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MP158E
L-731 / V-731 Precision XY Positioner
User Manual
Version: 1.0.1
PI miCos GmbH, Freiburger Strasse 30, 79427 Eschbach, Germany
Phone +49 7634 5057-0, Fax +49 7634 5057-99, Email info@pimicos.com, www.pi.ws
Date: 2019-03-18
This document describes the following precision
XY positioners with 205 mm x 205 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 quadrature signal transmission
V-731.096111:
with linear motor and linear encoder,
sin/cos signal transmission
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Summary of Contents for PI Micos L-731 Series
- Page 1 DC motor and linear encoder, A/B quadrature signal transmission V-731.096111: with linear motor and linear encoder, sin/cos signal transmission PI miCos GmbH, Freiburger Strasse 30, 79427 Eschbach, Germany Phone +49 7634 5057-0, Fax +49 7634 5057-99, Email info@pimicos.com, www.pi.ws...
- Page 2 The following company names and brands are registered trademarks of Physik Instrumente (PI) GmbH & Co. PI®, NanoCube®, PICMA®, PIFOC®, PILine®, NEXLINE®, PiezoWalk®, PicoCube®, PiezoMove®, PIMikroMove®, NEXACT®, Picoactuator®, PInano®, NEXSHIFT®, PITOUCH®, PIMag®, PIHera, Q-Motion® © 2019 Physik Instrumente (PI) GmbH & Co. KG, Karlsruhe, Germany. The text, photographs, and drawings in this manual are protected by copyright.
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Page 3: Table Of Contents
Contents About this Document Objective and Target Group of this User Manual ............1 Symbols and Typographic Conventions..............1 Pictures ........................2 Other Applicable Documents ..................2 Downloading Manuals ....................3 Safety Intended Use ......................5 General Safety Instructions ..................5 Organizational Measures .................... - Page 4 Maintenance General Notes on Maintenance ................31 Performing a Maintenance Run (L-731 Models) ............31 Cleaning the L-731 / V-731 ..................31 Troubleshooting Possible Causes and Remedies ................. 33 Manually Moving the Platform ................34 Customer Service Specifications 10.1 Technical Data ......................37 10.1.1 Data Table ....................
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Page 5: About This Document
1 About this Document About this Document Objective and Target Group of this User Manual This user manual contains the necessary information on the intended use of the L-731 / V-731. Basic knowledge of closed-loop systems, motion control concepts, and applicable safety measures is assumed. -
Page 6: Pictures
1 About this Document Symbol / Label Meaning Action consisting of several steps whose sequential order must be observed Action consisting of one or several steps whose sequential order is irrelevant Lists p. 5 Cross-reference to page 5 RS-232 Labeling of an operating element on the product (example: socket of the RS-232 interface) -
Page 7: Downloading Manuals
1 About this Document Downloading Manuals INFORMATION If a manual is missing or problems occur with downloading: Contact our customer service department (p. 35). INFORMATION For products that are supplied with software (CD in the scope of delivery), access to the manuals is protected by a password. -
Page 9: Safety
2 Safety Safety Intended Use The L-731 / V-731 is a laboratory device as defined by DIN EN 61010. It is intended for indoor use and use in an environment which is free of dirt, oil, and lubricants. In accordance with its design, the L-731 / V-731 is intended for positioning, adjusting and shifting of loads on two axes at various velocities. - Page 10 2 Safety If you give the L-731 / V-731 to other users, also include 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 result in damage to equipment.
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Page 11: Product Description
3 Product Description Product Description Model Overview Classification of the positioners All models are precision XY positioners with linear positioner with crossed roller bearings. They differ with respect to the drive type and encoder equipment. L-731 / V-731 Drive type Linear encoder: Signal transmission Stepper... -
Page 12: Product View
3 Product Description Order number Product name L-731.093112 Precision XY positioner, 310 mm × 310 mm width, 205 mm × 205 mm travel range, DC motor, linear encoder 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 ... -
Page 13: Electrical Connections
3 Product Description 3.2.2 Electrical Connections Connection type and assignments depend on the model (for pin assignment, see p. 46). L-731.40SD L-731.4ASD L-731.44SD L-731.093111 L-731.093112 V-731.096111 L-731.093132 Pos. Connection L-731 V-731 .40SD .4ASD .096111 .44SD .093111 .093112 .093132 Sensor connection, X axis (D-Sub 15 panel plug) Sensor connection, Y axis (D-Sub 15 panel plug) Motor connection, X axis (HD D-Sub 26 panel plug) Motor connection, Y axis (HD D-Sub 26 panel plug) -
Page 14: Direction Of Motion
3 Product Description Direction of Motion Figure 2: Direction of the motion of the platform X, Y (arrow direction:) Direction of motion on positive command Product Labeling Version: 1.0.1 MP158D L -731 / V- 731 Precision XY Positioner... - Page 15 3 Product Description Figure 3: Product labeling (see following table) Position Labeling Description Warning symbol "Electrostatic sensitive devices" Sensor X Encoder connection, X axis Sensor Y Encoder connection, Y axis Warning sign "Observe manual!" Old equipment disposal Country of origin: Germany Country of origin WWW.PI.WS Manufacturer's address (website) L-731.4ASD...
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Page 16: Scope Of Delivery
3 Product Description Scope of Delivery Item number Component L-731.xxxxxx or Positioner according to order (p. 7) V-731.xxxxxx Motor cable and if necessary, sensor cable according to the controller and positioner ordered MP146EK Short instructions for positioners with electric motors 6303500012 Mounting accessories: •... -
Page 17: Technical Features
3 Product Description Technical Features 3.7.1 Encoder The L-731.4ASD, L-731.44SD, L-731.093111, L-731.093112, and V-731.096111 models are equipped with an optical linear encoder. Optical linear encoders measure the actual position directly (direct metrology). Errors occurring in the drive, such as nonlinearity, backlash or elastic deformations cannot influence the measurement of the position. -
Page 19: Unpacking
4 Unpacking Unpacking 1. Unpack the L-731 / V-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. -
Page 21: Installation
5 Installation Installation General Notes on Installation DANGER For V-731 models: Magnetic fields! Magnetic fields may damage or interfere with sensitive devices and objects (e. g. cardiac pacemakers, EC-cards, magnetic data carriers). The fields are also effective when the positioner is not connected to the controller/electric power. Loose magnetizable objects (e.g. -
Page 22: Attaching The L-731 / V-731 To A Surface
5 Installation NOTICE Damage due to removed caps or screws! Removing caps and screws can lead to contamination and failure of the L-731 / V-731. Do not loosen screws on the positioner, except when removing the transport lock (p. 20). ... - Page 23 5 Installation Requirements You have read and understood the general notes on installation (p. 17). You have provided a suitable surface (for the required position and depth of the holes for accommodating the screws and locating pins, see "Dimensions" (p. 44)): −...
- Page 24 5 Installation Tools and accessories Mounting accessories; in the scope of delivery (p. 12) − 4 socket head cap screws, ISO 4762 M6x35 − 2 dowel pins, ISO 8734 - 6 m6 × 10, for use as locating pins ...
- Page 25 5 Installation 4. Move the platform in the X direction so that two of the fixing holes (through-holes) become accessible (see figure below). Figure 5: Position of the through-holes for mounting the positioner (schematic) It is possible to move the platform accordingly. Alternatively, 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...
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Page 26: Connecting The L-731 / V-731 To The Protective Earth Conductor
5 Installation 7. Repeat steps 4 to 6 for all remaining mounting holes. 8. Check that the positioner is affixed firmly to the surface. Connecting the L-731 / V-731 to the Protective Earth Conductor INFORMATION It is only necessary to connect the L-731 / V-731 to the protective earth conductor when both of the following conditions are met: ... - Page 27 5 Installation Figure 8: Mounting of the protective earth conductor (profile view) Base body of the L-731 / V-731 (front side) Flat washer Safety washer Screw, M4x8, ISO 7045 Cable lug Protective earth conductor Requirements You have read and understood the general notes on installation (p. 17). Tools and accessories Suitable protective earth conductor: Cross-sectional area of the cable ≥...
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Page 28: Affixing The Load To The L-731 / V-731
5 Installation Affixing the Load to the L-731 / V-731 NOTICE Impermissibly high load on the positioner! An impermissible high load impairs the motion of the platform and can damage the positioner. When considering the mass and mounting method of the load, pay attention to the specified maximum permissible forces, that are permitted to act on the platform (p. -
Page 29: Connecting The L-731 / V-731 To A Controller
5 Installation Connecting the L-731 / V-731 to a Controller NOTICE Damage if an incorrect controller or motor cable is connected! Connecting a positioner to an unsuitable controller or using an unsuitable motor cable can cause damage to the positioner or controller. ... - Page 30 5 Installation 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. Version: 1.0.1 MP158D L-731 / V-731 Precision XY Positioner...
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Page 31: Start-Up
6 Start-Up Start-Up General Notes on Start-Up DANGER For V-731 models: Magnetic fields! Magnetic fields may damage or interfere with sensitive devices and objects (e. g. cardiac pacemakers, EC-cards, magnetic data carriers). The fields are also effective when the positioner is not connected to the controller/electric power. Loose magnetizable objects (e.g. - Page 32 6 Start-Up NOTICE Damage if an incorrect controller or motor cable is connected! Connecting a positioner to an unsuitable controller or using an unsuitable motor cable can cause damage to the positioner or controller. Only connect a positioner to a suitable controller (page 12). ...
- Page 33 6 Start-Up NOTICE Damage or considerable wear due to high accelerations! High accelerations can cause damage to or considerable wear on the mechanical system. Stop the motion immediately if a controller malfunction occurs. Ensure that the end of the travel range is approached at low velocity. ...
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Page 34: Starting Up The Positioner
6 Start-Up Starting Up the Positioner Requirements You have read and understood the general notes on start-up (p. 27). For starting up with a load or in a multi-axis system: You have properly installed the positioner (p. 17). ... -
Page 35: Maintenance
7 Maintenance Maintenance General Notes on Maintenance NOTICE Damage due to improper maintenance! Removing caps and screws can lead to contamination and failure of the L-731 / V-731. Do not loosen screws on the positioner. Do not remove any caps other than the ESD protection. Performing a Maintenance Run (L-731 Models) Depending on the operating conditions and the period of use of the L-731, the following maintenance measures are required:... -
Page 37: Troubleshooting
8 Troubleshooting Troubleshooting Possible Causes and Remedies Problem Possible causes Solution Reduced positioning Warped base body Mount the L-731 / V-731 onto an even accuracy surface. The recommended flatness of the surface is ≤ 5 µm. Increased wear due to small ... -
Page 38: Manually Moving The Platform
8 Troubleshooting Manually Moving the Platform INFORMATION It is necessary to repeat the reference move after moving manually and connecting to the controller. V-731: The platform can be easily moved by hand without aid. L-731: The platform can be moved with more force by hand without aid. Alternatively, the spindle can be used to move the platform without damaging the drive. -
Page 39: Customer Service
9 Customer Service Customer Service For inquiries and orders, contact your PI sales engineer or send us an email (mailto:info@pi.de). If you have questions concerning your system, have the following information ready: − Product and serial numbers of all products in the system −... -
Page 41: Specifications
10 Specifications Specifications 10.1 Technical Data The specified data applies to a temperature of 20 °C (±3 °C) and horizontal installation. You can download current versions of data sheets from our web site www.pi.ws. 10.1.1 Data Table L-731.40SD / L-731.44SD / L-731.4ASD L-731.40SD L-731.44SD L-731.4ASD... - Page 42 10 Specifications L-731.40SD L-731.44SD L-731.4ASD Unit Tolerance Drive properties Motor Type 2-phase stepper motor Spindle pitch Motor power/axis Operating voltage 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...
- Page 43 10 Specifications L 731.093111 / L 731.093112 / L 731.093132 L 731.093111 L 731.093112 L 731.093132 Unit Tolerance Motion and positioning Active axes X, Y X, Y X, Y Travel range 205 × 205 205 × 205 205 × 205 Integrated sensor Incremental linear Incremental linear...
- Page 44 10 Specifications L 731.093111 L 731.093112 L 731.093132 Unit Tolerance Miscellaneous Operating temperature range 10 … 50 10 … 50 10 … 50 °C Humidity 20 … 90 % rel., not condensing Material Aluminum, black anodized Connection Motor Motor and sensor Motor connection: connection: 2 ×...
- Page 45 10 Specifications V 731.096111 V-731.096111 Unit Tolerance Motion and positioning Active axes X, Y Travel range 205 × 205 Integrated sensor Incremental linear encoder Sensor resolution* Sensor signal period µm Minimum incremental motion 0.02 µm typ. Unidirectional repeatability µm typ. Bidirectional repeatability ±0.25 µm...
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Page 46: Maximum Ratings
10 Specifications V-731.096111 Unit Tolerance Miscellaneous Operating temperature range 10 … 50 °C Humidity 20 … 90 % rel., not condensing Material Aluminum, black anodized Motor connector 2 × HD D-Sub 26 (m) Sensor connection 2 × D-Sub 15 (f) Recommended controller SMC Hydra C-891... -
Page 47: Limit Switch Specifications
10 Specifications 10.1.4 Limit Switch Specifications Type Optical sensor Supply voltage +5 V/GND, supplied via the motor connector Signal output Open Collector (other models) Signal logic The signal level changes when passing the limit switch. The signal logic is active high. That means: ... -
Page 48: Dimensions
10 Specifications 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 Version: 1.0.1 MP158D L-731 / V-731 Precision XY Positioner... -
Page 49: Hole Pattern Of The Platform
10 Specifications Figure 11: Dimensions; platform moved out 10.2.2 Hole Pattern of the Platform Figure 12: Hole pattern L-731 / V-731 Precision XY Positioner MP158D Version: 1.0.1... -
Page 50: Pin Assignment
10 Specifications 10.3 Pin Assignment 10.3.1 HD D-Sub 26 (m) Figure 13: HD D-Sub 26 panel plug L 731.093132 / L 731.093111 / L 731.093112 Signal Direction Motor + Input Motor + Input Motor - Input Motor - Input Output Limit neg. - Page 51 10 Specifications L-731.4xSD Signal L-731.40SD / L-731.44SD Signal L-731.4ASD Direction Motor A+ Motor + / Motor A+ / U Input Motor A+ Motor + / Motor A+ / U Input Motor A- Motor - / Motor A- / V Input Motor A- Motor - / Motor A- / V Input...
- Page 52 10 Specifications V-731 Signal Direction Motor A+ / Phase 1 Input Motor A+ / Phase 1 Input Motor A- / Phase 2 Input Motor A- / Phase 2 Input Motor B+ / Phase 3 Input Motor B+ / Phase 3 Input Motor B- Input...
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Page 53: D-Sub 15 (M)
10 Specifications 10.3.2 D-Sub 15 (m) Figure 14: D-Sub 15 panel plug Signal Direction Power 5 V DC Input sin + Output sin - Output Temp GND cos + Output cos - Output Limit neg. Output Output REF + Output Output REF - Output... -
Page 54: Tightening Torque For Screws, Iso 4762 - A2
10 Specifications 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 1.5 Nm 2 Nm 2.5 Nm 3 Nm Version: 1.0.1 MP158D... -
Page 55: Old Equipment Disposal
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 Strasse 30... -
Page 57: Eu Declaration Of Conformity
12 EU Declaration of Conformity EU Declaration of Conformity 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. •...
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