E O USO O Ie 3 1 5 Other Applicable DOCUMENTS ccccccccccocnnccnnnncconononnccnnnononononannnnnnnnnnnnnnnnnennnnnnnnnnnans 3 1 6 Downloading Manuals ccccooncnccccnncnccconnncononcnnnnnncononnnnnnonnnncnnononcnnconannnnnnanennonanens 3 2 Safety 5 2 1 mended H godess 5 2 2 General Safety Instructions ccccccoccncccnnccconncnnncononnnnnnnononnnnnnnnonnnnnnnononnnnnnnnnnnnnnns 5 2 3 Organizational Measures cccoooncnccconcnncconnnnconononcononcnnononnnnnnnnnnnnnnannnnononnnnonennnnnnnos 7 3 Product Description 9 3 1 miele 9 3 2 Product LabElihd x un 10 3 3 Scope of Delivery 11 3 4 oultable Controllers entrent na 12 3 5 PIC CSS SONOS II Pe 12 3 6 Technical Features see ee reine 13 3 6 1 o ee ee 13 3 6 2 Reference Point Switch sisas nee 13 3 6 3 A o E 0 o E 13 4 Unpacking 15 5 Installation 17 5 1 General Notes on Installation ooccccccconcnnoconcnncocononcononennnnonnnnnonanonnnnoness 17 5 2 Connecting the U 628 to the Protective Earth Conductor 19 5 9 Mounting the U 628 on a Surface cccccccconccnnccccconconccononnnonononnnnnnnnnononnnnnnnnnnanennnnss 21 5 4 Affixing the Load to the U 628 oocccccconcncccconcncoconcnncconononocononnnnonnnnononnnnnonanenoss 23 6 Star
19. e protective earth conductor before starting it up again Mechanical forces can damage or misalign the U 628 gt gt gt Avoid impacts that affect the U 628 Do not drop the U 628 Do not exceed the maximum permissible stress and load capacities according to the specifications p 37 6 Version 1 2 0 MP112E U 628 Rotation Stage PIEZO NANO POSITIONING WWW PI WS 2 Safety 2 3 Organizational Measures User manual gt Always keep this user manual available with the U 628 The latest versions of the user manuals are available for download p 3 on our website Add all information from the manufacturer to the user manual for example supplements or Technical Notes If you give the U 628 on 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 minor injury and damage to equipment Only install and operate the U 628 after you have read and understood this user manual Personnel qualification The U 628 may only be installed started up operated maintained and cleaned by authorized and appropriately qualified personnel U 628 Rotation Stage MP112E Version 1 2 0 7 PIEZO NANO POSITIONING WWW PI WS 3 Product Description 3 Product Description In this Chapter Product VIEW ernennen tata liada ae ae re RESET ai 9
20. ed U 628 Rotation Stage MP112E Version 1 2 0 13 PIEZO NANO POSITIONING WWW PI WS 4 Unpacking 4 Unpacking U 628 Rotation Stage Unpack the U 628 with care Compare the contents with the items listed in the contract and 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 MP112E Version 1 2 0 15 PIEZO NANO POSITIONING WWW PI WS 5 Installation 5 Installation In this Chapter General Notes on Installation cccooncccccooncncnoonnnncnoncnncnnnnnnnonanonnnnonnnnnnnarnnnananonnns 17 Connecting the U 628 to the Protective Earth Conductor 19 Mounting the U 628 on a Surface cccccccccccconcccnnncconnnonnncnonnnonononannnnnnnnnononnnanennnnnnnnnnnnnns 21 Affixing the Load to the U 628 cccccccconconccccoocnoncnccnnnnnnnnononnnnnnnononnnnononnannnnnnnonanenss 23 5 1 General Notes on Installation A Dangerous voltage and residual charge on piezo actuators Piezomotors are driven by piezo actuators After disconnection from the electronics piezo actuators can remain electrically charged for several hours Temperature changes can also induce charges in piezo actuators Touching or short circuiting the contacts in the connector of the U 628 can lead to minor injuries from electric shock gt Do not
21. ed temporarily e g in the case of modifications reconnect the U 628 to the protective earth conductor before starting it up again NOTICE Damage if an incorrect controller is connected Connecting a rotation stage to an unsuitable controller can cause damage to the rotation stage or controller gt Only connect the rotation stage with PlLine amp ultrasonic piezomotors to PlLine amp controllers p 12 U 628 Rotation Stage MP112E Version 1 2 0 25 6 Start Up and Operation E I NOTICE Operating voltage too high or incorrectly connected Operating voltages that are too high or incorrectly connected can cause damage to the U 628 gt Only operate the U 628 with controllers drivers and original accessories from PI gt Do not exceed the operating voltage range p 38 for which the U 628 is specified gt Only operate the U 628 when the operating voltage is properly connected see Pin Assignment p 45 NOTICE Unintentional motions When the U 628 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 be caught by moving parts Before connecting the U 628 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 NOTICE Damage from collisi
22. h other INFORMATION When manually displacing the moving platform in a de energized state differences in the holding force may be noticeable across the travel range There are mechanical reasons for fluctuations in the holding force and they have no influence on the function of the stage gt If possible simulate the rotation stage motions with a mounted load or make suitable calculations in order to identify collisions or unfavorable center of gravity constellations gt f necessary take suitable constructive measures to avoid collisions and instabilities in the overall system 18 Version 1 2 0 MP112E U 628 Rotation Stage PIEZO NANO POSITIONING WWW PI WS 5 Installation Avoid or mark danger zones that result from the installation of the rotation stage and the application in accordance with the legal regulations For more information on operating conditions refer to the Motor Power section p 40 5 2 Connecting the U 628 to the Protective Earth Conductor INFORMATION gt Observe the applicable standards for mounting the protective earth conductor On the U 628 there is an M4 hole next to the cable exit for connecting the protective earth conductor In the following figure this hole is marked with the symbol for the protective earth conductor Figure 4 M4 threaded hole for connecting the protective earth conductor U 628 Rotation Stage MP112E Version 1 2 0 19 5 Installation I Figure 5
23. mperature changes Only fasten the U 628 to surfaces that have the same or similar thermal expansion properties as the U 628 e g surfaces made of aluminum INFORMATION The positive direction of motion of the U 628 is shown in the product view p 9 Figure 6 Mounting holes for mounting the U 628 on a surface U 628 Rotation Stage MP112E Version 1 2 0 21 5 Installation PI Prerequisites v v v You have read and understood the general notes on installation p 17 You have provided a suitable surface for the required position of the holes for accommodating the screws see Dimensions p 44 Two M2 5 holes with a thread depth of at least 8 mm are present The evenness of the surface is lt 10 um For applications with large temperature changes The surface should have the same thermal expansion properties as the U 628 e g surface made of aluminum You have accounted for the space required to route cables without bending and according to regulations The U 628 is not connected to the controller Tools and accessories Mounting accessories in the scope of delivery p 11 2 M2 5x16 screws 2 M2 5 flat washers Allen wrench AF 2 0 Mounting the U 628 on a Surface 1 Align the U 628 on the surface so that the corresponding holes in the U 628 see arrows in the figure and the surface overlap Put one flat washer on each screw Insert the two screws with the attached w
24. ons 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 be caught by moving parts Y 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 26 Version 1 2 0 MP112E U 628 Rotation Stage 6 Start Up and Operation PIEZO NANO POSITIONING WWW PI WS NOTICE Uncontrolled oscillation Your application can be damaged by uncontrolled oscillation of the U 628 If you encounter noise during operation gt Immediately switch off the servo control system of the affected axes gt Check the settings of the servo control parameters NOTICE Overheating during continuous operation The highest torque or holding force is reached at maximum motor power however the U 628 may overheat during continuous operation gt Observe the recommended motor power depending on the duty cycle and the ambient temperature p 42 NOTICE an Damage or considerable wear from high accelerations High accelerations can cause damage to or considerable wear on the mechanical system gt Stop the motion immediately if a controller malfunc
25. ption in Starting up the U 628 Adjust the operating parameters according to the description in Starting up the U 628 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 35 34 Version 1 2 0 MP112E U 628 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 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 U 628 Rotation Stage MP112E Version 1 2 0 35 PIEZO NANO POSITIONING WWW PI WS 10 Technical Data 10 Technical Data In this Chapter PECHE Mea ene eee TORTE 37 Ambient Conditions and Classifications eesessesseernnen nnne 39 MOLON POWER SSA 40 DIMENSIONS atasca ato renta dea ara ind dinar nda toda 44 PIN PAS SIN stat init 45 10 1 Specifications 10 1 1 Data Table U 628 03
26. rameter values e g for P term term D term acceleration and velocity can cause damage to the rotation stage especially when operated with heavy loads gt If possible Perform the first start up without a load gt Always install the latest version of the P Stages2 dat stage database onto your PC For start up with a load gt Before start up make sure that the U 628 has been properly installed p 17 gt For optimum performance of the moving axis adjust the operating parameters of the controller e g P term term D term acceleration velocity see controller manual gt Save the new parameter values to a stage database on the PC or to the nonvolatile memory of the controller for future use see controller manual and PIMikroMove manual 28 Version 1 2 0 MP112E U 628 Rotation Stage PIEZO NANO POSITIONING WWW PI WS 6 Start Up and Operation INFORMATION If the total cable length between the stage and the controller is more than 3 m it is necessary to adjust the parameter values in the controller for optimum motor power The default parameter values in the P Stages2 dat stage database are suitable for a total cable length of 3 m Total cable length of 3 m to 6 5 m 1 Adjust the value of the Frequency Shift parameter ID 0x64 in the controller Possible values 20 15 10 5 0 5 10 15 20 Repeat step 1 until the U 628 has reached optimum motor power Save the new parameter values to a s
27. ssifications The following ambient conditions and classifications must be observed for the U 628 Area of application For indoor use only Maximum altitude 2000 m Air pressure 1100 hPa to 0 1 hPa corresponds to roughly 825 torr to 0 075 torr Relative humidity Highest relative humidity 80 96 for temperatures up to 31 C Decreasing linearly to 50 96 relative humidity at 40 C Operating temperature 0 C to 40 C Storage temperature 20 C to 75 C Transport temperature 20 C to 75 C Overvoltage category Protection class Degree of pollution Degree of protection according to IEC 60529 U 628 Rotation Stage MP112E Version 1 2 0 39 10 Technical Data i gt I 10 3 Motor Power 10 3 1 Motor Power and Operating Voltage INFORMATION The operating voltage is limited by the controller using the Maximum Motor Output V ID Ox7c parameter If you load the operating parameters of the U 628 from the PlStages2 dat stage database the parameter is set to the maximum permissible value The following table shows the relationship between the operating voltage and the motor power of the U 628 The operating voltage is output by the controller and depends on the actual control value The polarity sign of the control value determines the direction of motion Motor Power Operating Voltage Corresponding Control Value on the Rounded Controller om ove CIO 100 96 57 Ver max 32767 or 32767 Exceeding the maximum value
28. t Up and Operation 25 6 1 General Notes on Start Up and Operation oocccccconcnnccnncnnnononcnnonnnnoncnnanenonnnnens 25 6 2 Starting up the U 628 zuusuueeansnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnennnnn 28 Maintenance 31 7 1 General Notes on Maintenance cccccconcccccccconncnnncccnononononononnnnnnononnnnnonononnnnnnnnnons 31 7 2 Performing a Maintenance RUN cccccsseeececeeseeecseeeeeeseeeeeseeeeeesseeeeessaeeeeeneaes 31 7 3 Cleaning the U 628 essssssssseessssssseeeeeeenn nnne nennen nnne nnn na nnn nnns naar nnns nena nns 32 Troubleshooting 33 Customer Service 35 Technical Data 37 jS MEME A e eo PONE CO O Oe 37 10 1 1 Data Table ns ee 37 10 1 2 Reference Point Switch SpecificatiONS cccccooncnnoconconononnononnanennos 38 10 1 3 Maximum Ratings roo aliado 38 10 2 Ambient Conditions and Classifications oocccccccnncncoconcnnoconnnncncnnnnnoconeninnnos 39 103 eedem m 40 10 3 1 Motor Power and Operating Voltage cccccccccnooonnccnnncccononaannnnnos 40 10 3 2 Velocity ana TOQUE E 41 10 3 3 Motor Power and LifetiMe occcooccccccccnccoccncconnnonannnonannnnonenononenos 42 10 3 4 Influence of Downtimes on the TorQU6 oocccccccnonccnncconocconcconnnccnnnnnnnns 43 10 4 Dimensions uuuszus0nsnnonnnnnnnnonnnnonnnnonnnnonnnnnnnnnnnnnonnnnonnnnnnnnnnnnnn anne nnnnennnnsnnnnnennenn 44 OMEN S eI RES UMEN 45 Old Equipment Disposal 4
29. tage database on the PC or the nonvolatile memory of the controller for future use see controller manual and PIMikroMove manual Total cable length gt 6 5 m gt Contact our customer service department p 35 Prerequisites Y You have read and understood the general notes on start up and operation p 25 You have read and understood the user manual of the controller p 3 In the case of start up with a load The U 628 has been properly installed p 17 The controller p 12 and the required software have been installed All connections on the controller have been set up see controller manual Starting up the U 628 gt U 628 Rotation Stage Start up the axis see controller manual Start up involves the following steps Selecting the stage type Defining the reference point of the axis Commanding initial motions in closed loop operation for testing and for run in of the mechanical system The controller manual describes start up using the PIMikroMove program MP112E Version 1 2 0 29 PIEZO NANO POSITIONING WWW PI WS 7 Maintenance 7 Maintenance In this Chapter General Notes on Maintenance esesseen nemen rnm ene rsen n enis 31 Performing a Maintenance RUN ooccccccccnncccncnncononnnnononcnnonnnnnnnononnnnnnonnonononnanennannnnonanens 31 deanna WAS 8 2 gt 721 gt anes PIRE RR A 32 7 1 General Notes on Maintenance NOTICE Damage due to improper maintenance
30. the moving platform is as small as possible in all directions Atleast three points are provided for affixing the load on the moving platform Tools and accessories At least three screws of suitable length p 44 Options M1 6 screws M2 5 screws Suitable tools for tightening the screws Affixing the Load 1 Align the load on the U 628 so that the mounting holes in the load and the holes in the moving platform overlap Affix the load with at least three screws Check that the load is affixed firmly to the moving platform of the U 628 24 Version 1 2 0 MP112E U 628 Rotation Stage 6 Start Up and Operation PIEZO NANO POSITIONING WWW PI WS 6 Start Up and Operation In this Chapter General Notes on Start Up and Operation cccccccccccncccccocncnnncconnnnnnnoconnnnnnnonnanennnnnnnos 25 Slanina Up the A A o ea Ea 28 6 1 General Notes on Start Up and Operation A Risk of electric shock if the protective earth conductor is not connected If a protective earth conductor is not or not properly connected dangerous touch voltages can occur on the U 628 in the case of malfunction or failure of the system If touch voltages exist touching the U 628 can result in minor injuries from electric shock Connect the U 628 to a protective earth conductor p 19 before start up gt Do not remove the protective earth conductor during operation gt If the protective earth conductor has to be remov
31. tion occurs gt Determine the maximum velocity for your application gt Observe the information in the Motor Power section p 40 INFORMATION Although in theory the U 628 operates quietly noise levels of up to 50 dB A are possible during operation The ultrasonic drive of the U 628 can also generate higher noise levels at frequencies between 100 and 500 kHz INFORMATION The positive direction of motion of the U 628 is shown in the product view p 9 U 628 Rotation Stage MP112E Version 1 2 0 27 6 Start Up and Operation i I INFORMATION For maximum force generation a run in procedure is necessary during the start up of the U 628 and after longer downtimes see also Influence of Downtimes on the Torque p 43 The U 628 reaches its maximum torque after the run in procedure gt For run in command a few motion cycles at low velocity The motion cycles should comprise full revolutions if possible For more information on operating conditions refer to the Motor Power section p 40 6 2 Starting up the U 628 NOTICE Incorrect parameter settings If you use the software which is included in the scope of delivery of the controller p 12 the operating parameters of the U 628 can be loaded from a stage database The PIStages2 dat stage database contains the default parameter values of your rotation stage for performing initial test motions during start up Depending on the application using the default pa
32. voltage warning sign on connector Warning sign Residual voltage Notice of risk of electric shock p 5 3 3 Scope of Delivery DL ZEN AAA PlLine rotation stage 360 rotation range velocity 720 s incremental encoder 17 urad resolution 49 mm diameter piezoelectric ultrasonic motor 000036450 M4 screw set for protective earth consisting of 1 M4x8 flat head screw with cross recess ISO 7045 2 safety washers 2flat washers 000042783 ocrew set for mounting the U 628 consisting of 4 M2 5x16 socket head cap screws ISO 4762 4 M2 5 flat washers ISO 7092 1 Allen wrench AF 2 0 MP121EK Short instructions for the PlLine stage U 628 Rotation Stage MP112E Version 1 2 0 11 3 Product Description i 3 4 Suitable Controllers C 867 1U Piezomotor controller driver networkable 1 channel for PlLine systems with Sub D connector s C 867 2U Piezomotor controller with drive electronics networkable 2 channels for PlLine amp systems with Sub D connector s C 877 1U11 Compact cost efficient piezomotor controller with drive electronics 1 channel for PlLine amp systems with low power consumption C 877 2U12 Compact piezomotor controller with drive electronics 2 channels for PlLine amp systems gt To order contact our customer service department p 35 3 5 Accessories U 600 A01 Extension cable for PlLine amp 15 pin Sub D 1 m U 600 A03 Extension cable for PlLine amp 15 pin Sub D 3
33. y position is too large Reaching the target Settling window position takes too around the target long position is too small Increased wear Warped base body Reduced accuracy U 628 Rotation Stage MP112E Immediately switch off the servo control system of the affected axes Check the settings of the servo control parameters Reduce the settling window by changing the parameter values for the settling window limits on the controller See the controller user manual p 3 for details Enlarge the settling window by changing the parameter values for the settling window limits on the controller See the controller user manual p 3 for details Mount the U 628 on an even surface The recommended evenness of the surface is 10 um For applications with large temperature changes Only mount the U 628 on surfaces that have the same or similar thermal expansion properties as the U 628 e g surfaces made of aluminum Version 1 2 0 33 8 Troubleshooting PI No or limited motion Excessive load The default parameter values are not suitable for operating with high loads The default parameter values are not suitable for cables longer than 3m gt gt Reduce the load see Data Table p 37 When the rotation stage is mounted vertically make sure that the installed load is lower than the maximum torque of the drive p 37 Adjust the operating parameters according to the descri
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