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PI L-417.059232B, User Manual

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PI L-417.059232B User Manual Download Page 25

9

Troubleshooting

The positioner does not move

Cable not connected correctly

►

Check the cable connections.

The electronics or mechanics were replaced

►

Run the 

startup (p. 21)

 once again.

Electronics not connected correctly

►

Check all connecting cables (p. 19)

.

Defective electronics

►

Check the electronics.

Motion platform has triggered the limit
switch

►

If you are using a controller from PI: Switch on

the servo mode for the affected axis again in the

PC software.

►

Command the axis to move away from the limit

switch.

The positioner was connected to the switch-
ed-on electronics

►

Switch the electronics off and on again or restart

them with the 

RBT

 command or with the corre‐

sponding PC software function.

Incorrect configuration

►

Check the L‐417.xx9232B's parameter settings in

the electronics connected and make the appro‐

priate corrections.

Incorrect command or incorrect syntax

►

Send the 

ERR?

 command to the PI electronics

connected and check the error code returned.

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 used.

Reduced positioning accuracy

When the L-417.xx9232B is mounted vertical-
ly: Load exceeds the holding brake's holding
force

►

Make sure that the 

brake's holding force (p. 28)

is not exceeded.

Warped base body

►

Mount the L‐417.xx9232B onto an even sur‐

face (p. 15)

.

Increased wear due to small motion over a
long period of time

►

Perform a maintenance run (p. 23)

.

Uncontrolled oscillation

Large changes to the load or the alignment
of the L-417.xx9232B

►

Switch off the servo control system or the con‐

troller immediately.

►

Check whether the servo control parameter set‐

tings correspond to the selected closed‐loop

control mode; see user manual for the controller.

►

If necessary, correct the settings of the servo

control parameters.

9  TROUBLESHOOTING

L417M0010EN 

‒

 7/9/2019

25

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

Summary of Contents for L-417.059232B

Page 1: ...L417M0010EN 7 9 2019 User Manual L 417 XX9232B HIGH LOAD LINEAR STAGE M O T I O N P O S I T I O N I N G ...

Page 2: ... 3 Scope of Delivery 9 4 4 Overview 10 4 4 1 Base Body 10 4 4 2 Drive 10 4 4 3 Holding brake 11 4 4 4 Purge Air System 11 4 5 Direction of Motion 13 4 6 Suitable Electronics 13 5 Unpacking 14 6 Installation 15 6 1 Mounting the L 417 xx9232B 15 6 2 Connecting the L 417 xx9232B to the Protective Earth Conductor 16 6 3 Mounting the Load onto the L 417 xx9232B 18 6 4 Connecting the L 417 xx9232B 19 7 ...

Page 3: ...sions 31 13 Old Equipment Disposal 33 14 Appendix 34 14 1 Pin Assignment 34 14 1 1 Drive Connector 34 14 1 2 Rotary Encoder Connector 34 14 1 3 Limit Switch Connector 35 14 2 Limit Switch Specifications 36 14 3 PTC Temperature Sensor 36 14 4 Commutation Encoder 36 14 5 Holding Brake Specifications 37 15 EU Declaration of Conformity 38 CONTENTS L417M0010EN 7 9 2019 3 M O T I O N P O S I T I O N I N...

Page 4: ...ht 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 7 9 2019 Document number L417M0010en ASt Subject to change This manual is superseded by any new release The latest versions of the user manuals are available for download p 6 at www pi ws ...

Page 5: ...oduct example socket of the RS 232 interface Start Settings Menu path in the PC software example to open the menu the Start and Settings menus must be clicked successively POS Command line or a command from PI s General Command Set GCS example command to get the axis position Device S N Parameter name example parameter where the serial number is stor ed 5 Value that must be entered or selected via...

Page 6: ...ing the access data You need the data storage device for the product to get the access data If a manual is missing or problems occur with downloading contact our customer service department p 27 Downloading Manuals 1 Open the website www pi ws 2 If the product was shipped with a data storage device Log into the website a Click Login b Enter the login data The login data is in the _Releasenews_ pdf...

Page 7: ...uilt according to state of the art technology and recognized safety standards Improper use of the L 417 xx9232B may result in personal injury and or damage to the L 417 xx9232B Use the L 417 xx9232B only for its intended purpose and if it is in perfect condition Read the user manual Eliminate any faults and malfunctions that are likely to affect safety immediately The operator is responsible for c...

Page 8: ...32B 102 mm 4 L 417 099232B 204 mm 8 L 417 139232B 305 mm 12 L 417 179232B 407 mm 16 L 417 219232B 508 mm 20 L 417 259232B 610 mm 24 L 417 339232B 813 mm 32 4 2 Product Labeling 1 1 3 2 2 4 2 5 6 Figure 1 Product labels on the L 417 xx9232B 1 Warning symbol Risk of crushing 2 Connector labels 3 Warning symbol Hot surface 4 Warning symbol Electrostatic sensitive device 5 Type plate 6 Protective eart...

Page 9: ...32B with xx 05 09 13 17 L417B0014 Mounting kit for mounting the L 417 xx9232B and installation material consisting of 12 socket head screws ISO 4762 M6 30 2 dowel pins ISO 8734 4 m6 12 12 flat washers ISO 7092 D11 d6 4 h1 6 mm For L 417 xx9232B with xx 21 25 33 L417B0015 Mounting kit for mounting the L 417 xx9232B and installation material consisting of 20 socket head screws ISO 4762 M 6 30 2 dowe...

Page 10: ...base body p 15 The base body comprises the following subassembly subassemblies Drive screw The drive screw converts the rotary motion of the drive to linear motion of the motion platform Limit switches The limit switches 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 4 2 ...

Page 11: ...the motion platform after a reference move 4 4 3 Holding brake 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 4 4 Purge Air System The purge air system protects the drive and guides of the L 417 xx9232B against surrounding dust The purge air...

Page 12: ...reduces the amount of dust that can penetrate Active dust protection The active dust protection consists of a purge air connector on the base body of the L 417 xx9232B which creates a slight overpressure in the L 417 xx9232B and therefore reduces the amount of dust that can penetrate 4 PRODUCT DESCRIPTION L417M0010EN 7 9 2019 12 M O T I O N P O S I T I O N I N G ...

Page 13: ...vary 4 6 Suitable Electronics The L 417 xx9232B 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 ACS modular controller To order contact our customer service department p 27 4 PRODUCT DESCRIPTION L417M0010EN 7 9 2019 13 M O T I O...

Page 14: ...re damaged or missing contact our customer service department p 27 immediately 4 If the L 417 xx9232B was supplied with a carrying aid p 9 Use the carrying aid to transport the L 417 xx9232B to the intended place of use 5 If the L 417 xx9232B was supplied with ESD protective caps on the connectors Do not remove the ESD protective caps 6 Keep all packaging materials in case the product needs to be ...

Page 15: ...equired to route cables without bending and according to regulations DANGER Risk of electric shock if the protective earth conductor is not connected If the protective earth conductor is missing or not properly connected risk of dangerous touch voltages on the L 417 xx9232B in the event of malfunction or failure of the system If there are touch voltages touching the L 417 xx9232B leads to serious ...

Page 16: ...e 2 Align the L 417 xx9232B on underlying surface so that the corresponding mounting holes in the L 417 xx9232B and underlying surface in line 3 Put the L 417 xx9232B onto the underlying surface so that the locating pins can be inserted into the corresponding locating holes with the L 417 xx9232B 4 If necessary Allow access to the mounting holes in the base body of the L 417 xx9232B Possible measu...

Page 17: ...B in the event of malfunction or failure of the system If there are touch voltages touching the L 417 xx9232B leads to serious injuries or death by electric shock Connect the L 417 xx9232B to a protective earth conductor before startup Do not remove the protective earth conductor during operation If the protective earth conductor has to be removed temporarily e g for modifications reconnect the L ...

Page 18: ... pins as locating pins for aligning the load on the L 417 xx9232B Requirements You have read and understood the general safety instructions p 7 You have mounted the L 417 xx9232B on the surface p 15 properly The L 417 xx9232B is not connected to the electronics You have prepared the load so that it can be fixed to the mounting holes on the motion platform The distance between the center of gravity...

Page 19: ...e 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 28 Requirements You have read and understood the general safety instructions p 7 You have read and understood the user manual for the electronics You have installed the electronics properly The electronics are switched off The L 417 xx923...

Page 20: ...ary Turn the drive and encoder connector carefully to a position suitable for your installation conditions The drive and encoder connector of the L 417 xx9232B can be turned up to 140 in steps of approximately 7 7 Figure 8 Rotation range of the L 417 xx9232B s drive sensor connectors 6 INSTALLATION L417M0010EN 7 9 2019 20 M O T I O N P O S I T I O N I N G ...

Page 21: ...shock Connect the L 417 xx9232B to a protective earth conductor before startup Do not remove the protective earth conductor during operation If the protective earth conductor has to be removed temporarily e g for modifications reconnect the L 417 xx9232B to the protective earth conductor before restarting CAUTION Risk of crushing by moving parts Risk of minor injuries from crushing between the mov...

Page 22: ...amage to the L 417 xx9232B Oscillation is indicated by a humming noise and can be caused by the following The load and or dynamics during operation differ considerably from the calibration settings If you notice oscillation stop the L 417 xx9232B immediately Starting and Operating the L 417 xx9232B 1 Start the electronics see the user manual for the electronics 2 Configure the electronics for the ...

Page 23: ...un 2 Perform a maintenance run over the entire travel range a Command the L 417 xx9232B 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 417 xx9232B to a position where the load can be mounted onto the motion platform again and mount the load back onto the L 417 xx9232B p 18 8 2 Relubricating The L 417 x...

Page 24: ...ary to move the motion platform 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 417 xx9232B operational again Requirements You have disconnected the L 417 xx9232B from the electronics Moving the Motion Platform by Hand 1 Apply the supply voltage p 37 to the holding bra...

Page 25: ... the PI electronics connected and check the error code returned 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 used Reduced positioning accuracy When the L 417 xx9232B is mounted vertical ly Load exceeds the ho...

Page 26: ...tation 1 Pay attention to the ambient conditions and classifications p 30 2 Pack the L 417 xx9232B in the original packaging 3 If the L 417 xx9232B is to be sent use a stable outer box 10 TRANSPORTATION L417M0010EN 7 9 2019 26 M O T I O N P O S I T I O N I N G ...

Page 27: ...n 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 28: ...l range 508 610 813 mm Pitch yaw 40 45 50 μrad max Straightness flat ness 9 10 12 μm max Velocity unloaded 300 300 300 mm s max Positioning accura cy uncalibrated 14 16 18 μm max Encoder options L 417 xxx232 basic option Unit Toler ance Integrated sensor Incremental rotary encoder Sensor signal A B quadrature RS 422 Sensor resolution 20000 Cts rev Design resolution 0 25 μm Minimum incremental mo t...

Page 29: ...max Permissible torque in θX 40 40 N m max Permissible torque in θY 30 30 N m max Permissible torque in θZ 40 40 N m max Drive properties L 417 xx9 Unit Toler ance Drive type Synchronous Servo Motor Intermediate circuit voltage RMS 320 V DC max Peak torque 2 76 N m typ Nominal torque 0 7 N m typ Peak current RMS 10 9 A typ Nominal current RMS 2 73 A typ Torque constant RMS 0 32 N m A typ Resistanc...

Page 30: ...de diame ter 4 mm Funnel type grease nipple for spindle lubri cation Limit switch connection M8 8 pin Purge air system Operating pressure 2 to 6 bar 200 to 600 kPa Relative humidity 70 Absolute humidity 35 g m3 Recommended controllers ACS modular controller Connecting cables are not in the scope of delivery and must be ordered separately 12 2 Maximum Ratings The L 417 xx9232B is designed for the f...

Page 31: ...m Note that the decimal places are separated by a comma in the drawings BASIS MODELL TRAVEL NOMINAL LIMITSWITCH TO LIMITSWITCH LSW HARDSTOP TO HARDSTOP HDS A B C D E D1 D2 E1 E2 E3 L 417 xxx2xxEx L 417 xxxx25Ex L 417 xxxxxxxx L 417 xxxxxxxxB L 417 xxxx11E1 L 417 xxxx12E1 L 417 xxxxxxE0 L 417 xxx2xx L 417 xxxx25E1 L 417 05xxxx 102 4 102 105 109 365 185 150 119 5 153 5 28 44 28 5 L 417 09xxxx 204 8 ...

Page 32: ...6 4 x M6 150 Figure 10 Motion platform of the L 417 xx9232B Dimensions and mounting holes Dimensions in mm Note that the decimal places are separated by a comma in the drawings 12 TECHNICAL DATA L417M0010EN 7 9 2019 32 M O T I O N P O S I T I O N I N G ...

Page 33: ... 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 D...

Page 34: ... Function 1 U Phase 1 2 PE Protective earth 3 W Phase 3 4 V Phase 2 A BR Holding brake 24 V DC B BR Holding brake GND C nc Not connected D nc Not connected 14 1 2 Rotary Encoder Connector 3 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 14 APPENDIX L417M0010EN 7 9 2019 34 M O T I O N P O S I T I O N I N G ...

Page 35: ...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 14 1 3 Limit Switch Connector 1 6 7 2 4 3 5 8 Pin Signal 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 ...

Page 36: ...istance of the PTC temperature sensor increases considerably 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 14 4 Commutation Encoder The L 417 xx9232B s motor has a co...

Page 37: ...ks bottom 14 5 Holding Brake Specifications Parameters Value Supply voltage 24 V Power requirement 350 mA min Static braking torque 1 42 Nm Release brake delay 35 ms Brake delay 36 ms Linear brake offset 14 μm max 6 4 μm typical 14 APPENDIX L417M0010EN 7 9 2019 37 M O T I O N P O S I T I O N I N G ...

Page 38: ...with the following European directives 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 50581 15 EU DECLARATION OF CONFORMITY L417M0010EN 7 9 2019 38 M O T I O N P O S I T I O N I N G ...

Page 39: ...chanics In direct measurement methods the resolution of the sensor system is specified Lateral Force Also lateral load capacity Maximum permissible force orthogonally to the positioning direction This value is valid directly for the motion platform and is reduced when the force acts above the platform Limit Switch Each limit switch sends its signal to the controller on a dedicated line The control...

Page 40: ...ange The maximum possible travel range is limited by the length of the drive screw A possible gap between the limit switches determines the travel range L417M0010EN 7 9 2019 40 M O T I O N P O S I T I O N I N G ...

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