PI Micos L-731 Series, User Manual

Page 1: ...mm travel range L 731 40SD with stepper motor without encoder L 731 4ASD with stepper motor and linear encoder sin cos signal transmission L 731 44SD with stepper motor and linear encoder A B quadrature signal transmission L 731 093132 with DC motor and rotary encoder L 731 093111 with DC motor and linear encoder sin cos signal transmission L 731 093112 with DC motor and linear encoder A B quadrat...

Page 2: ...he Germany The text photographs and drawings in this manual are protected by copyright With regard thereto Physik Instrumente PI GmbH Co KG reserves all rights The use of any text images and drawings is permitted only in part and only when indicating the source Original instructions First printing 18 03 2019 Document number MP158D MMa Version 1 0 1 Subject to change without notice This manual is s...

Page 3: ...s 9 3 3 Direction of Motion 10 3 4 Product Labeling 10 3 5 Scope of Delivery 12 3 6 Suitable Controllers 12 3 7 Technical Features 13 3 7 1 Encoder 13 3 7 2 Limit Switches 13 3 7 3 Reference Point Switch 13 4 Unpacking 15 5 Installation 17 5 1 General Notes on Installation 17 5 2 Attaching the L 731 V 731 to a Surface 18 5 3 Connecting the L 731 V 731 to the Protective Earth Conductor 22 5 4 Affix...

Page 4: ...1 Technical Data 37 10 1 1 Data Table 37 10 1 2 Maximum Ratings 42 10 1 3 Ambient Conditions and Classifications 42 10 1 4 Limit Switch Specifications 43 10 1 5 Reference Point Switch Specifications 43 10 2 Dimensions 44 10 2 1 L 731 V 731 Positioners 44 10 2 2 Hole Pattern of the Platform 45 10 3 Pin Assignment 46 10 3 1 HD D Sub 26 m 46 10 3 2 D Sub 15 m 49 10 4 Tightening Torque for Screws ISO ...

Page 5: ...2 Symbols and Typographic Conventions The following symbols and typographic conventions are used in this user manual DANGER Imminently hazardous situation If not avoided the hazardous situation will result in death or serious injury Actions to take to avoid the situation CAUTION Dangerous situation If not avoided the dangerous situation will result in minor injury Actions to take to avoid the risk...

Page 6: ...s may also differ and must not be seen as guaranteed properties 1 4 Other Applicable Documents INFORMATION Current versions of manuals and data sheets can be downloadedfrom our web site www pi ws The devices and software tools from PI that are mentioned in this documentation are described in separate manuals Product Document Positioners with electric motors MP146EK Short instructions for positione...

Page 7: ...enews in the file name 4 Find the user name and the password in the section User login for software download in the Release News Downloading Manuals 1 Open the website www pi ws 2 If access to the manuals is protected by a password a Click Login b Log in with the user name and password 3 Click Search 4 Enter the product number up to the period e g P 882 or the product family e g PICMA Bender into ...

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Page 9: ...ler p 12 The controller is not included in the scope of delivery of the L 731 V 731 2 2 General Safety Instructions The L 731 V 731 is built according to state of the art technology and recognized safety standards Improper use of the L 731 V 731 may result in personal injury and or damage to the L 731 V 731 Only use the L 731 V 731 for its intended purpose and only use it if it is in good working ...

Page 10: ...acturer Only use the device on the basis of the complete user manual Missing information due to an incomplete user manual can result in damage to equipment Only install and operate the L 731 V 731 after you have read and understood this user manual Personnel Qualification The L 731 V 731 may only be installed started up operated maintained and cleaned by authorized and appropriately qualified pers...

Page 11: ...d model overview Order number Product name L 731 40SD Precision XY positioner 310 mm 310 mm width 205 mm 205 mm travel range 2 phase stepper motor L 731 4ASD Precision XY positioner 310 mm 310 mm width 205 mm 205 mm travel range 2 phase stepper motor linear encoder with sin cos signal transmission L 731 44SD Precision XY positioner 310 mm 310 mm width 205 mm 205 mm travel range 2 phase stepper mot...

Page 12: ... with A B quadrature signal transmission V 731 096111 High precision XY positioner 310 mm 310 mm width 205 mm 205 mm travel range linear motor linear encoder with sin cos signal transmission For further technical data see the specifications p 37 3 2 Product View 3 2 1 Mechanical Parts and Protective Earth Connection Figure 1 Parts 1 Platform 2 Handle 3 ESD protection 4 Protective earth connection ...

Page 13: ...731 40SD L 731 44SD L 731 093112 L 731 093132 L 731 4ASD L 731 093111 V 731 096111 Pos Connection L 731 V 731 40SD 44SD 093112 093132 4ASD 093111 096111 1 Sensor connection X axis D Sub 15 panel plug 2 Sensor connection Y axis D Sub 15 panel plug 3 Motor connection X axis HD D Sub 26 panel plug 4 Motor connection Y axis HD D Sub 26 panel plug 5 Protective earth connection screw ISO 7045 M4x8 ...

Page 14: ...tion 10 Version 1 0 1 MP158D L 731 V 731 Precision XY Positioner 3 3 Direction of Motion Figure 2 Direction of the motion of the platform X Y arrow direction Direction of motion on positive command 3 4 Product Labeling ...

Page 15: ...l 4 Country of origin Germany Country of origin 4 WWW PI WS Manufacturer s address website 4 L 731 4ASD Complete product code example 4 CE conformity mark 4 415002159 Serial number example individual for each L 731 V 731 Meaning of the places counting from left 1 internal information 2 and 3 year of manufacture 4 to 9 consecutive numbers 5 X Motor connection X axis 6 Y Motor connection Y axis 7 4 ...

Page 16: ...esponds to DIN 6325 3 6 Suitable Controllers C 663 12 SMC Hydra C 863 C 891 C 884 C 885 with C 663 12C885 C 885 with C 891 10C885 C 885 with C 863 20C885 Modular ACS controller Motion axes per controller max 1 2 1 1 6 20 20 40 PC interfaces USB RS 232 daisy chain network RS 232 LAN USB RS 232 LAN RS 232 LAN RS 232 LAN USB LAN USB LAN USB LAN USB LAN Multiple controllers on the same PC L 731 40SD L...

Page 17: ...ivetrain e g the motor shaft Refer to the table in the Specifications section for the encoder resolution p 37 The L 731 40SD model does not have an encoder 3 7 2 Limit Switches The positioner is equipped with optical limit switches Each limit switch sends its signal to the controller on a dedicated line The controller then stops the motion If the controller does not stop the motion in time the pos...

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Page 19: ... 731 with care 2 Compare the contents with the items listed in the contract and the packing list 3 Inspect the contents for signs of damage If there is any sign of damage or missing parts contact PI immediately 4 Keep all packaging materials in case the product needs to be returned 4 Unpacking ...

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Page 21: ...nd that the usual precautions are applied Keep sufficient distance from the positioner Apply corresponding precautions also for storage and transport of the positioner CAUTION Risk of crushing by moving parts There is a risk of minor injury from crushing between the moving parts of the positioner or the load and a fixed part or obstacle Use protective structures to keep limbs away from areas in wh...

Page 22: ...overall system Avoid or mark danger zones that result from the installation of the positioner and the application in accordance with the legal regulations 5 2 Attaching the L 731 V 731 to a Surface NOTICE Warping of the L 731 V 731 due to mounting on uneven surfaces Mounting the L 731 V 731 on an uneven surface can warp the L 731 V 731 Warping reduces the accuracy Mount the L 731 V 731 onto an eve...

Page 23: ...ting pins see Dimensions p 44 For mounting from above 4 threaded holes M6 are provided If you use locating pins to align the positioner Two 6 mm Ø locating holes are present The flatness of the surface is 5 µm For applications with large temperature changes The surface should have the same or similar thermal expansion properties as the L 731 V 731 e g surface made of aluminum You have accounted fo...

Page 24: ...port lock 1 Screw for the handle 2 Handle 3 Perforated plate for the transport lock 4 Wing screw for the transport lock 5 Screw for the transport lock 1 Remove both handles Loosen the screws for the handles see figure above 2 Remove the screw and both wing screws of the transport lock see figure above 3 If you use locating pins to align the positioner a Insert the locating pins into the respective...

Page 25: ...lternatively to move the platform via a spindle Figure 6 Position of the drive screw access a Insert a hex key AF3 into the drive screw access until you sense a mechanical resistance b Turn the hex key clockwise or counterclockwise to move the platform in the positive or negative X direction 5 Align the positioner on the surface so that the corresponding mounting holes in the positioner and the su...

Page 26: ...ditions are met The load on the platform of the L 731 V 731 must be connected to the protective earth conductor but it is not possible to connect the protective earth conductor directly to the load The load and the platform are connected conductively to each other INFORMATION Observe the applicable standards for connecting the protective earth conductor A protective earth connection is located on ...

Page 27: ...the cable 0 75 mm2 PH1 screwdriver or similar tool Connecting the L 731 V 731 to the protective earth conductor 1 If necessary attach a suitable cable lug to the protective earth conductor 2 Remove the screw and the safety and flat washers of the protective earth connection p Figure 7 3 Tighten the screw together with the safety and flat washers to affix the cable lug of the protective earth condu...

Page 28: ...so that it can be affixed to the mounting holes on the platform p 45 The distance between the center of gravity of the load and the center of the platform is as small as possible in all directions At least two points are provided for affixing the load to the platform ideally three attachment points Tools and accessories At least 2 M6 screws of suitable length Suitable tool for tightening the screw...

Page 29: ...ng table C 663 11 C 663 12 C 863 SMC Hydra L 731 40SD 2x C 815 LSM1 2x C 815 00UP0100 0300 2x C 815 LSH1 L 731 44SD 2x C 815 00UP0100 0300 2x 720090669 0300 L 731 4ASD 2x C 815 LSH1 and 2x 7210920211 0300 L 731 093111 2x 720190600 0300 and 2x 7210920211 0300 L 731 093112 2x C 815 LDM1 2x 720190500 0300 L 731 093132 2x C 815 VLH1 and 2x 7210920211 0300 Requirements You have read and understood the ...

Page 30: ...ositioner Connecting the L 731 V 731 to a Controller 1 Remove the ESD protection from all connections of the L 731 V 731 2 Connect the L 731 V 731 and the controller to each other 3 Use the integrated screws to secure the connections against accidental disconnection ...

Page 31: ...positioner Apply corresponding precautions also for storage and transport of the positioner CAUTION Risk of crushing by moving parts There is a risk of minor injury from crushing between the moving parts of the positioner or the load and a fixed part or obstacle Use protective structures to keep limbs away from areas in which they could be caught by moving parts Observe the safety distances in acc...

Page 32: ...3 SMC Hydra L 731 40SD 2x C 815 LSM1 2x C 815 00UP0100 0300 2x C 815 LSH1 L 731 44SD 2x C 815 00UP0100 0300 2x 720090669 0300 L 731 4ASD 2x C 815 LSH1 and 2x 7210920211 0300 L 731 093111 2x 720190600 0300 and 2x 7210920211 0300 L 731 093112 2x C 815 LDM1 2x 720190500 0300 L 731 093132 2x C 815 VLH1 and 2x 7210920211 0300 NOTICE Operating voltage excessively high or incorrectly connected Operating ...

Page 33: ... software can also result in unintentional motion Do not place any objects in areas where they can be caught by moving parts Before connecting the L 731 V 731 check whether a macro is defined as the start up macro in the controller and cancel the selection of the start up macro if necessary INFORMATION The maximum velocity for an L 731 4xSD should be determined in the application If the commanded ...

Page 34: ...nual of the controller Starting up the positioner 1 Start up the controller s see user manual of the controller Configure the controller s during start up using the PC software for the positioner used see user manual of the controller and the PC software Select the entry in the positioner database that exactly matches the positioner model used 2 Start a few motion cycles for testing purposes see u...

Page 35: ... maintenance run over the entire travel range in order for the lubricant present to be evenly distributed If the L 731 is to be operated continuously in an industrial environment over a small travel range 20 of the entire travel range perform a maintenance run across the entire travel range every 5000 motion cycles Lubrication Under laboratory conditions the positioner needs extra lubrication in e...

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Page 37: ... 731 model Mechanical system does not move no operating noise can be heard Controller not correctly connected or defective Check all connecting cables Check the controller If necessary check the power supply of the positioner For L 731 4xSD models Actual position deviates from the displayed position The motor is overloaded by an external load torque or the mass to be driven in the case of strong a...

Page 38: ...latform without damaging the drive This can be necessary when the platform is stuck at the beginning or the end of the travel range has reached the hard stop Figure 9 Position of the spindle accesses for the Y direction left arrow and X direction right arrow Requirements The positioner is not connected to the controller Tools and accessories Hex key AF 3 Manually moving the platform Insert the hex...

Page 39: ... information ready Product 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 If possible Take photographs or make videos of your system that can be sent to our customer service department if requested The latest versions of the user manuals are available on our websit...

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Page 41: ...tal linear encoder with sin cos signal transmission Sensor resolution 10 10 nm Sensor signal period 20 µm Minimum incremental motion 1 0 05 0 05 µm typ Unidirectional repeatability 1 0 05 0 05 µm typ Bidirectional repeatability 2 5 0 5 0 5 µm typ Backlash 3 0 1 0 1 µm Pitch xry yrx 50 40 50 40 50 40 µrad typ Yaw 30 30 30 µrad typ Straightness flatness 2 2 2 µm typ Velocity 45 45 45 mm s max Refere...

Page 42: ...48 V V nom max Miscellaneous Operating temperature range 10 to 50 10 to 50 10 to 50 C Humidity 20 90 rel not condensing Material Aluminum black anodized Connection Motor connection 2 HD D Sub 26 m Motor and sensor connection 2 HD D Sub 26 m Motor connection 2 HD D Sub 26 m Recommended controller 2 C 663 Mercury Step motion controller SMC Hydra motion controller for 2 axes Modular ACS controller SM...

Page 43: ...l motion 0 1 0 5 0 8 µm typ Unidirectional repeatability 0 1 0 5 0 8 µm typ Bidirectional repeatability 0 5 0 5 2 5 µm typ Pitch xry yrx 50 40 50 40 50 40 µrad typ Yaw 30 30 30 µrad typ Straightness flatness 2 2 2 µm typ Velocity 50 50 90 mm s max Reference and limit switches optical optical optical Mechanical properties Load capacity 200 200 200 N Permissible torque in θX θY 125 125 125 Nm Permis...

Page 44: ...0 50 10 50 10 50 C Humidity 20 90 rel not condensing Material Aluminum black anodized Connection Motor connection 2 HD D Sub 26 m Motor and sensor connection 2 HD D Sub 26 m Motor connection 2 HD D Sub 26 m Recommended controller SMC Hydra motion controller for 2 axes Modular ACS controller 2 C 863 Mercury servo controller C 884 4 ch motion controller Modular ACS controller ...

Page 45: ... flatness 2 µm typ Velocity 200 mm s max Reference and limit switches optical Mechanical properties Load capacity 50 N Permissible torque in θX θY 125 Nm Permissible torque in θZ 125 Nm Moved mass in X 15 4 kg Moved mass in Y 5 6 kg Overall mass 19 4 kg Guiding Crossed roller guide with anti creep system Drive properties Motor type Linear motor ironless Operating voltage 48 V max Peak force 100 N ...

Page 46: ... operating data Model Maximum operating voltage Operating frequency Maximum power consumption L 731 093111 L 731 093112 L 731 093132 48 V 0 Hz 60 W L 731 4xSD 48 V 0 Hz 5 W V 731 096111 48 V 0 Hz 3 W per axis 10 1 3 Ambient Conditions and Classifications The following ambient conditions and classifications must be observed for the L 731 V 731 Area of application For indoor use only Maximum altitud...

Page 47: ...means Normal motor operation low 0 V Limit switch reached high 5 V 10 1 5 Reference Point Switch Specifications Type Optical sensor Supply voltage 5 V GND supplied by the motor controller through the motor connector Signal output Open Collector other models Signal logic Direction sensing by means of different signal levels on the left and right side of the reference point switch The signal level c...

Page 48: ...0 1 MP158D L 731 V 731 Precision XY Positioner 10 2 Dimensions 10 2 1 L 731 V 731 Positioners Dimensions in mm Note that the decimal places are separated by a comma in the drawings Figure 10 Dimensions platform in reference position ...

Page 49: ...10 Specifications L 731 V 731 Precision XY Positioner MP158D Version 1 0 1 45 Figure 11 Dimensions platform moved out 10 2 2 Hole Pattern of the Platform Figure 12 Hole pattern ...

Page 50: ...111 L 731 093112 Pin Signal Direction 1 Motor Input 2 Motor Input 3 Motor Input 4 Motor Input 5 6 7 8 9 10 REF Output 11 Limit neg Output 12 Limit pos Output 13 14 15 16 17 ID I O Bidirectional 18 Limit Power 5 V Input 19 Encoder A Output 20 Encoder A Output 21 Encoder B Output 22 Encoder B Output 23 Encoder C Output 24 Encoder C Output 25 GND 26 Encoder Power 5 V DC Input ...

Page 51: ... A V Input 5 Motor B Motor B W Input 6 Motor B Motor B W Input 7 Motor B Motor B Input 8 Motor B Motor B Input 9 10 REF REF Output 11 Limit neg Limit neg Output 12 Limit pos Limit pos Output 13 14 15 16 17 ID I O ID I O Bidirectional 18 Limit Power 5 V Limit Power 5 V Output 19 Encoder A Encoder A Output 20 Encoder A Encoder A Output 21 Encoder B Encoder B Output 22 Encoder B Encoder B Output 23 E...

Page 52: ... A Phase 1 Input 2 Motor A Phase 1 Input 3 Motor A Phase 2 Input 4 Motor A Phase 2 Input 5 Motor B Phase 3 Input 6 Motor B Phase 3 Input 7 Motor B Input 8 Motor B Input 9 10 REF Output 11 Limit neg Output 12 Limit pos Output 13 14 15 16 17 ID I O Bidirectional 18 Limit Power 5 V Input 19 20 21 22 23 24 25 GND 26 ...

Page 53: ...1 49 10 3 2 D Sub 15 m Figure 14 D Sub 15 panel plug Pin Signal Direction 1 Power 5 V DC Input 2 GND 3 sin Output 4 sin Output 5 Temp GND 6 cos Output 7 cos Output 8 Limit neg Output 9 NTC Output 10 REF Output 11 PTC Output 12 REF Output 13 Output 14 GND 15 Limit pos Output ...

Page 54: ...731 Precision XY Positioner 10 4 Tightening Torque for Screws ISO 4762 A2 The following tightening torques for screws according to ISO4762 corresponds to DIN 912 A2 may not be exceeded Value Maximum tightening torque M3 1 5 Nm M4 2 Nm M5 2 5 Nm M6 3 Nm ...

Page 55: ...nt according to international national and local rules and regulations In order to fulfil the responsibility as the product manufacturer PI miCos GmbH undertakes environmentally correct disposal of all old PI miCos equipment made available on the market after 13 August 2005 without charge Any old PI miCos equipment can be sent free of charge to the following address PI miCos GmbH Freiburger Strass...

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Page 57: ...An EU Declaration of Conformity has been issued for the L 731 V 731 in accordance with the following European directives EMC Directive RoHS Directive The applied standards certifying the conformity are listed below EMC EN 61326 1 Safety EN 61010 1 RoHS EN 50581 12 EU Declaration of Conformity ...