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User Manual
A121D0001 Rev 1.3
17-May-2021
A-121 Series Linear Air Bearing Stage
PIglide AT1, Linear Motor Driven with Encoder Feedback
This document describes the A-121.xxxxx Series of Linear Air Bearing Motorized Stages.
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 1 of 29
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Summary of Contents for PI A-121 Series
- Page 1 User Manual A121D0001 Rev 1.3 17-May-2021 A-121 Series Linear Air Bearing Stage PIglide AT1, Linear Motor Driven with Encoder Feedback This document describes the A-121.xxxxx Series of Linear Air Bearing Motorized Stages. Page 1 of 29 PI (Physik Instrumente) L.P.
- Page 2 PI owns the following patents or patent applications for the technology field Magnetic Direct Drives (PIMag®): WO212146709A2, DE102012207082A1 © 2021 PI (Physik Instrumente) L.P. The text, photographs and drawings in this manual 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
Air Supply _______________________________________________________________________ 17 6.5. Affixing the Payload to the Stage _____________________________________________________ 18 6.6. XY and Vertical Configurations _______________________________________________________ 19 Page 3 of 29 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 Figure 7 - Earth ground connection point location ________________________________________________ 19 Figure 8 - Mounting of the protective earth conductor (profile view) __________________________________ 19 Figure 9 - Stage Electrical Cable Connectors ___________________________________________________ 20 Figure 10 - A-121 Series Stage Dimensions ____________________________________________________ 27 Page 4 of 29 PI (Physik Instrumente) L.P.
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Page 5: About This Document
Objective and Target Audience of this User Manual This manual contains information on the intended use of the A-121 series of linear motor-driven air bearing stages. It assumes that the reader has a fundamental understanding of basic servo systems as well as motion control concepts and applicable safety procedures. -
Page 6: Safety
Immediately eliminate any faults and malfunctions that are likely to affect safety. ➢ The operator is responsible for the correct installation and operation of the A-121. Page 6 of 29 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: Warnings And Safety Notices
Use care when moving the stage. Avoid any shocks, drops or bumps that can cause scratches, dings, dents, or distortion of the stage. Page 7 of 29 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506... -
Page 8: Organizational Measures
Personnel qualification The A-121 may only be installed, started up, operated, maintained and cleaned by authorized and appropriately qualified personnel. Page 8 of 29 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 9: Product Description
3.1. Model Overview and Part Numbering The A-121 series offers various models, defined by the travel range, encoder type, and motor option. The dimensions of the various models vary with travel. Encoder and motor options do not affect the dimensions. -
Page 10: Product Features
3.2. Product Features The A-121 series stages all incorporate completely non-contact air bearing surfaces, linear motors, and feedback devices to provide a maintenance-free stage. There is no mechanical contact to wear or require lubrication, making these stages ideal for clean room and medical applications. The A-121 incorporates opposing lateral and vertical preloaded dovetail air bearings. -
Page 11: Product Labeling
7. Air supply inlet location 8. Motor electrical connection 9. Encoder electrical connection 10. Country of origin 11. Manufacturer's address (website) 12. Manufacturer's logo Page 11 of 29 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: Scope Of Delivery
3.6. Controllers The A-121 must be connected to a suitable motion controller to be operated. The following standard controllers are available from PI to operate the A-121. Other controllers are also available, contact PI for options. Part # Description A-81x.xxxxx PIglide/ACS Family of Motion Controllers A-82x.xxxxx... -
Page 13: Technical Features
4.1. Air Bearing The A-121 series stage features fully preloaded, non-contact, frictionless air bearings to guide the motion of the stage and support the payload. This air bearing is a highly accurate precision instrument. The non-contact nature of the air bearings will provide years of accurate and reliable use if treated properly. Keep the bearing clean and avoid any shocks, drops or bumps that can cause scratches, dings or distortion of the bearing. -
Page 14: Unpacking And Handling
Carefully unpack the air bearing stage 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. Compare the package contents to packing list and notify PI immediately if any parts are missing or incorrect. Keep all packaging materials in case the product needs to be returned. -
Page 15: Installation
The mounting surface should be flat and have adequate stiffness in order to achieve the maximum performance from the A-121. When the A-121 series stage is mounted to a non-flat surface, the stage can be distorted as the mounting screws are tightened. This distortion will decrease the overall accuracy of the stage. Adjustments to the mounting surface must be done before the stage is secured. -
Page 16: Mounting Procedure
Shipping bracket for A-121 (1x) M4 Flat washer (3x) M4 SHCS, 30mm long (1x) M4 SHCS, 12mm long (2x) Shipping restraint label (1x) Page 16 of 29 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 17: Air Supply
The stage table should never be moved without the air supply turned on. Moving the stage table with no air supply, causing sliding metal-to-metal contact, may damage the bearing surfaces. Page 17 of 29 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: Affixing The Payload To The Stage
Attracted objects can damage the stage. Make sure mounting screws and tools are not pulled into the motor magnet track. Page 18 of 29 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 19: Xy And Vertical Configurations
6.6. XY and Vertical Configurations XY configurations of the A-121 series stage are not available at this time without customization. Please contact PI for a quote if you require a multi-axis stack. Vertical configurations in which the motor is required to move against the force of gravity require a payload counterbalance customization. -
Page 20: Connecting The Cables
Connecting the Cables Stage interconnect cables are not in the scope of delivery of the A-121 series stage. However, PI offers several standard cable sets that can be used, depending on the motion controller being used. Contact PI for a quote. -
Page 21: Startup And Operation Of The Stage
Note that the servo tuning values may need to be adjusted if the payload mass or size changes. If PI was not given user application information at the time of order, the servo was tuned with no payload mass. -
Page 22: Maintenance
➢ Note that the servo tuning values may need to be adjusted if the payload mass or size changes. Maintenance Other than basic cleaning, the A-121 series stage is maintenance-free. 8.1. Cleaning the Stage To clean the stage bearing surfaces, use isopropanol and a clean, lint-free cloth or wipe. Apply the cleaning agent to the cloth and wipe down all of the air bearing surfaces. -
Page 23: Preparing The Stage For Transport
Do not attempt to move or transport the stage with the payload attached. This may damage the stage and the payload. Page 23 of 29 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 24: Customer Service
User Manual A121D0001 Rev 1.3 17-May-2021 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 25: Technical Data
Assumes an air bearing operating pressure of 70 psi (480 kPa). Values shown are obtained using controller-based error compensation. Stage must be purchased with a PI controller to achieve this performance. Accuracy values assume short-term time duration and do not consider the long-term effects of thermal drift on the stage. -
Page 26: Motor Electrical Specifications
For optimum performance, the stage should be operated at 20°C. Any deviation from this temperature could degrade the precision and performance of the stage. Any deviation outside the range shown above may damage the stage. Page 26 of 29 PI (Physik Instrumente) L.P. 16 Albert Street, Auburn, MA 01501 Tel: 508-832-3456 Fax: 508-832-0506... -
Page 27: Dimensions
User Manual A121D0001 Rev 1.3 17-May-2021 10.5. Dimensions Figure 10 - A-121 Series Stage Dimensions Page 27 of 29 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 28: Pin Assignments
Function Description Encoder CLK+ (MA+) Encoder CLK- (MA-) Encoder power SLO+ Encoder Data+ (SLO+) SLO- Encoder Data- (SLO-) Encoder ground Page 28 of 29 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: 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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