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User Guide
Doc# A814D001 v2.2
27-May-2020
A-814.21
4-A
XXX
PI
FOR USE WITH
This document describes the A-814.21xxx Series of Integrated Motion Controllers.
PI (Physik Instrumente) L.P.
16 Albert Street, Auburn, MA 01501
Tel: 508-832-3456 Fax: 508-832-0506
Email: air@pi-usa.us
M
C
XIS
OTION
ONTROLLER
GLIDE AIR BEARING PRODUCTS AND OTHER DIRECT
-
.
DRIVE STAGES
Page 1 of 32
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Summary of Contents for PI A-814.21 Series
- Page 1 FOR USE WITH GLIDE AIR BEARING PRODUCTS AND OTHER DIRECT DRIVE STAGES This document describes the A-814.21xxx Series of Integrated Motion Controllers. Page 1 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506 Email: air@pi-usa.us...
- Page 2 PI owns the following patents or patent applications for the technology field Magnetic Direct Drives (PIMag®): WO212146709A2, DE102012207082A1 © 2020 PI (Physik Instrumente) L.P. The text, photographs and drawings in this user guide are protected by copyright. With regard thereto, PI (Physik Instrumente) L.P. retains all the rights. Use of said text, photographs and drawings is permitted only in part and only upon citation of the source.
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Page 3: Table Of Contents
13.1. Analog Inputs ................................ 16 13.2. Analog Outputs ..............................16 13.3. Digital I/O ................................17 13.4. Brake Outputs ............................... 18 Page 3 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506 Email: air@pi-usa.us... - Page 4 Ambient Conditions ............................... 29 21.4. Connector Pin Assignments........................... 30 EC Declaration of Conformity ..........................32 Old Equipment Disposal ............................32 Page 4 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506 Email: air@pi-usa.us...
- Page 5 Figure 17 - Fuse Holder with Fuses Installed Figure 18 - Inserting the Fuse Holder Figure 19 - A-814.21xxx Dimensions Page 5 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506 Email: air@pi-usa.us...
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Page 6: About This Document
SpiiPlus C Library Reference Programmer Guide SpiiPlus COM Library Programmers Guide SpiiPlus NET Programmers Guide App Note – PEG and MARK Operations Page 6 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506 Email: air@pi-usa.us... -
Page 7: Safety
According to its design, the A-814 is intended for operating the PIglide line of direct-drive air bearing linear and rotary stages and other stages from PI with servo motors. Do not attempt to connect the A-814 to any other device unless specifically instructed to do so by a PI engineer. -
Page 8: Warnings And Safety Notices
Carefully unpack the controller, stages, and other components from the shipping packaging. Inspect the contents for signs of damage. If there is any sign of damage or missing parts, contact PI immediately. Keep all packaging materials in case the product needs to be returned. -
Page 9: Product Overview
RS-422 (TTL) A-quad-B 4.2. Product Description The A-81x series of motion controllers from PI offers a completely integrated electronics solution, with controller, drives, and power supplies packaged together in a compact 2U, 19-inch rack-mount enclosure. These controllers are designed and optimized to work with the PIglide line of air bearing stages which feature direct drive linear and rotary servo motors and high resolution encoders. -
Page 10: Product Views
Stage Encoder Connection Axis #4 MOTOR 4 Power-D 9W4-F Stage Motor Connection Axis #4 See Section 21.4 for connector pin assignments. Page 10 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506 Email: air@pi-usa.us... -
Page 11: Product Labeling
USB Memory Stick and/or CR-ROM and/or DVD with documentation and software, including controller parameter backup files A814D001 User Guide for the A-814 (this document) Page 11 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506 Email: air@pi-usa.us... -
Page 12: Upgrade Options
ACS SPiiPlus EC Motion Controller contained inside the A-81x series controller can be upgraded at the factory or in the field to add the following features. Contact a PI sales engineer for details and pricing. Increase the number of axes that can be controlled; up to 64 (note this does not add drive axes). -
Page 13: Hardware Interlock
See Section 21.4for connector pin assignments. The interlock is typically connected (in series to a +24VDC supply) to an air pressure switch on a PI-supplied A- 80x series air prep kit. In the event of an air pressure loss, the switch will open and the interlock will disable the servo drives. -
Page 14: Figure 5 - Chassis Protective Earth Stud Location
5. Make sure that the contact resistance at all connection points relevant for mounting the protective earth conductor is <0.1 Ω at 25 A. Page 14 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506... -
Page 15: Motor Outputs
Lim- 1RL (Right Limit) Lim+ 2LL (Left Limit) Lim- 2RL (Right Limit) Lim+ 3LL (Left Limit) Lim- 3RL (Right Limit) Page 15 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506 Email: air@pi-usa.us... -
Page 16: User I/O
Watch” object in the ACS MMI. Select the desired IO object from the “Variables” list, then click “Create Watch”. Figure 7 - Variables Manager and Watch Dialog Page 16 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506... -
Page 17: Digital I/O
Variables: Drive0 IN 1, Drive0 IN 2, Drive 0 IN 3, Drive 1 IN 1 Current Sinking (NPN) Voltage: 24 VDC Input current: < 5 mA Page 17 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506 Email: air@pi-usa.us... -
Page 18: Brake Outputs
See Section 21.1 for details on fuse types and ratings. See Section 19.3 for instructions on how to change the fuses. Page 18 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506... -
Page 19: Axis Numbering
2. You may need to adjust your PC’s LAN adapter settings to talk locally to the A-814. The following figure shows suggested settings for your PC’s LAN adapter: Figure 9 - Suggested PC LAN Adapter Settings Page 19 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506 Email: air@pi-usa.us... -
Page 20: Figure 10 - Connect To Controller Dialog
For additional tutorials on the use of the MMI software, see https://www.acsmotioncontrol.com/downloads click under the “Training Materials” section. You may need to create a user account to access these materials. Page 20 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506 Email: air@pi-usa.us... -
Page 21: Operation
Full details of the use and operation of the ACS SPii Plus controller, which is contained in the A-814, are beyond the scope of this guide. Consult the ACS manuals and training materials for details. Page 21 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506... -
Page 22: Homing And Initialization
The A-814 has been configured at the factory to run a specific set of motion stages typically purchased along with the controller. The program Buffer #8 contains PI’s standard homing program. Initialization must be done for all axes after the controller has been turned on or power-cycled before any other motion can be commanded. -
Page 23: Cycle Program
“Buffer 5” in the Program Manager component. You can start, pause, and stop the program using the three buttons at the top of the window as indicated below. Page 23 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506... -
Page 24: Servo Tuning
Consult the ACS User Guides and training materials as needed. Servo tuning instructions are beyond the scope of this manual. Page 24 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506... -
Page 25: Maintenance
1. Turn off the power switch and disconnect the A-814 from the power supply. 2. Wait a minute to be sure that any residual voltage has dissipated. Page 25 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506... -
Page 26: Figure 16 - Remove The Fuse Holder
6. Insert the fuse holder into the main AC input module as shown. Press firmly until the fuse holder audibly snaps into place. Figure 18 - Inserting the Fuse Holder Page 26 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506 Email: air@pi-usa.us... -
Page 27: Customer Service
User Guide Doc# A814D001 v2.2 27-May-2020 Customer Service For inquiries and orders, contact your PI sales engineer or use the following contacts: Email: air@pi-usa.us Address: 16 Albert Street, Auburn, MA 01501, USA Tel: 508-832-3456 Fax: 508-832-0506 If you have questions concerning your system, have the following information ready: ... -
Page 28: Technical Data
Type: Cartridge, 5mm x 20mm, Slo-Blo (Qty. 2) Rating: Fusing 90-120 VAC: 10A, 250V -or- 200-240 VAC: 5A, 250V Mass 9.3 kg Page 28 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506 Email: air@pi-usa.us... -
Page 29: Dimensions
Storage temperature -20°C to +60°C Overvoltage Category Protection Class Degree of Pollution Degree of protection according to IEC 60529 IP20 Page 29 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506 Email: air@pi-usa.us... -
Page 30: Connector Pin Assignments
SIN+ Sine + LIM- Negative Limit IND - Index Mark - LIM+ Positive Limit Encoder Ground IND+ Index Mark + Page 30 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506 Email: air@pi-usa.us... - Page 31 Analog Output 0 - AOUT 1- Analog Output 1 - INTERLOCK DB9-F Function Description +24VDC Interlock +24VDC Source INTLOCK1 Interlock +24VDC Input Page 31 of 32 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506 Email: air@pi-usa.us...
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Page 32: Ec Declaration Of Conformity
Dispose of your old equipment according to international, national, and local rules and regulations. In order to fulfil its responsibility as the product manufacturer, Physik Instrumente (PI) GmbH & Co. KG undertakes environmentally correct disposal of all old PI equipment made available on the market after 13 August 2005 without charge.
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