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PI L-412 9232 Series, User Manual

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PI L-412 9232 Series User Manual Download Page 37

12.5

Commutation Encoder

The L-412.xx9232's commutation encoder codes the position of the magnets in the same way
as a Hall effect sensor.

0

π

2π

3π

4π

V

W

U

UV

VW

UW

Figure 12: Motor phases (top) and signal output to the commutation tracks (bottom)

12  TECHNICAL DATA

L412UM0001EN 

‒

 10/24/2022

37

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

Summary of Contents for L-412 9232 Series

Page 1: ...L412UM0001EN 10 24 2022 User Manual L 412 XX9232 B HIGH LOAD LINEAR STAGE M O T I O N P O S I T I O N I N G ...

Page 2: ...g 10 4 2 1 Type Plate 11 4 3 Overview 12 4 3 1 Base Body 12 4 3 2 Drive 12 4 3 3 Holding Brake 13 4 3 4 Purge Air System 13 4 4 Direction of Motion 15 4 5 Scope of Delivery 15 4 6 Suitable Electronics 15 5 Unpacking 17 6 Installation 18 6 1 Mounting the L 412 xx9232 18 6 1 1 Mounting the L 412 xx9232 from Above 18 6 2 Connecting the L 412 xx9232 to the Protective Earth Conductor 19 6 3 Building a ...

Page 3: ...ions 34 12 1 3 Holding Brake Specifications 35 12 1 4 Temperature Sensor Specifications 35 12 2 Maximum Ratings 35 12 3 Ambient Conditions and Classifications 35 12 4 Dimensions 36 12 5 Commutation Encoder 37 13 Old Equipment Disposal 38 14 European Declarations of Conformity 39 15 Appendix 40 15 1 Pin Assignment 40 15 1 1 Drive Connector 40 15 1 2 Motor Encoder Connector 41 15 1 3 Limit Switch Co...

Page 4: ...t 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source Original instructions First print 10 24 2022 Document number L412UM0001en ASt Subject to change This manual is superseded by any new release The latest respective release is available for download on our website www pi ws P...

Page 5: ...on consisting of one or more steps without relevant sequential or der Lists p 5 Cross reference to page 5 RS 232 Label on the product indicating an operating element example RS 232 interface socket Start Settings Menu path in the PC software example to open the menu Start and Settings must be clicked successively POS Command line or a command from PI s General Command Set GCS example command to ge...

Page 6: ...ity the colors proportions and degree of detail in illustrations can deviate from the actual circumstances Photographic illustrations may also differ and must not be seen as guaranteed properties 2 4 Other Applicable Documents The devices and software tools that are mentioned in this documentation are described in separate manuals Document num ber Document type Product G901M0003 User manual G 901 ...

Page 7: ...esponding product to open the product detail page 4 Click the Downloads tab The manuals are shown under Documentation 5 Click the desired manual and fill out the inquiry form The download link will then be sent to the email address entered 2 ABOUT THIS DOCUMENT L412UM0001EN 10 24 2022 7 M O T I O N P O S I T I O N I N G ...

Page 8: ...uctor is missing or not properly connected risk of dangerous touch voltages on the L 412 xx9232 in the event of malfunction or failure of the system If there are touch voltages touching the L 412 xx9232 can cause serious injuries or even death by electric shock Connect the L 412 xx9232 to a protective earth conductor before startup p 19 Do not remove the protective earth conductor during operation...

Page 9: ... of the complete user manual Missing information due to an incomplete user manual can lead to serious or fatal injuries and damage to equipment Only install and operate the L 412 xx9232 after you have read and understood this user manual 3 3 2 General Personnel Qualification The L 412 xx9232 may only be installed started up operated maintained and cleaned by authorized and appropriately qualified ...

Page 10: ...n A B quadrature RS 422 116 mm width L 412 xx9232B with electromagnetic safety brake Product number Travel range L 412 039232 B 52 mm 2 L 412 059232 B 102 mm 4 L 412 099232 B 204 mm 8 L 412 139232 B 305 mm 12 L 412 179232 B 407 mm 16 L 412 219232 B 508 mm 20 L 412 259232 B 610 mm 24 4 2 Product Labeling 1 1 3 2 2 4 2 5 6 Figure 1 Product labeling on the L 412 xx9232 4 PRODUCT DESCRIPTION L412UM000...

Page 11: ...ce 5 Type plate 6 Protective earth connector 4 2 1 Type Plate Figure 3 Type plate of the L 412 xx9232 1 Data matrix code example contains the serial number 2 Product number example 3 Serial number example individual for each L 412 xx9232 4 Warning and conformity symbols old equipment disposal p 38 CE mark p 39 4 PRODUCT DESCRIPTION L412UM0001EN 10 24 2022 11 M O T I O N P O S I T I O N I N G ...

Page 12: ...base body p 18 The base body comprises the following subassembly subassemblies Limit switches The limit switches p 34 are sensors at each end of the travel range that enable the electronics to abort motion in order to prevent the motion platform from colliding with the mechanical hard stop 4 3 2 Drive The drive generates the force that is required for the dynamics of the L 412 xx9232 Figure 5 Driv...

Page 13: ...the motion platform after a reference move 4 3 3 Holding Brake For L 412 xx9232B models The holding brake blocks the drivetrain at rest The holding brake is designed for holding only and is not suitable for continuous braking during operation The holding brake blocks in a zero voltage state 4 3 4 Purge Air System The purge air system protects the drive and guides of the L 412 xx9232 against surrou...

Page 14: ...of a purge air connector on the base body of the L 412 xx9232 which creates a slight overpressure in the L 412 xx9232 and therefore reduces the amount of dust that can penetrate 4 PRODUCT DESCRIPTION L412UM0001EN 10 24 2022 14 M O T I O N P O S I T I O N I N G ...

Page 15: ...16 flat washers ISO 7092 D11 d6 4 h1 6 mm MP187EK Short instructions for positioners with elec tric motors to 320 V 4 6 Suitable Electronics The L 412 xx9232 must be connected to suitable electronics that supply the necessary voltage for operating and if required to evaluate the sensor and limit switch signals The following electronics are suitable Product number Description G 901 R519 x ACS contr...

Page 16: ...To order contact our customer service department p 31 4 PRODUCT DESCRIPTION L412UM0001EN 10 24 2022 16 M O T I O N P O S I T I O N I N G ...

Page 17: ...move the ESD protective caps 3 Compare the contents with the scope of delivery according to the contract and the delivery note 4 Inspect the contents for signs of damage If any parts are damaged or missing contact our customer service department p 31 immediately 5 Keep all packaging materials in case the product needs to be returned 5 UNPACKING L412UM0001EN 10 24 2022 17 M O T I O N P O S I T I O ...

Page 18: ...ween the L 412 xx9232 the load to be moved and the surroundings in the motion range of the L 412 xx9232 Do not place any cables or other objects in areas where they could be caught by moving parts NOTICE Damage due to mechanical stress on the cable The cable will break from excessive bending or crushing A broken cable will lead to failure of the L 412 xx9232 or damage to the L 412 xx9232 or the el...

Page 19: ... be inserted into the corresponding locating holes of the L 412 xx9232 4 If necessary Allow access to the mounting holes in the base body of the L 412 xx9232 Possible measures Starting and operating the positioner p 25 temporarily and commanding the motion platform to a suitable position Moving the platform by hand p 28 5 Tighten all screws in the mounting holes Recommended torque 3 Nm 6 If necess...

Page 20: ... connector on the L 412 xx9232 1 Protective earth connector on the L 412 xx9232 indicated by the protective earth symbol 2 Lock washer 3 Flat washer 4 Cable lug of the protective earth conductor 5 Screw M4 8 ISO 7045 Tools and Accessories Suitable protective earth conductor Cable cross section 0 75 mm2 Contact resistance 0 1 Ω at 25 A at all points relevant for attaching the protective earth condu...

Page 21: ...the load 6 3 1 Building an XY Multi Axis System The L 412 xx9232 can be used in XY systems Designations in these instructions Lower positioner Forms the basis of the multi axis system is attached to an underlying surface Upper positioner Forms the upper axis of the multi axis system is attached to the lower positioner rotated by 90 Tools and Accessories Mounting kit for mounting the L 412 xx9232 p...

Page 22: ... length for the respective mounting holes Overview Figure 9 Mounting the load onto the L 412 xx9232 Tools and Accessories At least 3 screws with suitable dimensions p 36 Suitable tool for tightening the screws Optional 2 suitably dimensioned dowel pins as locating pins for aligning the load on the L 412 xx9232 Requirements You have read and understood the general safety instructions p 8 You have m...

Page 23: ...able for the electronics used 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 as stated in the specifications p 32 Requirements You have read and understood the general safety instructions p 8 If necessary The L 412 xx9232 s base bo...

Page 24: ... for your installation conditions The drive and encoder connector of the L 412 xx9232 can be turned up to 180 in steps of approximately 7 7 Figure 10 Rotation range of the L 412 xx9232 s drive sensor connectors 6 INSTALLATION L412UM0001EN 10 24 2022 24 M O T I O N P O S I T I O N I N G ...

Page 25: ...tor during operation If the protective earth conductor has to be removed temporarily e g for modifications reconnect the L 412 xx9232 to the protective earth conductor before restarting CAUTION Risk of crushing by moving parts Risk of minor injuries from crushing between the moving parts of the L 412 xx9232 or the load and a fixed part or obstacle Use safeguards to protect limbs in areas where the...

Page 26: ...ntroller take suitable precautionary measures to ensure that unintentional changes in the position of the motion platform are not possible NOTICE Damage due to collisions Collisions can damage the L 412 xx9232 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...

Page 27: ... the entire travel range a Command the L 412 xx9232 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 412 xx9232 to a position where the load can be mounted onto the L 412 xx9232 again and mount the load back onto the L 412 xx9232 p 22 8 2 Lubricating It is only necessary to lubricate the spindle nut It i...

Page 28: ...orm manually to allow access to the mounting holes in the positioner s base body for the mounting screws to move the motion platform away from the mechanical hard stop and make the L 412 xx9232 operational again Requirements You have disconnected the L 412 xx9232 from the electronics Moving the Platform by Hand 1 Preparation a For L 412 xx9232B models Release the holding brake Apply the supply vol...

Page 29: ...or code Incorrect axis or channel commanded Make sure that the electronics use the correct axis respectively channel identifier Commanded axis is not referenced Do a reference move for the axis as described in the user manual for the controller Reduced positioning accuracy Excessive load Do not exceed the maximum permissible loads according to the specifications p 32 When the L 412 xx9232B is moun...

Page 30: ...ation 1 Pay attention to the ambient conditions and classifications p 35 2 Pack the L 412 xx9232 in the original packaging 3 If the L 412 xx9232 is to be sent use a stable outer box 10 TRANSPORTATION L412UM0001EN 10 24 2022 30 M O T I O N P O S I T I O N I N G ...

Page 31: ... 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 our customer service department if requested Customer service address Physik Instrumente PI GmbH Co KG Auf der Roemerstrasse 1 76228 Karlsruhe Germany service pi de www pi de 11 CUSTOMER SERVICE ...

Page 32: ... Typ Pitch Rotational cross talk in θY with motion in X 9 μrad 14 μrad 19 μrad 29 μrad Typ Yaw Rotational cross talk in θZ with motion in X 9 μrad 14 μrad 19 μrad 29 μrad Typ Motion L 412 17923 2 B L 412 21923 2 B L 412 259232 B Tolerance Active axes X X X Travel range in X 407 mm 508 mm 610 mm Maximum velocity in X unloaded 300 mm s 300 mm s 300 mm s Straightness Linear crosstalk in Y with mo tio...

Page 33: ...r signal A B quadrature RS 422 Drive properties L 412 xx9232 B Tolerance Drive type Synchronous servo motor Nominal voltage 320 V Nominal current RMS 2 73 A Typ Peak current RMS 10 9 A Typ Drive force in negative direction of motion in X 700 N Typ Drive force in positive direction of motion in X 700 N Typ Torque constant 0 32 N m A Typ Motor constant rota tional 0 11 N m W Typ Resistance phase pha...

Page 34: ...ax Overall mass xx 03 6400 g xx 05 6900 g xx 09 7900 g xx 13 8900 g xx 17 9800 g xx 21 10800 g xx 25 11800 g Material Aluminum black anodized stainless steel Miscellaneous L 412 xx9232 B Tolerance Connector M23 8 pin m Connector for motor en coder M23 17 pin m Limit switch connector M8 8 pin m Recommended control lers drivers G 901 R519 ACS modular controller Operating temperature range 5 to 40 C ...

Page 35: ...derably into 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 12 2 Maximum Ratings The L 412 xx9232 is designed for the following operating data Maximum operating volt age Ma...

Page 36: ...MITSWITCH LSW HARDSTOP TO HARDSTOP HDS A B C D E F D1 D2 L 412 xxx2xxE1x L 412 xxx0xxE1x L 412 xxxxxxE1B L 412 xxxxxxE1 L 412 xxxx11E1x L 412 xxx2xx L 412 xxx0xx L 412 xxxxxxB L 412 xxxxxx L 412 xxxx25E1x L 412 03xxxx 52 2 52 55 72 290 147 5 100 148 5 114 5 28 5 83 L 412 05xxxx 102 4 102 105 107 334 169 5 100 200 148 5 114 5 28 5 83 L 412 09xxxx 204 8 204 207 211 438 221 5 100 200 300 148 5 114 5 ...

Page 37: ...der codes the position of the magnets in the same way as a Hall effect sensor 0 π 2π 3π 4π V W U UV VW UW Figure 12 Motor phases top and signal output to the commutation tracks bottom 12 TECHNICAL DATA L412UM0001EN 10 24 2022 37 M O T I O N P O S I T I O N I N G ...

Page 38: ...order to fulfil the responsibility as the product manufacturer PI miCos undertakes environmentally correct disposal of all PI miCos equipment free of charge if it was made available to the market after August 13 2005 Any old PI miCos equipment can be sent free of charge to the following address PI miCos GmbH Freiburger Strasse 30 79427 Eschbach Germany info pimicos de www pi de 13 OLD EQUIPMENT DI...

Page 39: ...ing European statutory requirements Low Voltage Directive EMC Directive RoHS Directive The standards applied for certifying conformity are listed below Safety Low Voltage Directive EN 61010 1 EMC EN 61326 1 RoHS EN IEC 63000 14 EUROPEAN DECLARATIONS OF CONFORMITY L412UM0001EN 10 24 2022 39 M O T I O N P O S I T I O N I N G ...

Page 40: ...ve earth 3 W Phase 3 4 V Phase 2 A L 412 xx9232 nc L 412 xx9232B BR L 412 xx9232 Not connected L 412 xx9232B Holding brake 24 V DC B L 412 xx9232 nc L 412 xx9232B BR L 412 xx9232 Not connected L 412 xx9232B Holding brake GND C nc Not connected D nc Not connected 15 APPENDIX L412UM0001EN 10 24 2022 40 M O T I O N P O S I T I O N I N G ...

Page 41: ...al 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 15 APPENDIX L412UM0001EN 10 24 2022 ...

Page 42: ... Function 1 L 5V Input Power supply 5 V DC 2 LGND Ground 3 LE2 Output Positive limit switch 4 LE1 Output negative limit switch 5 NC Not connected 6 NC Not connected 7 NC Not connected 8 NC Not connected 15 APPENDIX L412UM0001EN 10 24 2022 42 M O T I O N P O S I T I O N I N G ...

Page 43: ... is specified Lateral Force Also Lateral load capacity Maximum permissible force orthogonally to the positioning direction This value is directly valid for the motion platform or the slider with mounting rails at the product The value is reduced when the force acts above the platform slider Limit Switch Each limit switch sends its signal to the controller on a dedicated line The controller then in...

Page 44: ... specifications apply to room temperature 22 3 C systems in closed loop operation are calibrated at this temperature It may be necessary to reset the operating parameters when operating at considerably lower or higher temperatures L412UM0001EN 10 24 2022 44 M O T I O N P O S I T I O N I N G ...

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