User Manual - static.physikinstrumente.com · 3 Safety 3.1 Intended Use The L-417.xx9025E0 is a laboratory device as defined by DIN EN 61010-1. It is intended for indoor use and use

L417M0003EN ‒ 7/9/2019

User ManualL-417.XX9025E0 HIGH-LOAD LINEAR STAGE

M O T I O N | P O S I T I O N I N G

Contents1 Legal Information.........................................................................................................4

2 About this Document..................................................................................................52.1 Objective and Target Group..............................................................................52.2 Explanation of Symbols.................................................................................... 5

2.2.1 Typographic Conventions................................................................. 52.2.2 Symbols Used.................................................................................... 5

2.3 Figures................................................................................................................62.4 Downloading Manuals...................................................................................... 6

3 Safety............................................................................................................................73.1 Intended Use......................................................................................................73.2 General Safety Instructions.............................................................................. 73.3 Organizational Measures.................................................................................. 7

3.3.1 User Manual.......................................................................................73.3.2 General Personnel Qualification.......................................................7

4 Product Description.....................................................................................................84.1 Modellübersicht................................................................................................. 84.2 Product Labeling................................................................................................8

4.2.1 Type Plate........................................................................................... 94.3 Scope of Delivery...............................................................................................94.4 Overview.......................................................................................................... 10

4.4.1 Base Body.........................................................................................104.4.2 Drive..................................................................................................104.4.3 Linear Encoder Connector............................................................... 114.4.4 Purge Air System..............................................................................11

4.5 Direction of Motion..........................................................................................124.6 Suitable Electronics......................................................................................... 12

5 Unpacking.................................................................................................................. 13

6 Installation................................................................................................................. 146.1 Mounting the L-417.xx9025E0..........................................................................146.2 Connecting the L-417.xx9025E0 to the Protective Earth Conductor............. 156.3 Mounting the Load onto the L-417.xx9025E0................................................. 176.4 Connecting the L-417.xx9025E0.......................................................................18

7 Startup / Operation................................................................................................... 207.1 Starting and Operating the L-417.xx9025E0................................................... 20

8 Maintenance...............................................................................................................228.1 Maintenance Run.............................................................................................228.2 Relubricating.................................................................................................... 228.3 Cleaning............................................................................................................228.4 Moving the Motion Platform by Hand........................................................... 23

CONTENTS L417M0003EN ‒ 7/9/2019

2 M O T I O N | P O S I T I O N I N G

9 Troubleshooting.........................................................................................................24

10 Transportation............................................................................................................25

11 Customer Service Department.................................................................................26

12 Technical Data............................................................................................................ 2712.1 Specifications...................................................................................................2712.2 Maximum Ratings........................................................................................... 3012.3 Ambient Conditions and Classifications........................................................3012.4 Dimensions...................................................................................................... 31

13 Old Equipment Disposal........................................................................................... 33

14 Appendix.................................................................................................................... 3414.1 Pin Assignment................................................................................................34

14.1.1 Drive Connector............................................................................... 3414.1.2 Motor encoder..................................................................................3414.1.3 Encoder Connector.......................................................................... 36

14.2 PTC Temperature Sensor................................................................................ 3614.3 Commutation Encoder.................................................................................... 37

15 EU Declaration of Conformity...................................................................................38

CONTENTS L417M0003EN ‒ 7/9/2019


1 Legal Information

The following company names and brands are registered trademarks of Physik Instrumente(PI) GmbH & Co. KG:

PI®, PIC®, NanoCube®, PICMA®, PIFOC, PILine®, NEXLINE®, PiezoWalk®, PicoCube®,PiezoMove®, PIMikroMove, NEXACT®, Picoactuator®, PInano®, NEXSHIFT®, PITOUCH®,PIMag®, PIHera, Q-Motion®

The patents held by PI can be found in our list at http://www.physikinstrumente.com/en/about-pi/patents.

EnDat is a trademark of Dr. Johannes Heidenhain GmbH.

© 2019 Physik Instrumente (PI) GmbH & Co. KG, Karlsruhe, Germany. The text, photographs,and drawings in this manual are protected by copyright. With regard thereto, PhysikInstrumente (PI) GmbH & Co. KG reserves all rights. The use of any text, images anddrawings is permitted only in part and only when indicating the source.

Original instructionsFirst print: 7/9/2019Document number: L417M0003en, ASt

Subject to change. This manual is superseded by any new release. The latest versions of theuser manuals are available for download (p. 6) at www.pi.ws.

Publisher:PI miCos GmbHFreiburger Strasse 3079427 EschbachGermany

[email protected]

Customer service department:Physik Instrumente (PI) GmbH & Co. KGAuf der Roemerstrasse 176228 KarlsruheGermany

[email protected]

1 LEGAL INFORMATION L417M0003EN ‒ 7/9/2019


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http://www.physikinstrumente.com/en/about-pi/patents

http://www.pi.de

mailto:[email protected]

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2 About this Document

2.1 Objective and Target Group

This user manual contains the information needed for the intended use of theL-417.xx9025E0.

Basic knowledge of closed-loop systems, motion control concepts, and applicable safetymeasures is assumed.

2.2 Explanation of Symbols

This chapter explains the symbols and markings used by PI in their user manuals.

2.2.1 Typographic Conventions

Symbol / Label Meaning

1.

2.

Action consisting of several steps whose sequential order must be ob-served

List item

p. 5 Cross-reference to page 5

RS-232 Labeling of an operating element on the product (example: socket ofthe RS-232 interface)

Start > Settings Menu path in the PC software (example: to open the menu, the Startand Settings menus must be clicked successively)

POS? Command line or a command from PI's General Command Set (GCS)(example: command to get the axis position)

Device S/N Parameter name (example: parameter where the serial number is stor-ed)

5 Value that must be entered or selected via the PC software

2.2.2 Symbols Used

Symbol / Label Meaning

General hazard symbol

DANGERDangerous situationFailure to observe can lead to death or serious injury.

Measures for avoiding the risk.

WARNINGDangerous situationFailure to observe can lead to serious injury.

Action to take to avoid the risk.

2 ABOUT THIS DOCUMENT L417M0003EN ‒ 7/9/2019


CAUTIONDangerous situationFailure to observe can lead to minor injury.

Actions to take to avoid the risk.

NOTICEDangerous situationFailure to observe can lead to material damage.

Action to take to avoid the risk.

InformationAdditional information on the L-417.xx9025E0 that can affect your application.

2.3 Figures

For better understandability, the colors, proportions and degree of detail in illustrations candeviate from the actual circumstances. Photographic illustrations may also differ and mustnot be seen as guaranteed properties.

2.4 Downloading Manuals

The latest versions of the user manuals can be downloaded (p. 6) at www.pi.ws.

For products that are supplied with software (data storage device in the scope of delivery),access to the manuals is protected by a password. Protected content is only displayed on thewebsite after entering the access data. You need the data storage device for the product toget the access data.

If a manual is missing or problems occur with downloading, contact our customer servicedepartment (p. 26).

Downloading Manuals

1. Open the website www.pi.ws.

2. If the product was shipped with a data storage device: Log into the website:a) Click Login.b) Enter the login data.

The login data is in the [...]_Releasenews_[...].pdf in the Manuals directory on thedata storage device.If necessary: Follow the link and register yourself to get the login data.

c) Click Login or press the Enter key.

3. Search for the product:a) Click Search.b) Enter the product number up to the period (e.g., L-417) into the search field.c) Click Start search or press the Enter key.d) If necessary: Click Load more results at the bottom of the list.

4. Click the corresponding product in the list of search results.

5. Click the Downloads tab. The manuals are shown under Documentation.

6. Click the desired manual and save it.

2 ABOUT THIS DOCUMENT L417M0003EN ‒ 7/9/2019


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3 Safety

3.1 Intended Use

The L-417.xx9025E0 is a laboratory device as defined by DIN EN 61010-1. It is intended forindoor use and use in an environment that is free of dirt, oil, and lubricants.

In accordance with its design, the L-417.xx9025E0 is intended for positioning, adjusting andshifting loads in one axis at various velocities. The L-417.xx9025E0 is not intended forapplications in areas, in which a failure would present severe risks to human beings or theenvironment.

If the L-417.xx9025E0 does not have a holding brake, it is only intended for operation with ahorizontally aligned motion axis.

The intended use of the L-417.xx9025E0 is only possible when completely mounted andconnected. The thermal protection sensor built into the L-417.xx9025E0's motor must beevaluated and monitored. The L-417.xx9025E0 must be operated with suitableelectronics (p. 12). The electronics are not in the scope of delivery of the L-417.xx9025E0.

The L-417.xx9025E0 may not be used for purposes other than those stated in this usermanual. The L-417.xx9025E0 may only be used in compliance with the technicalspecifications and instructions in this user manual.

3.2 General Safety Instructions

The L-417.xx9025E0 is built according to state-of-the-art technology and recognized safetystandards. Improper use of the L-417.xx9025E0 may result in personal injury and/or damageto the L-417.xx9025E0.

Use the L-417.xx9025E0 only for its intended purpose and if it is in perfect condition. Read the user manual. Eliminate any faults and malfunctions that are likely to affect safety immediately.The operator is responsible for correct installation and operation of the L-417.xx9025E0.

3.3 Organizational Measures

3.3.1 User Manual

Always keep this user manual available with the L-417.xx9025E0. The latest versions of theuser manuals can be downloaded (p. 6) at www.pi.ws.

Add all information from the manufacturer such as supplements or technical notes to theuser manual.

If you give the L-417.xx9025E0 to a third party, also include this user manual as well asother relevant information provided by the manufacturer.

Only use the device on the basis of the complete user manual. Missing information due toan incomplete user manual can lead to serious or fatal injuries and damage to equipment.

Only install and operate the L-417.xx9025E0 after you have read and understood this usermanual.

3.3.2 General Personnel Qualification

The L-417.xx9025E0 may only be installed, started up, operated, maintained, and cleaned byauthorized and appropriately qualified personnel.

3 SAFETY L417M0003EN ‒ 7/9/2019


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4 Product Description

4.1 Modellübersicht

Hochlast-Lineartisch, xx mm Stellweg, 166 mm Breite, 450 N Belastbarkeit, absoluterLinearencoder mit EnDat 2.2-Signalübertragung, 1 nm Sensorauflösung, Synchron-Servomotor, bis 320 V

Produktnummer Stellweg: xx

L-417.059025E0 102 mm (4")

L-417.099025E0 204 mm (8")

L-417.139025E0 305 mm (12")

L-417.179025E0 407 mm (16")

L-417.219025E0 508 mm (20")

L-417.259025E0 610 mm (24")

L-417.339025E0 813 mm (32")

4.2 Product Labeling

1

1

3

22

2

4

4

25

6

Figure 1: Product labeling on the L-417.xx9025E0

1. Warning symbol: Risk of crushing

2. Connector labels

3. Warning symbol: Hot surface

4. Warning symbol: Electrostatic-sensitive device

5. Type plate

6. Protective earth connector

4 PRODUCT DESCRIPTION L417M0003EN ‒ 7/9/2019


4.2.1 Type Plate

Figure 2: Type plate of the L-417.xx9025E0

1. Data matrix code (example; contains the serial number)

2. Product number (example)

3. Serial number (example), individual for each L-417.xx9025E0Meaning of the position (counting from the left):1 = internal information,2 and 3 = year of manufacture,4 to 9 = consecutive numbers

4. Warning and conformity symbols (old equipment disposal (p. 33), CE mark (p. 38))

4.3 Scope of Delivery

Product number Description

L-417.xx9025E0 Linear stage according to the order (p. 8)

For L-417.xx9025E0 with xx = 05, 09, 13, 17:

L417B0014

Mounting kit for mounting theL-417.xx9025E0 and installation material, con-sisting of

12 socket head screws, ISO 4762 M6×30 2 dowel pins, ISO 8734, 4 m6 × 12 12 flat washers, ISO 7092, D11 d6.4 h1, 6

mm

For L-417.xx9025E0 with xx = 21, 25, 33:

L417B0015

Mounting kit for mounting theL-417.xx9025E0 and installation material, con-sisting of

20 socket head screws, ISO 4762 M 6 × 30 2 dowel pins, ISO 8734, 4m6 × 12 20 flat washers, ISO 7092, D11 d6.4 h1, 6

mm

MP187EK Short instructions for positioners with elec-tric motors to 320 V

For L-417.xx9025E0 with xx = 21, 25, 33:

V417B0029

Transport means: Carrying aid for theL-417.xx9025E0



4.4 Overview

1

4

67

3

2

5

Figure 3: Elements of the L-417.xx9025E0

1. Base body

2. Motion platform

3. Drive

4. Drive and rotary encoder connector

5. Purge air connector

6. Linear encoder connector

7. Grease nipple for relubricating the drive screw

4.4.1 Base Body

The base body is the basis of the positioner. The L-417.xx9025E0 is mounted onto a surfacevia the base body (p. 14).

The base body comprises the following subassembly (subassemblies):

Drive screw

The drive screw converts the rotary motion of the drive to linear motion of the motionplatform.

Absolute linear encoder

Absolute encoders supply explicit position information that enables immediatedetermination of the position. Therefore, no referencing is necessary when switching on.

The position is measured directly at the motion platform, which minimizes the influence ofmechanical play and deformation when measuring the position.

4.4.2 Drive

The drive generates the torque required for the dynamics of the motion platform.



The drive comprises the following subassembly (subassemblies):

Motor

The motor generates the torque required for the dynamics of the motion platform.

Rotary encoder

The rotary encoder measures the motor shaft's angle of rotation. This signal can be used bysuitable electronics for commutating the motor .

4.4.3 Linear Encoder Connector

The linear encoder connector transmits the L-417.xx9025E0's sensor signals.

4.4.4 Purge Air System

The purge air system protects the drive and guides of the L-417.xx9025E0 againstsurrounding dust.

The purge air system comprises the following subassembly (subassemblies):

Passive dust protection

The passive dust protection consists of covering strips that seal the openings on the side ofthe L-417.xx9025E0's base body and therefore reduces the amount of dust that can penetrate.



Active dust protection

The active dust protection consists of a purge air connector on the base body of theL-417.xx9025E0, which creates a slight overpressure in the L-417.xx9025E0 and thereforereduces the amount of dust that can penetrate.

4.5 Direction of Motion

Positive Direction of Motion

Figure 4: Schematic representation of the direction of motion

4.6 Suitable Electronics

The L-417.xx9025E0 must be connected to suitable electronics that supply the necessaryvoltage for operating and if required, to evaluate the sensor and limit switch signals. Thefollowing electronics are suitable:

Product number Description

ACS modular controller

To order, contact our customer service department (p. 26).



5 UnpackingUnpacking the L-417.xx9025E0

1. Unpack the L-417.xx9025E0 with care. Hold the L-417.xx9025E0 by its base body only.

2. Compare the contents with the scope of delivery according to the contract and thedelivery note.

3. Inspect the contents for signs of damage. If any parts are damaged or missing, contactour customer service department (p. 26) immediately.

4. If the L-417.xx9025E0 was supplied with a carrying aid (p. 9): Use the carrying aid totransport the L-417.xx9025E0 to the intended place of use.

5. If the L-417.xx9025E0 was supplied with ESD protective caps on the connectors: Do notremove the ESD protective caps.

6. Keep all packaging materials in case the product needs to be returned.

5 UNPACKING L417M0003EN ‒ 7/9/2019


6 Installation

6.1 Mounting the L-417.xx9025E0

Overview

Figure 5: Mounting the L-417.xx9025E0 onto an underlying surface

Tools and Accessories

Screw set for mounting the L-417.xx9025E0 (p. 9) Suitable screwdriver

Requirements

You have read and understood the general safety instructions (p. 7).

You have provided a suitable surface with the holes necessary for the screws and ifrequired, locating pins (p. 31). The flatness of the surface is ≤ 2 μm. For applications with large temperature changes: The surface should have the same or

similar thermal expansion properties as the L-417.xx9025E0. You have accounted for the space required to route cables without bending and

according to regulations.

DANGERRisk of electric shock if the protective earth conductor is not connected!If the protective earth conductor is missing or not properly connected, risk of dangeroustouch voltages on the L-417.xx9025E0 in the event of malfunction or failure of the system. Ifthere are touch voltages, touching the L-417.xx9025E0 leads to serious injuries or death byelectric shock.

Connect the L-417.xx9025E0 to a protective earth conductor before startup. Do not remove the protective earth conductor during operation. If the protective earth conductor has to be removed temporarily (e.g., for modifications),

reconnect the L-417.xx9025E0 to the protective earth conductor before restarting.

6 INSTALLATION L417M0003EN ‒ 7/9/2019


CAUTIONRisk of crushing by moving parts!Risk of minor injuries from crushing between the moving parts of the L-417.xx9025E0 or theload and a fixed part or obstacle.

Use safeguards to protect limbs in areas where they could be caught by moving parts. Maintain the safety distances according to DIN EN ISO 13857 when installing protective

structures.

NOTICEDamage due to collisions!Collisions can damage the L-417.xx9025E0, the load to be moved, and the surroundings.

Make sure that collisions are not possible between the L-417.xx9025E0, the load to bemoved, and the surroundings in the motion range of the L-417.xx9025E0.

Do not place any cables or other objects in areas where they could be caught by movingparts.

NOTICEExcessively long screws and locating pinsScrews and locating pins that are inserted too deeply can damage the L-417.xx9025E0.

Pay attention to the depth of the mounting and locating holes (p. 32) in theL-417.xx9025E0.

Only use screws and locating pins of the correct length for the respective mounting holes.

Mounting the L-417.xx9025E0 onto an Underlying Surface

1. If necessary: Insert the locating pins into the corresponding holes in the underlyingsurface.

2. Align the L-417.xx9025E0 on underlying surface so that the corresponding mounting holesin the L-417.xx9025E0 and underlying surface in line.

3. Put the L-417.xx9025E0 onto the underlying surface so that the locating pins can beinserted into the corresponding locating holes with the L-417.xx9025E0.

4. If necessary: Allow access to the mounting holes in the base body of the L-417.xx9025E0.Possible measures: Temporary startup of the L-417.xx9025E0 (p. 20) and commanding the motion platform

to a suitable position Push the motion platform by hand (p. 23)

5. If necessary, use a flat washer with each screw and insert the screws through the washerinto the mounting hole.

6. Tighten the screws in all accessible mounting holes completely.Recommended torque: 3 Nm

7. If necessary: Repeat steps 4 to 6 for all concealed mounting holes.

8. Check that the L-417.xx9025E0 is fixed firmly to the underlying surface.

6.2 Connecting the L-417.xx9025E0 to the Protective Earth Conductor

The L-417.xx9025E0 must be connected to the protective earth conductor via the driveconnector.

If the load needs to be connected to the protective earth conductor, the L-417.xx9025E0'sbase body must also be connected to the protective earth conductor. In this case, connectthe load and base body to the protective earth conductor separately.



Overview

Figure 6: Protective earth connector on the L-417.xx9025E0

1. Connector for the protective earth conductor on the L-417.xx9025E0, indicated by theprotective earth symbol

2. Safety washer

3. Flat washer

4. Protective earth conductor lug

5. Screw, ISO 7045 M4×8


Suitable protective earth conductor: Cable cross section ≥ 0.75 mm2

Contact resistance <0.1 Ω at 25 A at all connection points relevant for attaching theprotective earth conductor

Suitable screwdriver

Requirements





Information Observe the applicable standards for connecting the protective earth conductor.

Connecting the L-417.xx9025E0 to the Protective Earth Conductor

1. If necessary, attach a suitable cable lug to the protective earth conductor.

2. Attach the cable lug of the protective earth conductor to the protective earth connectionas shown in the illustration of the L-417.xx9025E0.

3. Tighten the screw with a torque of 1.2 Nm to 1.5 Nm.



4. Make sure that the contact resistance is <0.1 Ω at 25 A at all connection points relevant forattaching the protective earth conductor.

6.3 Mounting the Load onto the L-417.xx9025E0

Overview

Figure 7: Mounting the load onto the L-417.xx9025E0

1. Screws

2. Load

3. Motion platform of the L-417.xx9025E0


At least 3 screws with suitable dimensions (p. 32) Suitable tool for tightening the screws Optional: 2 suitably dimensioned dowel pins as locating pins for aligning the load on the

L-417.xx9025E0

Requirements


You have mounted the L-417.xx9025E0 on the surface (p. 14) properly.

The L-417.xx9025E0 is not connected to the electronics.

You have prepared the load so that it can be fixed to the mounting holes on the motionplatform: The distance between the center of gravity of the load and the center of the motion

platform is as small as possible in all directions. At least three points are provided for fixing the load on the motion platform.



NOTICEImpermissibly high load on the L-417.xx9025E0An impermissible high load impairs the motion of the platform and can damage theL-417.xx9025E0.

Pay attention to the maximum permissible forces (p. 27) that may act on the motionplatform.

In the case of multi-axis systems, include the masses of the positioners to be movedwhen calculating the load.

Fixing the Load

1. If necessary: Insert the locating pins into the corresponding holes in the motion platform.

2. Align the load on the motion platform so that the mounting holes selected in the motionplatform can be used for mounting the load.

3. Place the load onto the motion platform so that the locating pins are inserted into thecorresponding locating holes in the load.

4. Tighten the screws in all mounting holes.

5. Check that the load is fixed firmly to the motion platform.

6.4 Connecting the L-417.xx9025E0


Suitable cable set If necessary: Suitable screwdriver for the locking screws of the connectors. Optional: Purge air connector with the following properties:

Pressure: 2 to 6 bar (200 to 600 kPa); purge air hose: Outer diameter 4 mm; air quality asstated in the specifications (p. 27)

Requirements


You have read and understood the user manual for the electronics.

You have installed the electronics properly.

The electronics are switched off.

The L-417.xx9025E0 is connected to the protective earth conductor (p. 15).

NOTICEDamage due to incorrect connection of the L-417.xx9025E0!Connecting unsuitable electronics or the wrong cable can lead to damage to theL-417.xx9025E0 or the electronics.

Make sure that the electronics support the drive type of the L-417.xx9025E0 and has beenconfigured accordingly.

Use cables from PI miCos only to connect the L-417.xx9025E0 to the electronics. Pay attention to correct pin assignment (p. 34).

Connecting the L-417.xx9025E0

1. If necessary: Remove the ESD protective caps from the connectors of the L-417.xx9025E0.

2. All of the L-417.xx9025E0's connections must be made in the following order:a) Optional: Purge air connector

Permissible pressure: 2 to 6 bar (200 to 600 kPa)



b) Rotary encoder connectorc) Drive connectord) Linear encoder connector

3. Secure the connectors against unintentional removal.If necessary: Turn the drive and encoder connector carefully to a position suitable for yourinstallation conditions.

The drive and encoder connector of the L-417.xx9025E0 can be turned up to 140° (in stepsof approximately 7°).

≈7°

Figure 8: Rotation range of the L-417.xx9025E0's drive/sensor connectors



7 Startup / Operation

7.1 Starting and Operating the L-417.xx9025E0

Requirements


For startup with a load or in a multi-axis system: You have installed the L-417.xx9025E0properly (p. 14).

The L-417.xx9025E0 is connected to the protective earth conductor (p. 15).

If the L-417.xx9025E0 was delivered with the transport safeguard fitted: You have removedthe transport safeguard (p. 13).

You have read and understood the user manual for the electronics used.

If a digital controller is used: You have read and understood the manual for the PCsoftware used.

The electronics and if required, the PC software, have been installed (see the user manualfor the electronics).




CAUTIONRisk of crushing by moving parts!Risk of minor injuries from crushing between the moving parts of the L-417.xx9025E0 or theload and a fixed part or obstacle.

Use safeguards to protect limbs in areas where they could be caught by moving parts. Maintain the safety distances according to DIN EN ISO 13857 when installing protective

structures.

CAUTIONRisk of being caught by moving parts!Risk of minor injury if hair, jewelry or clothing get caught by moving parts.

Fit safeguards around all areas with moving parts. Never work with the unprotected L-417.xx9025E0 if you have long hair, loose jewelry or

clothing.

CAUTIONBurning due to hot surface!The drive of the L-417.xx9025E0 and the surroundings can heat up during operation.Touching the drive and surrounding parts can result in minor injuries from burning.

Make sure that the hot drive and the surrounding parts cannot be touched.

7 STARTUP / OPERATION L417M0003EN ‒ 7/9/2019


NOTICEOperating voltage excessively high or incorrectly connected!Operating voltages that are too high or incorrectly connected can cause damage to theL-417.xx9025E0.

Pay attention to the operating voltage range (p. 30), which is specified for theL-417.xx9025E0.

Pay attention to correct pin assignment (p. 34).

NOTICEUnintentional change in position due to missing self-locking!The drive of the L-417.xx9025E0 does not have self-locking. The L-417.xx9025E0 can thereforemove unintentionally when the controller is switched off, e.g., when deactivating the servomode or switching the electronics off. Unintentional changes in position can damage theL-417.xx9025E0, the load to be moved, and the surroundings.

If you want to operate the positioner with a vertically aligned or inclined motion axis:Attach suitable gravity compensation or a holding brake (not in the scope of delivery).

Before switching off the controller, take suitable measures to ensure that unintentionalchanges in the position of the motion platform are not possible.

NOTICEDamage due to collisions!Collisions can damage the L-417.xx9025E0, the load to be moved, and the surroundings.

Stop the motion immediately if an electronics malfunction occurs. If possible, adapt the travel range limits of your mechanical system in the software that

you use for commanding the motion.

NOTICEUncontrolled oscillation!Oscillation can cause irreparable damage to the L-417.xx9025E0. Oscillation is indicated by ahumming noise and can be caused by the following:

The load and/or dynamics during operation differ considerably from the calibrationsettings.

If you notice oscillation, stop the L-417.xx9025E0 immediately.

Starting and Operating the L-417.xx9025E0

1. Start the electronics (see the user manual for the electronics).

2. Configure the electronics for the L-417.xx9025E0 during startup: If you are using a digital controller from PI: In the PC software, select the entry in the

positioner database that matches the L-417.xx9025E0 exactly. If you are using electronics from another manufacturer: Configure the electronics

according to the parameters of the L-417.xx9025E0.

3. Start a few motion cycles for testing purposes (see the user manual for the electronics).

7 STARTUP / OPERATION L417M0003EN ‒ 7/9/2019


8 Maintenance

NOTICEDamage due to improper maintenance!Improper maintenance can lead to misalignment and failure of the L-417.xx9025E0.

Loosen screws only according to the instructions in this manual or the instructions of ourcustomer service department (p. 26).

8.1 Maintenance Run

The maintenance run serves the purpose of distributing the existing lubricant.

The following intervals for the maintenance run depend on the operating conditions and theperiod of use:

After 200 operating hours or at least after one 1 year If the L-417.xx9025E0 is moved over a small travel range (<40 mm) during industrial

operation: After every 2000 motion cycles

Performing a Maintenance Run

1. Make sure that collisions between the L-417.xx9025E0, the load to be moved, and thesurroundings are not possible over the entire travel range of the L-417.xx9025E0. Ifnecessary, remove the load from the motion platform of the L-417.xx9025E0 for themaintenance run.

2. Perform a maintenance run over the entire travel range:a) Command the L-417.xx9025E0 to the end of a travel range and from there to the

opposite end of the travel range (see manual for the electronics).b) If necessary: Command the L-417.xx9025E0 to a position, where the load can be

mounted onto the motion platform again and mount the load back onto theL-417.xx9025E0 (p. 17).

8.2 Relubricating

The L-417.xx9025E0 is equipped with a grease nipple for relubricating the drive screw. Forcontinuous industrial use, the lubrication intervals and the lubrication quantity must bedetermined individually.

Use Klüber STABURAGS NBU 12/300 KP only as lubrication for the L-417.xx9025E0.

If you have any questions on relubricating, contact our customer service department (p. 26).

8.3 Cleaning

Requirements

You have disconnected the L-417.xx9025E0 from the electronics.

Other Materials Required

Soft, lint-free cloth Mild cleaning agent or disinfectantIf you have any questions on the auxiliary materials recommended for the L-417.xx9025E0,contact our customer service department (p. 26).

8 MAINTENANCE L417M0003EN ‒ 7/9/2019


NOTICEDamage due to unsuitable cleaning agents!Some cleaning agents can cause rusting on the L-417.xx9025E0 or dissolve plastics, paints oradhesives.

Do not clean with water or acetone.

Cleaning the L-417.xx9025E0

1. Dampen the cloth with the cleaning agent or disinfectant.

2. Carefully wipe the surfaces of the L-417.xx9025E0.

8.4 Moving the Motion Platform by Hand

It may be necessary to move the motion platform manually,

to allow access to the mounting holes in the positioner's base body for the mountingscrews,

to move the motion platform away from the mechanical hard stop and make theL-417.xx9025E0 operational again.

Requirements

You have disconnected the L-417.xx9025E0 from the electronics.

Moving the Motion Platform by Hand

1. Exert a steady force on the motion platform to move it.

8 MAINTENANCE L417M0003EN ‒ 7/9/2019


9 Troubleshooting

The positioner does not move

Cable not connected correctly Check the cable connections.

The electronics or mechanics were replaced Run the startup (p. 20) once again.

Electronics not connected correctly Check all connecting cables (p. 18).

Defective electronics Check the electronics.

The positioner was connected to the switch-ed-on electronics

Switch the electronics off and on again or restartthem with the RBT command or with the corre‐sponding PC software function.

Incorrect configuration Check the L‐417.xx9025E0's parameter settingsin the electronics connected and make the ap‐propriate corrections.

Incorrect command or incorrect syntax Send the ERR? command to the PI electronicsconnected and check the error code returned.

Incorrect axis or channel commanded Make sure that the electronics use the correctaxis respectively channel identifier.

Reduced positioning accuracy

Excessive load Do not exceed the maximum permissible loadsaccording to the specifications (p. 27).

Warped base body Mount the L‐417.xx9025E0 onto an even sur‐face (p. 14).

Increased wear due to small motion over along period of time

Perform a maintenance run (p. 22).

Uncontrolled oscillation

Large changes to the load or the alignmentof the L-417.xx9025E0

Switch off the servo control system or the con‐troller immediately.

Check whether the servo control parameter set‐tings correspond to the selected closed‐loopcontrol mode; see user manual for the controller.

If necessary, correct the settings of the servocontrol parameters.

9 TROUBLESHOOTING L417M0003EN ‒ 7/9/2019


10 TransportationPreparing the L-417.xx9025E0 for Transportation

1. Pay attention to the ambient conditions and classifications (p. 30).

2. Pack the L-417.xx9025E0 in the original packaging.

3. If the L-417.xx9025E0 is to be sent, use a stable outer box.

10 TRANSPORTATION L417M0003EN ‒ 7/9/2019


11 Customer Service DepartmentFor enquiries and orders, contact your PI miCos representative or send us an email.

If you have any questions concerning your system, provide the following information:

Product and serial numbers of all products in the system Firmware version of the controller (if applicable) Version of the driver or the software (if applicable) Operating system on the PC (if applicable)If possible: Take photographs or make videos of your system that can be sent to ourcustomer service department if requested.

Customer service address:Physik Instrumente (PI) GmbH & Co. KGAuf der Roemerstrasse 176228 KarlsruheGermany

[email protected]

11 CUSTOMER SERVICE DEPARTMENT L417M0003EN ‒ 7/9/2019




http://www.pi.de

12 Technical Data

12.1 Specifications

Motion L-417.05 L-417.09 L-417.13 L-417.17 Unit Toler-ance

Active axes X X X X

Travel range 102 204 305 407 mm

Pitch / yaw ±14 ±19 ±29 ±35 μrad max.

Straightness / flat-ness

±2.5 ±4 ±6 ±8 μm max.

Velocity, unloaded 300 300 300 300 mm/s max.

Positioning accura-cy, uncalibrated

±6 ±8 ±10 ±12 μm max.

Motion L-417.21 L-417.25 L-417.33 Unit Toler-ance

Active axes X X X

Travel range 508 610 813 mm

Pitch / yaw ±40 ±45 ±50 μrad max.

Straightness / flat-ness

±9 ±10 ±12 μm max.

Velocity, unloaded 300 300 300 mm/s max.

Positioning accura-cy, uncalibrated

±14 ±16 ±18 μm max.

Encoder options L-417.xxx232basic option

Unit Toler-ance

Integrated sensor Incremental rotary encoder

Sensor signal A/B quadrature, RS-422

Sensor resolution 20000 Cts./rev.

Design resolution 0.25 μm

Minimum incremental mo-tion

1 μm

Bidirectional repeatability ±1 μm max.

Limit switches Hall effect, N/C contact, 5 V, NPN

Sensor connector M23

12 TECHNICAL DATA L417M0003EN ‒ 7/9/2019


Encoder options L-417.xxx025Ex Unit Toler-ance

Integrated sensor Absolute-measuring linear encoder

For additional rotary encoder, see basic op-tion

Sensor signal EnDat 2.2

Design resolution 0.001 μm

Minimum incremental mo-tion

50 nm typ.

Bidirectional repeatability ±0.5 μm max.

Limit switch –

Sensor connector M17

Available drag chain options E0

E1

Mechanical properties L-417.xxxxxx L-417.xxxxxxB Unit Toler-ance

Guide type Recirculating ballbearing guide

Recirculating ballbearing guide

Drive screw type Ball screw Ball screw

Holding brake – Electromagnetic safe-ty brake

Drive screw pitch 5 5 mm

Push/pull force, power on 700 700 N max.

Holding force, power off – 500 N typ.

Load capacity in Z 450 450 N max.

Permissible lateral force 250 250 N max.

Permissible torque in θX 40 40 N·m max.

Permissible torque in θY 30 30 N·m max.

Permissible torque in θZ 40 40 N·m max.



Drive properties L-417.xx9 Unit Toler-ance

Drive type Synchronous Servo Motor

Intermediate circuit voltage,RMS

320 V DC max.

Peak torque 2.76 N·m typ.

Nominal torque 0.7 N·m typ.

Peak current, RMS 10.9 A typ.

Nominal current, RMS 2.73 A typ.

Torque constant, RMS 0.32 N·m/A typ.

Resistance phase-phase 5.22 Ω typ.

Inductance phase-phase 9.7 mH typ.

Back EMF phase-phase 20.4 V/kRPM

max.

Number of pole pairs 3



Miscellaneous L-417 Unit Toler-ance

Operating temperature range 5 to 40 °C

Material Aluminum, black anodized

stainless steel

Overall mass L-417.05 (102 mm travel range): 9.3

L-412.09 (204 mm travel range): 10.8

L-412.13 (305 mm travel range): 12.2

L-412.17 (407 mm travel range): 13.7

L-412.21 (508 mm travel range): 15.1

L-412.25 (610 mm travel range): 16.5

L-417.33 (813 mm travel range). 19.4

kg ±5 %

Moved mass 2.4 kg ±5 %

MTBF 20000 h

Connection M23 (motor)

M23 (rotary encoder)

Optional connection for linear encoder

Fitting for purge air hose with outside diame-ter 4 mm

Funnel-type grease nipple for spindle lubri-cation

Limit switch connection M8 8-pin

Purge air system Operating pressure: 2 to 6 bar (200 to 600kPa)

Relative humidity: < 70 %

Absolute humidity: < 35 g/m3

Recommended controllers ACS modular controller

Connecting cables are not in the scope of delivery and must be ordered separately.

12.2 Maximum Ratings

The L-417.xx9025E0 is designed for the following operating data:

Maximum operating voltage Maximum Operating Fre-quency

Maximal peak current, RMS

320 V – 10.9 A

12.3 Ambient Conditions and Classifications

The following ambient conditions and classifications for the L-417.xx9025E0 must beobserved:



Area of application For indoor use only

Maximum altitude 2000 m above msl

Relative humidity Max. 80 % for temperatures to 31 °C,linearly decreasing to 50 % at 40 °C

Storage temperature -25 °C to 55 °C

Transport temperature -25 °C to 70 °C

Overvoltage category II

Supply voltage fluctuations Max. ±10 % of the nominal voltage

Protection class I

Degree of pollution 2

Degree of protection according to IEC 60529 IP30

12.4 Dimensions

A D

A+D

F(Energychain

overlap athardstop)

X

Bcenter of travel position

(reference position)

20

6,6/ 11,2x81/2 LSW (LE1)

1/2 HDS 1/2 HDS

1/2 LSW (LE2)

150

150

4 x 4 H7x7/10

8,5

7,5

83,5

82,5

C

X

166

70

E

75

100

150

75

100

150

2 x 4 H7x7

2 x 4 H7x7

2 x 4 H7x7

4 x M6 8

4 x M6 8

4 x M6 8

Figure 9: Dimensions of the L-417.xx9025E0

Dimensions in mm. Note that the decimal places are separated by a comma in the drawings.

BASIS

MODELL

TRAVEL

NOMINAL

LIMITSWITCH TO

LIMITSWITCH

LSW

HARDSTOP TO

HARDSTOP

HDS

A B C D E

D1 D2 E1 E2 E3

L-417.xxx2xxEx L-417.xxxx25Ex L-417.xxxxxxxx L-417.xxxxxxxxB L-417.xxxx11E1 L-417.xxxx12E1 L-417.xxxxxxE0

L-417.xxx2xx L-417.xxxx25E1

L-417.05xxxx 102 (4") 102 - 105 - 109 365 185 150 119,5 153,5 28 44 28,5

L-417.09xxxx 204 (8") 204 - 207 - 214 470 237,5 150, 350 119,5 153,5 28 44 28,5 71 66

L-417.13xxxx 305 (12") 305 - 308 - 314 570 287,5 150, 350 119,5 153,5 28 44 28,5 66 72

L-417.17xxxx 407 (16") 407 - 410 - 419 675 340 150, 350, 550 119,5 153,5 28 44 28,5 69 65

L-417.21xxxx 508 (20") 508 - 511 - 519 775 390 150, 350, 550 119,5 153,5 28 44 28,5 65 70

L-417.25xxxx 610 (24") 610 - 613 - 619 875 440 150, 350, 550, 750 119,5 153,5 28 44 28,5 69 65

L-417.33xxxx 813 (32") 813 - 816 - 824 1080 542,5 150, 350, 550, 750, 950 119,5 153,5 28 44 28,5 68 73



75

100

75

10

0

15

0

4 H7x7

4 H7x7

4 H7x7

4 x M6

4 x M6

4 x M6

150

Figure 10: Motion platform of the L-417.xx9025E0: Dimensions and mounting holes

Dimensions in mm. Note that the decimal places are separated by a comma in the drawings.



13 Old Equipment DisposalIn accordance with EU law, electrical and electronic equipment may not be disposed of in EUmember states via the municipal residual waste.

Dispose of your old equipment according to international, national, and local rules andregulations.

In order to fulfil the responsibility as the product manufacturer, PI miCos undertakesenvironmentally correct disposal of all PI miCos equipment free of charge, if it was madeavailable to the market after August 13, 2005.

Any old PI miCos equipment can be sent free of charge to the following address:

PI miCos GmbHFreiburger Strasse 3079427 EschbachGermany

[email protected]

13 OLD EQUIPMENT DISPOSAL L417M0003EN ‒ 7/9/2019



http://www.pi.de

14 Appendix

14.1 Pin Assignment

14.1.1 Drive Connector

4

A

B

C

D 3

2

1

Figure 11: M23 8 (f)

Pin Signal Function

1 U Phase 1

2 PE Protective earth

3 W Phase 3

4 V Phase 2

A nc Not connected

B nc Not connected

C nc Not connected

D nc Not connected

14.1.2 Motor encoder

31

2

3

4

567

8

9

10

11

12

13

1415

16 17

14 APPENDIX L417M0003EN ‒ 7/9/2019


Pin Signal Function

1 B Output: Sensor signal B

2 B inv Output: Sensor signal B inverted

3 A Output: Sensor signal A

4 A inv Output: Sensor signal A inverted

5 Z Output: Sensor signal Z

6 Z inv Output: Sensor signal Z inverted

7 GND Ground

8 THERM+ Output: Temperature sensor

9 THERM- Output: Temperature sensor

10 VCC Input: Power supply

11 NC Not connected

12 NC Not connected

13 NC Not connected

14 NC Not connected

15 U Output: Commutation track U

16 V Output: Commutation track V

17 W Output: Commutation track W

14 APPENDIX L417M0003EN ‒ 7/9/2019


14.1.3 Encoder Connector

Figure 12: M17 15 (f)

Pin Function

1 Output: DATA (+)

2 Output: DATA (-)

3 Output: CLOCK (+)

4 Output: CLOCK (-)

5 Not connected

6 Not connected

7 Not connected

8 Not connected

9 Not connected

10 Input: Power supply

11 Ground

12 Not connected

A Not connected

B Not connected

C Outer shielding

14.2 PTC Temperature Sensor

The L-417.xx9025E0 is equipped with a PTC temperature sensor to prevent the motor fromoverheating. The electrical resistance of the PTC temperature sensor increases considerablyinto the critical temperature range. The controller must cut the power supply to the motor(switching threshold) when the critical temperature is reached.

Temperature Electrical resistance

Up to 150°C < 550 Ω

155°C (critical temperature) 1000 Ω (switching threshold)

More than 155°C > 1330 Ω

14 APPENDIX L417M0003EN ‒ 7/9/2019


14.3 Commutation Encoder

The L-417.xx9025E0's motor has a commutation encoder that codes the position of themagnets in the same way as a Hall effect sensor.

0 π 2π 3π 4π

V

W

U

UV VWUW

Figure 13: Motor phases (top) and signal output to the commutation tracks (bottom)

14 APPENDIX L417M0003EN ‒ 7/9/2019


15 EU Declaration of ConformityAn EU Declaration of Conformity was issued for the L-417.xx9025E0 in accordance with thefollowing European directives:

Low Voltage Directive EMC Directive RoHS DirectiveThe standards applied for certifying conformity are listed below.

Safety (Low Voltage Directive): EN 61010-1 EMC: EN 61326-1 RoHS: EN 50581

15 EU DECLARATION OF CONFORMITY L417M0003EN ‒ 7/9/2019


Glossary

BacklashPosition error caused by mechanical play in that drivetrain that occurs when changing thedirection. Backlash is caused by mechanical play in drivetrain components such asgearheads, bearings or by friction in the guides. In contrast to hysteresis, backlash can leadto instability in position-controlled systems because it causes dead time in the servo loop.Backlash depends on the temperature, acceleration, load, leadscrew position, positioningdirection, wear etc. Backlash is suppressed by preloading the drivetrain. A positionmeasuring method that can detect the position of the platform directly, eliminates all errorsin the drivetrain (direct measuring). The data table shows typical measured values. Data forvacuum versions can differ.

Design ResolutionThe theoretical minimum movement that can be made. Design resolution must not beconfused with minimum incremental motion. In indirect position measurement methods,values for drive screw pitch, gear ratio, motor or sensor/encoder resolution, for example, areincluded in the calculation of the resolution. Normally, the design resolution is considerablybelow the minimum incremental motion of the mechanics. In direct measurement methods,the resolution of the sensor system is specified.

Lateral ForceAlso: lateral load capacity

Maximum permissible force orthogonally to the positioning direction. This value is validdirectly for the motion platform and is reduced when the force acts above the platform.

Limit SwitchEach limit switch sends its signal to the controller on a dedicated line. The controller theninterrupts the motion avoiding that the positioner moves until the hard stop and getsdamaged. PI positioners have mechanical, noncontact optical or Hall-effect limit switches.

Load CapacityMaximum load in the vertical direction when the L-417.xx9025E0 is mounted horizontally. Thecontact point of the load is at the center of the motion platform.

Reference SwitchMany of the positioners are equipped with a direction sensing reference switch positionedapprox. in the middle of the travel range. It is recommended to approach the referenceswitch always from the same direction to obtain best position repeatability.

Function: Optical, magnetic

Sensor resolutionThe sensor can be the critical element of position resolution so it may be necessary tospecify the sensor resolution separately. Rotary encoder: Impulses per screw rotation. Linearencoder: Smallest motion still detected by the sensor system.

L417M0003EN ‒ 7/9/2019


Travel rangeThe maximum possible travel range is limited by the length of the drive screw. A possiblegap between the limit switches determines the travel range.

L417M0003EN ‒ 7/9/2019


Documents

User Manual - static.physikinstrumente.com · 3 Safety 3.1 Intended Use The L-417.xx9025E0 is a laboratory device as defined by DIN EN 61010-1. It is intended for indoor use and use