User Manual MP105E - Physik Instrumente
Contents
1. 47 10 1 Specifications 10 1 1 Data Table High resolution High resolution closed loop with stepper motor Rumes p me SA CT Leadscrew Leadscrew aM Integrated sensor Sensor resolution Design resolution Min incremental motion Backlash Unidirectional repeatability Velocity Mechanical properties Drive screw Thread pitch Gear ratio Motor resolution Push pull force M 232 Linear Actuator 28 444441 28 44444 1 aM F0 ee ECT MP105E Version 1 1 0 43 10 Technical Data Drive properties Motor type Operating voltage Electrical power Limit switches Miscellaneous Operating temperature range Material Mass Cable length Connector Recommended controller driver PI M 232 17 M 232 17S motor Bo p Hall effect Hall effect DC motor gearhead 2 phase stepper Aluminum anodized Aluminum chrome steel anodized chrome steel 0 5 3 m extension cable included Sub D 15 pin 0 5 3 m extension cable included 15 pin sub D incl encoder driver C 863 single axis C 843 PCI board for up to 4 axes C 663 single axis m NM Avoid lateral forces on the pusher Ask about custom designs Max 0 25 A phase 24 full steps rev motor resolution with C 663 stepper motor controller 44 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING WWW PI WS 10 Technical Data 10 1 2 Ambient Conditions and Class2. ssessssssseeeeeeeeee enne 17 5 2 Installing the Actuator in a Mechanical Mounting nennen 18 5 2 1 Providing a Suitable Mechanical Mounting and Installation ENVIO Medardo its 19 5 2 2 Installing the Actuator in a Mechanical Mounting 21 5 3 Installing the Actuator in a Micropositioning Stage 23 6 Start Up 6 1 General Notes on Start UP ooooncccinnccnincccnocnononnnnnoccnoncnn no nn naar cnn cnn enne 6 2 SER nennen nnns 6 2 1 M 232 Entries in the Stage Database of PI 6 2 2 Operating Parameters of the Model with DC Motor 6 2 3 Operating Parameters of the Model with Stepper Motor 7 Maintenance 7 1 General Notes on Maintenance sse nnns 7 2 Lubricating the MF 232 ein 7 3 Cleaning the M 232 uunsensssnnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnnnnnnnnnnnnnann 8 Troubleshooting 9 Customer Service 10 Technical Data 10 1 Specificalioris ii a 10 1 1 bata Table nidad 10 1 2 Ambient Conditions and Classifications n een 10 1 3 Limit Switch Specifications 2 220044440nnnnnnnnnnnnnnnnnnnennnnnnnn nn 10 2 DIMENSIONS iia 10 3 Pin ssignment n ae 10 3 1 Model with DC Gear Motor sseseee nnn 10 3 2 Model with Stepper Motor 11 Old Equipment Disposal 12 EC Declaration of Conformity PIEZO NANO POSIT
3. 5 V supply from controller Output Limit switch signal negative side Output Limit switch signal positive side Internal GND limit switch and logic Output Encoder A Output Encoder A Output Encoder B Output Encoder B MP105E Version 1 1 0 47 10 Technical Data P I 10 3 2 Model with Stepper Motor Connector 15 pin sub D m Input Phase 1a Input Phase 1b Input Phase 2a Input Phase 2b Not connected Not connected Not connected Not connected Not connected Not connected Input 5 V supply from controller Output Limit switch signal positive side GND Internal Output Limit switch signal negative side 48 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING WWW PI WS 11 Old Equipment Disposal 11 Old Equipment Disposal Since 13 August 2005 in accordance with the EU directive 2002 96 EC WEEE electrical and electronic equipment can no longer be disposed of in the member states of the EU with other wastes When disposing of your old equipment observe the international national and local rules and regulations To meet the manufacturer s product responsibility with regard to this product Physik Instrumente PI GmbH amp Co KG ensures environmentally correct disposal of old Pl equipment that was first put into circulation after 13 August 2005 free of charge If you have old Pl equipment you can send it postage free to the following address Physik Ins
4. acceleration Reduce the load on the mechanical System Velocity is too high see chapter Limit Switches p 13 Limit switch is defective Motor controller ignores the limit switch signal Stop the motor Command the mechanical system away from the hard stop Check the settings of the motor controller for the limit switch processing If the problem that occurred with your system is not listed in the table above or it cannot be solved as described contact our customer service department p 41 M 232 Linear Actuator MP105E Version 1 1 0 39 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 If you have questions concerning your system have the following information ready Product codes and serial numbers of all products in the system Firmware version of the controller if present Version of the driver or the software if present Operating system on the PC if present The latest versions of the relevant user manuals for your system are available for download on our website http www pi ws M 232 Linear Actuator MP105E Version 1 1 0 41 PIEZO NANO POSITIONING WWW PI WS 10 Technical Data 10 Technical Data In this Chapter lere qe H 43 Beli 46 PIN P ciere
5. each other Figure 10 Fastening the actuator 6 Check that the actuator is correctly fitted on the micropositioning stage Make sure that the installation result corresponds to the conditions in the following figure 26 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING ALL TM WWW PI WS 5 Installation Figure 11 Complete installation M 232 actuator in a micropositioning stage here M 105 M 232 Linear Actuator KR ON Moving platform of the micropositioning stage Pusher of the M 232 actuator here completely extended Mounting screw M2 grub screw Locating surface of the M 232 actuator flush with the top edge of the front of the micropositioning stage MP105E Version 1 1 0 27 PIEZO NANO POSITIONING WWW PI WS 6 Start Up 6 Start Up In this Chapter General Notes on Start Up esiisasid 29 Starting Up the ACtUatOr eA 31 6 1 General Notes on Start Up Unintentional motion of the linear actuator while connecting it to the motor controller gt Do not place any objects in areas where they can get caught by moving parts gt Keep your fingers at a safe distance from the motion range of the linear actuator NOTICE Damage if a wrong motor controller is connected Connecting a linear actuator to an unsuitable controller can cause damage to the linear actuator or controller gt Connect a linear actuator with DC motor to a DC motor controller only gt Conn
6. ATION The handwheel of a linear actuator with stepper motor can be used to manually retract and extend the pusher Manually triggered changes in the position of the pusher are not recognized by the connected controller INFORMATION The repeatability of the positioning is only ensured when the same limit switch is always used for the reference move gt Always start reference moves to the same limit switch 30 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING WWW PI WS 6 Start Up INFORMATION For models with DC motors Unsuitable settings made to the servo control parameters can impair the performance of the M 232 The consequences of this can be expressed as follows Oscillations Imprecise approach of the position Settling time is too long gt Ifthe performance of the M 232 is not satisfactory check the settings for the servo control parameters of your controller INFORMATION Moving the pusher outwards corresponds to the positive direction of motion 6 2 Starting Up the Actuator In the following a PC with PC software is used as the peripheral control equipment of the controller Prerequisites You have read and understood the General Notes on Start Up p 29 EN You have correctly installed the actuator p 17 EN You have read and understood the user manual of the used controller lt You have read and understood the manual of the used PC software Accessories S
7. IEZO NANO POSITIONING WWW PI WS 3 Product Description Peripheral control equipment Transmission cable between to controller PC and controller Ensures the data Included in the scope of communication delivery of PI controllers Controller to actuator Transmission cable between Ensures the data controller and actuator communication and the Part of the actuator or power source of the actuator included in the scope of delivery of the piezo actuator Mechanical structure Ensures among other things the Only mounting nut for secure fixation of the actuator mechanical connection included and thus a high repeatability in the scope of delivery of the actuator Mechanical coupling Establishes the connection Also in case exchangeable parts between the actuator and the can be used all options are load pusher with a separate end included in the scope of delivery piece depending on the model of the actuator e g end pieces Load Part to be driven This is to be moved in your application If a motor controller card is used the controller component and the connection between the peripheral control equipment and the controller cable are physically inside of the PC 3 2 Features and Applications The M 232 is a compact and cost effective linear actuator with a 17 mm travel range and a length that could be reduced with a folded drive to only 72 mm As a result of the combination of a backlash free preloaded DC gear
8. IONING WWW PI WS 1 About this Document 1 About this Document In this Chapter Goal and Target Audience of this Manual sse 1 Symbols and Typographic Conventions cccccceecceceeeeeeeeeeeeaeeeeneeeeeeesaeeeeeeseeeeeeaas 1 Other Applicable Documents 22044240044440nnnnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 2 1 1 Goal and Target Audience of this Manual This manual contains information on the intended use of the M 232 It assumes that the reader has a fundamental understanding of basic servo systems as well as motion control concepts and applicable safety procedures For updated releases of this user manual or if you have any questions contact our customer service department p 41 1 2 Symbols and Typographic Conventions The following symbols and typographic conventions are used in this user manual Dangerous situation If not avoided the dangerous situation will result in minor injury gt Actions to take to avoid the situation NOTICE Dangerous situation If not avoided the dangerous situation will result in damage to the equipment gt Actions to take to avoid the situation ho M 232 Linear Actuator MP105E Version 1 1 0 1 About this Document P I INFORMATION Information for easier handling tricks tips etc Symbol Meaning 1 Action consisting of several steps whose sequential order must be observed Action consi
9. PI MP105E M 232 Linear Actuator User Manual Version 1 1 0 Date 22 10 2012 This document describes the following high resolution linear actuators with limit switches M 232 17 DC Drive Travel Range 17 mm M 232 17S Stepper Motor Drive Travel Range 17 mm Physik Instrumente PI GmbH amp Co KG Auf der R merstr 1 76228 Karlsruhe Germany Telephon 49 721 4846 0 Telefax 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 PIFOCG PiezoWalk amp NEXACT NEXLINEG NanoCube NanoAutomation Picoactuator PInano amp 2012 Physik Instrumente PI GmbH amp Co KG Karlsruhe Deutschland The text photographs and drawings in this manual are protected by copyright With regard thereto Physik Instrumente PI GmbH amp Co KG retains all the rights Use of said text photographs and drawings is permitted only in part and only upon citation of the source Original instructions First printing 22 10 2012 Document number MP105E MMa Version 1 1 0 Subject to change without notice This manual is superseded by any new release The latest release is available for download on our website http www pi ws PIEZO NANO POSITIONING WWW PI WS Contents 1 About this Document 1 1 1 Goal and Target Audience of this Manual ssssseeee
10. cope of delivery of the M 232 General Safety Instructions The M 232 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 M 232 gt Only use the M 232 for its intended purpose and only use it if it is in a good working order Read the user manual gt 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 232 M 232 Linear Actuator MP105E Version 1 1 0 3 2 Safety P I 2 2 1 Organizational Measures User manual gt Always keep this user manual next to the M 232 If the user manual is lost or damaged contact our customer service department p 41 gt Add all information given by the manufacturer to the user manual for example supplements or Technical Notes gt f you pass the M 232 on to other users also turn over this user manual as well as all 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 lead to slight injury as well as property damage gt Only install and operate the M 232 after having read and understood this user manual Personnel qualification The M 232 may only be started up operated maintained and cleaned by authorized and qualified staff 2 2 2 Safety Measure
11. ctuator MP105E Version 1 1 0 37 7 Maintenance P I 7 3 Cleaning the M 232 Prerequisites Y You have disconnected the linear actuator from the controller Cleaning the linear actuator gt When necessary clean the linear actuator surface with a towel lightly dampened with a mild cleanser or disinfectant gt Do not use any organic solvents 38 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING WWW PI WS 8 Troubleshooting 8 Troubleshooting Problem SEE positioning accuracy Functional impairment after system modification The mechanical system does not move The mechanical system does not move but generates operating noise The mechanical system did not stop in time and ran into the hard stop Possible Possible Causes enough or overtightened maximum torque of 0 3 Nm Motor controller has been Motor controller from Pl replaced gt Load the parameters from the stage database that correspond to the combination of motor controller and M 232 model p 31 Motor controller from a third party supplier gt Check the operating parameters The cable is not connected gt Check the connector cable correctly or is faulty Lateral forces are affecting Lateral forces increase the friction on the internal drive components Avoid lateral forces on the pusher of the M 231 Values for the velocity Reduce the velocity acceleration and or load are too high Reduce the
12. ctuator in a Micropositioning Stage sees 23 5 1 General Notes on Installation NOTICE Cable break A cable break leads to a failure of the linear actuator gt Install the linear actuator so that the cable is not bent or squeezed too severely during operation NOTICE Increased friction Lateral forces that affect the pusher of the linear actuator increase the friction on the internal drive components Increased friction impairs the motion of the pusher and increases wear on the drive components gt Avoid lateral forces on the pusher of the M 232 NOTICE Heating up of the M 232 during operation The heat produced during operation of the M 232 can affect your application gt Install the M 232 so that your application is not affected by the dissipating heat INFORMATION Linear actuators with DC gear motors are equipped with integrated signal drivers for cable lengths of lt 10 m between linear actuator and motor controller M 232 Linear Actuator MP105E Version 1 1 0 17 5 Installation P I INFORMATION The M 232 is suitable for installation in the following fixtures Suitable mechanical mounting PI micropositioning stages fiber positioning systems of the types M 105 and M 106 The necessary steps are described in the following sections INFORMATION To achieve an optimum repeatability the mounting shaft must not have any backlash gt During mounting make sure that
13. e Specifications in the Stage Database Database Selection Motor type DC motor conservative set of M 232 17 servo control parameters adjustable initial values limit switches active high M 232 17 Like the M 232 17 except for parameters for M 232 17 PWM PWM output for use with C 842 AP1 PWM to analog adapter box M 232 17S M 232 17S Motor type stepper motor parameters for operating current holding current and holding current delay limit switches active low M 232 Linear Actuator MP105E Version 1 1 0 33 6 Start Up P I 6 2 2 Operating Parameters of the Model with DC Motor If you use a DC motor controller from a third party supplier it may be necessary to enter operating parameters to adjust the used linear actuator Recommended start values Maximum acceleration counts s 5 Maximum velocity mm s Maximum velocity 218453 counts s Hardware properties Gear reduction 28 44444 1 DENM 34 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING WWW PI WS 6 Start Up 6 2 3 Operating Parameters of the Model with Stepper Motor If you use a Stepper motor controller from a third party supplier it may be necessary to enter operating parameters to adjust the used linear actuator Parameter Recommended start values Holding current Operating current Holding current delay Maximum motor current Maximum acceleration Maximum velocity Maximum velocity Hardware properties Gear reduction Limit swi
14. e designed so that the static and dynamic forces that occur can be safely and continuously managed The dimensions of the mounting have been adjusted to the dimensions of the actuator see above figures and dimensions p 46 especially to the following specifications Diameter of the mounting shaft Slant and locating surface if a positive connection is planned Position of the circumferential groove if a fixation with engaging mounting screws is planned The intended motions of the pusher and the load must not be inhibited by the dimensions of the installation environment gt Take into account the following specifications when planning the application and installing the actuator Travel range max 17 mm Space requirements for a kink free and proper guiding of the connection cable and motor cable if necessary Length of the connection cable approx 0 5 m and additional motor cables 3 m or 10 m 20 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING WWW PI WS 5 Installation gt Avoid or label danger areas that result from the installation of the actuator and from use in accordance with the legal regulations e g risk of crushing in the case of heavy moving loads fast actuator motions and or high drive torques gt Check whether the limit switches for a pusher displacement of 0 mm or 17 mm can be reached with the planned design of your application gt Ifthe limit switches of the actuato
15. e holes for mounting screws 3 Screw all mounting screws into the threaded hole of the mounting with a maximum torque of 0 3 Nm each time until you feel resistance 4 Check that the actuator is correctly fitted in the mounting 5 3 Installing the Actuator in a Micropositioning Stage The M 232 is suitable e g for installation in a Pl micropositioning stage fiber positioning system of the type M 105 or M 106 NOTICE Overtightened mounting screws Overtightening the mounting screws can damage the mounting shaft of the linear actuator and hinder the motion of the pusher This reduces the positioning accuracy gt Tighten the mounting screws to a maximum torque of 0 3 Nm Prerequisites Y You have read and understood the General Notes on Installation p 17 Y f necessary you have disassembled the drive of the micropositioning stage e g micrometer screw or piezo drive M 232 Linear Actuator MP105E Version 1 1 0 23 5 Installation P I Tools and accessories AF 1 5 Allen wrench for M2 grub screw or corresponding screwdriver Micropositioning stage with suitable mounting for the linear actuator Installing the actuator in a micropositioning stage a C Figure 6 Actuator and stage schematic 1 Moving platform internal 2 Wide micropositioning stage front with a horizontal hole b vertical threaded hole with grub screw 3 Pusher 4 Mounting shaft with c groove 5 Locating sur
16. ect a linear actuator with stepper motor to a stepper motor controller only NOTICE Damage due to the pusher crashing into the hard stop When the limit switches are deactivated the motion of the pusher is aborted by the hard stop and the M 232 can be damaged gt Do not deactivate the limit switches in the software gt Test limit switch operation at low velocities only M 232 Linear Actuator MP105E Version 1 1 0 2 6 Start Up P I NOTICE Damage or major wear to the mechanical system as a result of high acceleration gt Inthe event of a malfunction of the motor controller stop the motion immediately Ensure that the end of the travel range is approached at low velocity gt Set your control signal so that the moving part does not stop abruptly or try to continue moving at the end of the travel range Determine the maximum velocity for your application NOTICE Damage from unsuitable controllers and PC software Unsuitable controllers and PC software can cause damage to the actuator gt Ifyou use controllers and software from other manufacturers before starting up the actuator check the technical data to make sure that they are suitable INFORMATION The maximum velocity for a linear actuator 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 INFORM
17. ee 1 1 2 Symbols and Typographic Conventions sssssseeeeeeeenes 1 1 3 Other Applicable DOCUMENIS cc ccceteeeeeeeeeeeeeteeeeecaeeesaaeeeeeeeseaeeesaeseeaaeeeenees 2 2 Safety 3 2 1 miendod USE 3 2 2 General Safety Instructions oooccconoccccnonocnnccanonnncnanononcnnnonnnnnnnr nro rnnnr nn nrnnnnrnnrnnnn nn 3 2 2 1 Organizational Measur8S oooncccinocinnncccconccononanonncnnnoccnnncn nan nn anar cn nnnccins 4 2 2 2 Safety Measures during Installation sess 4 2 2 3 Safety Measures during Start Up ssssssssseeees 5 2 2 4 Safety Measures during Operation 6 2 2 5 Safety Measures during Maintenance sss 6 3 Product Description 7 3 1 SOCIOS A einen entere ensis trt enne sensn sinn sentent 8 3 2 Features and Applications eseseneeeeennenen nenne 9 3 3 Model Overview sssssssssesesseseeese eene entente tene en rennes nnns nnne 10 3 4 Product Vi Wisin 11 3 5 Scope of Delivery coonooconncccnniconocnoncccconcccnnnnn nn 11 3 6 Suitable Controllers sse nn 12 3 7 Dietro dA X tee 12 3 8 Technical Features oomooccconnocccononocononnnccnnnnnncnn rn 13 3 8 1 Rotary Encoder eite rene te RR Pere d id 13 3 8 2 Limit Switches enne nnne tenen 13 4 Unpacking 15 5 Installation 17 5 1 General Notes on Installation
18. erential groove Locating surface Continuous mounting hole M3 thread Case Da AA O No Cable for connecting to the controller 3 5 Scope of Delivery M 232 Linear actuator according to order p 10 C 815 38 Motor cable 3 m Sub D 15 pin m f MP105E User manual this document in printed form M 232 Linear Actuator MP105E Version 1 1 0 11 3 Product Description P I 3 6 Suitable Controllers The M 232 must be connected to a suitable controller The following controllers from PI are suitable for the operation of the M 232 Drive ws Controller Axes per PC Multiple Controllers on yP Controller Interface the Same PC DC motor C 843 Internal PCI Yes separate boards bus C 863 1 USB RS 232 Yes same interface daisy chain Stepper C 663 1 USB RS 232 Yes same interface motor daisy chain The required PC software is included in the scope of delivery of the PI controllers The operation of the controllers is described in the corresponding user manuals The operating parameters must be adjusted depending on the version of the M 232 used p 31 3 7 Accessories Order Description Number C 842 AP1 PWM to analog adapter box for operating M 232 linear actuators with PWM signals C 815 83 Motor cable 10 m Sub D 15 pin m f To order contact our customer service department p 41 12 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING WWW PI WS 3 Product Description 3 8 Tec
19. face 6 Sleeve case 1 If possible place the micropositioning stage on a level surface The moving platform must be visible from above 24 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING WWW PI WS 5 Installation 2 Unscrew the grub screw in the middle of the front of the micropositioning stage by around three rotations using an Allen wrench or screwdriver Figure 7 Unscrew the grub screw slightly 3 Align the actuator so that the following conditions are met The locating face of the actuator is level with the top edge of the micropositioning stage The mounting shaft is located precisely across from the horizontal hole on the front of the micropositioning stage Figure 8 Aligning the actuator M 232 Linear Actuator MP105E Version 1 1 0 25 5 Installation P I 4 Insert the mounting shaft of the actuator into the horizontal hole on the front of the micropositioning stage until the locating surface of the actuator and the front of the micropositioning stage touch The grub screw is then precisely above the circumferential groove of the mounting shaft Figure 9 Introducing the shaft 5 Screw in the grub screw until you feel resistance The torque must not exceed 0 3 Nm Fine adjustment If necessary correct the position of the locating surface of the actuator in relation to the top edge of the micropositioning stage while or before tightening the grub screw so that they are flush with
20. hnical Features 3 8 1 Rotary Encoder The models with DC motors are equipped with a rotary encoder A rotary encoder also called an incremental or incremental rotary encoder is implemented at a rotating point in the drivetrain e g the motor shaft To determine the relative position the controller counts the encoder signals the so called impulses 3 8 2 Limit Switches The M 232 is equipped with non contact Hall effect limit switches Each limit switch sends an overtravel signal on a dedicated line to the controller The controller then stops the motion If the controller does not stop the motion in time the linear actuator runs into the hard stop See Limit Switch Specifications p 45 for more information M 232 Linear Actuator MP105E Version 1 1 0 13 PIEZO NANO POSITIONING WWW PI WS 4 Unpacking 4 Unpacking M 232 Linear Actuator Unpack the M 232 with care Compare the contents against the items covered 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 PI immediately Keep all packaging materials in case the product needs to be returned MP105E Version 1 1 0 15 PIEZO NANO POSITIONING WWW PI WS 5 Installation 5 Installation In this Chapter General Notes on Installation sssssssssssssseseeeeennene enne 17 Installing the Actuator in a Mechanical Mounting 18 Installing the A
21. ifications The following ambient conditions and classifications must be observed for the M 232 Area of application For indoor use only Maximum altitude 2000 m Relative humidity Highest relative humidity 80 for temperatures up to 31 C Decreasing linearly to 50 relative humidity at 40 C Degree of protection IP40 according to IEC 60529 10 1 3 Limit Switch Specifications Magnetic Hall effect sensor Supply voltage 5 V ground Signal output TTL level Signal logic The signal level changes when passing the limit switch The signal logic depends on the model type Models with DC motor active high That means Normal motor operation low 0 V Limit switch reached high 5 V Models with stepper motor active low That means Normal motor operation high 5 V Limit switch reached low 0 V M 232 Linear Actuator MP105E Version 1 1 0 45 10 Technical Data P I 10 2 Dimensions Dimensions in mm Note that the decimal places are separated by a comma in the drawings 1 M3 through Figure 12 M 232 17 and M 232 17S linear actuator dimensions in mm 46 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING WWW PI WS 10 Technical Data 10 3 Pin Assignment 10 3 1 Model with DC Gear Motor Connector 15 pin sub D m M 232 Linear Actuator Internal Input Motor Input Motor Internal Internal Internal Input
22. linear actuator can perform an unintentional motion when connecting it to the motor controller gt Do not place any objects in areas where they can get caught by moving parts Keep your fingers at a safe distance from the motion range of the M 232 The collision of moving parts with the hard stop end of travel range as well as high acceleration can cause damage to or considerable wear on the mechanical system gt Inthe event of a malfunction of the motor controller stop the motion immediately Ensure that theend of the travel range is approached at low velocity Set your control signal so that the moving part does not stop abruptly or try to continue moving at the end of the travel range gt Determine the maximum velocity for your application M 232 Linear Actuator MP105E Version 1 1 0 5 2 Safety P I gt Ensure that the automatic limit switch halt is supported by the controller or that it is activated in the controller 2 2 4 Safety Measures during Operation For models with DC motors Unsuitable settings made to the servo control parameters can impair the performance of the M 232 The consequences of this can be expressed as follows Oscillations Imprecise approach of the position Settling time is too long gt If the performance of the M 232 is not satisfactory check the settings for the servo control parameters of your controller 2 2 5 Safety Measures during Maintenance The M 232 is precisel
23. motor with high resolution rotary encoder and an extremely low friction and zero backlash design the M 232 achieves minimum incremental motions of 100 nm and velocities of up to 2 5 mm s A design with a stepper motor is also on offer Integrated limit switches as well as line drivers enable easy installation in automation solutions and protect the mechanical system of the actuator The M 232 can be installed for example on the fiber positioning system micropositioning stage M 105 or M 106 instead of a micrometer screw or a piezo drive M 232 Linear Actuator MP105E Version 1 1 0 9 3 Product Description P I 3 3 Model Overview Two versions of the M 232 are available They differ in terms of their drive type M 232 17 Compact High Resolution DC Mike Linear Actuator 17 mm Limit Switches M 232 17S Compact High Resolution Stepper Mike Linear Actuator 17 mm Limit Switches gt For further technical data see the specifications p 43 Pl also produces custom designs upon request Custom designs can differ from the described standard products in respect to dimensions characteristics or other technical data gt If necessary contact our customer service department p 41 directly 10 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING WWW PI WS 3 Product Description 3 4 Product View Figure 2 Product view Moving pusher rotating with M3 5 thread and convex end Mounting shaft with circumf
24. r cannot be reached with the planned minimum and maximum displacements Make sure that the actuator and the load only move within the planned range Suitable measures Corresponding programming of the controller Emergency off switch Automatic shutdown systems The complete dimensions of the actuator and relevant individual parts can be found in the figures in the section Dimensions p 46 5 2 2 Installing the Actuator in a Mechanical Mounting NOTICE Overtightened mounting screws Overtightening the mounting screws can damage the mounting shaft of the linear actuator and hinder the motion of the pusher This reduces the positioning accuracy gt Tighten the mounting screws to a maximum torque of 0 3 Nm INFORMATION Two continuous mounting holes with M3 thread are present in the case of the linear actuator see the figures in Product View p 11 or Providing a Suitable Mechanical Mounting and Installation Environment p 18 These holes can be used alternatively or in addition to the procedure shown here for installing the actuator gt See the dimensional drawing p 46 for the position of the continuous mounting holes M 232 Linear Actuator MP105E Version 1 1 0 21 5 Installation P I Figure 5 Example for the installation in a mechanical mounting sectional view Mechanical Mounting Mounting screw e g M2 grub screw Mounting shaft with circumferential groove AON Sleeve case of the act
25. s during Installation A cable break leads to a failure of the linear actuator gt Install the linear actuator so that the cable is not bent or squeezed too severely during operation Lateral forces that affect the pusher of the linear actuator increase the friction on the internal drive components Increased friction impairs the motion of the pusher and increases wear on the drive components gt Avoid lateral forces on the pusher of the M 232 Overtightening the mounting screws can damage the mounting shaft of the linear actuator and hinder the motion of the pusher This reduces the positioning accuracy gt Tighten the mounting screws to a maximum torque of 0 3 Nm 4 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING WWW PI WS 2 Safety The heat produced during operation of the M 232 can affect your application gt Install the M 232 so that your application is not affected by the dissipating heat 2 2 3 Safety Measures during Start Up A motorized linear actuator can generate powerful forces depending on the gear ratio Connecting a linear actuator to an unsuitable controller can cause damage to the linear actuator or controller gt Connect a linear actuator with DC motor to a DC motor controller only gt Connect a linear actuator with stepper motor to a stepper motor controller only Faulty motor controllers can cause unintentional motor motion and run the M 232 into the hard stop The
26. sting of one or several steps whose sequential order is irrelevant List item p 5 Cross reference to page 5 RS 232 Labeling of an operating element on the product example socket of the RS 232 interface 1 3 Other Applicable Documents The devices and software tools which are mentioned in this documentation are described in their own manuals For the latest versions of the user manuals contact our customer service department p 41 Controller Document C 843 DC Motor Controller PCI PC MS77E User Manual Board C 863 10 DC Motor Controller MS173E User Manual C 863 11 DC Motor Controller MS205E User Manual C 663 10 Stepper Motor Controller MS138E User Manual C 663 11 Stepper Motor Controller MS208E User Manual 2 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING WWW PI WS 2 Safety 2 1 2 2 Safety In this Chapter Intended USO sss Hei 3 General Safety Instr ctions rettet Ceca Lese E RE aa aa Eiaa 3 Intended Use The M 232 is a laboratory device as defined by DIN EN 61010 1 It is intended to be used in interior spaces and in an environment which is free of dirt oil and lubricants Based on its design and realization the M 232 is intended for positioning adjusting and shifting loads in one axis at various velocities The intended use of the M 232 is only possible when installed and with a suitable controller p 12 The controller is not included in the s
27. tch polarity Full steps Phase resistance Maximum phase current bipolar M 232 Linear Actuator wears oA mo To LN mo m 1706 steps s mau ION Wim p MP105E Version 1 1 0 35 PIEZO NANO POSITIONING WWW PI WS 7 Maintenance 7 Maintenance In this Chapter General Notes on Maintenance ooccccccccccnononoccnnnnnonononanancnnno nono nannnnnnnn nono conan nana cnn nnnnnnns 37 Lubricating the M 2832 se ed 37 CERE ea ideal 38 7 1 General Notes on Maintenance Damage due to improper maintenance The M 232 can become misaligned as a result of improper maintenance gt Do not loosen any sealed screws 7 2 Lubricating the M 232 Depending on the operational conditions and the period of use of the linear actuator the following maintenance measures are required Spreading lubricant gt If you operate the M 232 continuously on a small travel range lt 20 of the entire travel range perform a maintenance run every 2000 motion cycles across the entire travel range Lubrication Under laboratory conditions the linear actuator needs extra lubrication in exceptional cases only For continuous industrial use the lubrication intervals must be defined individually gt Do not lubricate the M 232 without consulting our customer service department p 41 gt To lubricate follow the instructions given in the maintenance manual which you can obtain from our customer service department M 232 Linear A
28. there is a faultless connection between the actuator and the mechanical mounting 5 2 Installing the Actuator in a Mechanical Mounting To install the actuator in a mechanical mounting the following steps are required 1 Providing a suitable mechanical mounting 2 Installing the actuator in the mechanical mounting Detailed instructions can be found in the following sections 18 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING WWW PI WS 5 Installation 5 2 1 Providing a Suitable Mechanical Mounting and Installation Environment Figure 3 Components installation dimensions in mm 1 Pusher rotating with M3 5 thread and R3 convex end 2 Mounting shaft with width a 2 5 mm width c 3 5 mm diameter e 6 mm 3 Circumferential groove for mounting a mounting screw V profile with width b 1 mm angle to the vertical axis 45 4 Locating surface For dimensions see sectional view on the right relevant e g for installation in M 105 5 Slant For dimensions see the sectional view on the right 6 Case 7 Continuous mounting hole M3 thread M 232 Linear Actuator MP105E Version 1 1 0 19 5 Installation PI Figure 4 Example for the installation of a linear actuator here an M 235 A suitable mechanical mounting and installation environment are necessary for the proper use of the actuator Make sure that the following conditions have been met Material and statics of the mounting ar
29. trumente PI GmbH amp Co KG Auf der R merstr 1 D 76228 Karlsruhe Germany M 232 Linear Actuator MP105E Version 1 1 0 49 PIEZO NANO POSITIONING WWW PI WS 12 EC Declaration of Conformity 12 EC Declaration of Conformity PI Declaration of Conformity according to DIN EN ISO IEC 17050 1 Manufacturer Physik Instrumente Pl GmbH amp Co KG Manufacturer s Auf der Roemersira e 1 Address D 76228 Karlsruhe Germany The manufacturer hereby declares that the product Product Name Precision Linear Actuator Mode Numbers M 232 Product Options all complies with af relevant provisions of the Machinery Directive 2006 42 EC Furthermore it complies with all provisions of the Low Voltage Directive 2006 95 EC and ine EMC Directive 2004 4 0 amp EC The applied standards certifying the conformity are listed below Safety of Machinery EN 12100 1 EN 12100 2 Safety Low Voltage Directive EN 61010 1 Electromagnetic Emission EN 61000 6 3 EN 55011 Electromagnetic immunity EN 61000 6 1 The person authorized to comple the technical fe is Wolfgang Schobel Address see manufacturer s address April 20 2011 Karlsruhe Germany C C Bee eu Pryak insitrumente PR Gretel A Co KG Auf Ger Arenas 1 78228 Kateute Germany GEB ANO POSINONING Prone 4b 121 4846 0 Fax lt 4 771 446 1098 E mad ndo wm wem ai sm eek ATTRA M 232 Linear Actuator MP105E Version 1 1 0 51
30. uator We recommend fixing the actuator with at least one mounting screw which is screwed into each mechanical mounting and engages in the groove of the mounting shaft The following instructions apply to this case gt If you use other designs proceed correspondingly Prerequisites v You have read and understood the General Notes on Installation p 17 v You have provided your application with a suitable mounting for the mounting shaft of the linear actuator in accordance with the instructions of the previous section 22 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING WWW PI WS 5 Installation Y You have made a suitable hole with internal thread in the mechanical mounting for each of the planned mounting screws The hole is positioned so that the mounting screw can engage vertically in the circumferential groove of the mounting shaft after installation The position of the circumferential groove can be found in the above illustration of the components and installation dimensions Tools and accessories Atleast one suitable mounting screw e g M2 grub screw To be able to engage in the groove optimally the screw should have an angled end instead of a flat end Suitable Allen wrench or screwdriver for the mounting screw s Installing the actuator in a mechanical mounting 1 Insert the actuator in the mounting of your application 2 Place the groove of the mounting shaft precisely across th
31. uitable controller p 12 motor controller card for PC installation or stand alone device incl connection cable to PC PC PC software for the controller for PI controllers included in their scope of delivery f necessary suitable motor cable from PI e g Motor cable C 815 38 3 m Sub D 15 pin m f in the scope of delivery p 11 M 232 Linear Actuator MP105E Version 1 1 0 31 6 Start Up PI Motor cable C 815 83 10 m Sub D 15 pin m f available as optional accessory p 11 Starting up the actuator 1 If you use a motor controller card e g C 843 from PI make sure that it is properly installed or install it see the user manual of the motor controller card If suitable and current PC software for the controller is not on your PC yet install the PC software see the user manual of the controller or the software If you do not use a motor controller card connect the PC with the external controller using a suitable cable For PI products the cable required for this is included in the scope of delivery Connect the actuator with the controller a Determine the minimum necessary cable length between the actuator and the controller b Connect the connector of the connection cable with the Sub D socket of the controller or a corresponding adapter according to the determined length see above either directly or by interposing an additional motor cable c Secure all connections
32. with the integrated screws against accidental disconnection d Remove or label resulting danger areas in accordance with the valid legal regulations and directives Start up the controller see user manual of the controller Configure the controller using the PC software for the used actuator see the user manual of the controller and the PC software f you use a Pl controller select the entry in the stage database that precisely matches the actuator version used see the list of available entries p 33 f you use a controller from another manufacturer Enter the parameters in the corresponding PC software that precisely match the actuator version used see overview of the operating parameters for DC motor controllers p 34 or stepper motor controllers p 35 Start a few motion cycles for testing purposes see user manual of the controller 32 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING WWW PI WS 6 Start Up 6 2 1 M 232 Entries in the Stage Database of PI For motor controllers from PI you can select the connected linear actuator from a stage database in the respective PC software The appropriate operating parameters are thus loaded into the motor controller You can find a detailed description in the user manual for the motor controller or in the manual for the PC software used The following table shows the linear actuators and their names in the stage database Name in the Stag
33. y aligned gt Do not loosen any sealed screw 6 Version 1 1 0 MP105E M 232 Linear Actuator PIEZO NANO POSITIONING WWW PI WS 3 Product Description 3 Product Description In this Chapter System OVErV OW AP E 8 Features and Applications icono Hei nah 9 Model Oven ais 10 Product Mi ada 11 Scope of Delivery MM 11 Suitable Controllers E aii 12 ACC6eSSOLCIGS cet nen rennen ee ee ehe 12 Technical Features E ID M 13 M 232 Linear Actuator MP105E Version 1 1 0 7 3 Product Description P I 3 1 System Overview The following figure shows an overview of the total system Application total system Drive systemY Motor controller card if applicableq Peripheral control equipment Figure 1 Overall system overview To operate the actuator in your application the following components are necessary PI Peripheral control equipment Loads configurations and control PC software e g PIMikroMove commands to the controller e g included in the scope of delivery PC in connection with PC of PI controllers software Controller Controls the motions of the Stand alone device or motor actuator controller card PC add on card Available separately see section Suitable Controllers p 12 Actuator Produces the motions of the part Here linear actuator type M 232 to be driven or the load in your Present product application 8 Version 1 1 0 MP105E M 232 Linear Actuator P
Download Pdf Manuals
Related Search