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U s e r M a n u a l
MP 39E User Manual
DC-Mike Actuators
M-230 ... M-235 Series
V 3.00
Technical Documentation&
User Instructions
This document is valid for the products:
M-230.xx DC-Mike ActuatorsM-231.17 DC-Mike ActuatorM-235.xx
DC-Mike Actuators
Release: 3.00Release Date: 2001-10-17
© PIPI (Physik Instrumente) GmbH & Co.76228 Karlsruhe,
Germany FAX: (+49)721-4846-100
EMail:[email protected] www.pi.ws
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PIPI Linear Positioning Actuators Operating Manual MP 39E
Release 3.00 [email protected] Page 1
Table of Contents :
0. Manufacturer
Declarations..............................................................
2
0.1. Declaration of Conformity
...................................................................
2
0.2. Quality and Warranty Clauses
............................................................ 2
1.
Introduction......................................................................................
3
2. Model
Survey....................................................................................
3
3. M-230.10, M-230.25 DC-Mike
Actuators.......................................... 3
3.1. Electrical
Interface...............................................................................
4
3.1.1. Pin Assignment for DC-Motor Types
................................................. 4
3.1.2. Pin Assignment for Stepper Motor Types
.......................................... 5
3.2. M-230 and DC-Motor Controllers
........................................................ 6
3.2.1. C-842
Parameters.............................................................................
6
3.2.2. C-844
Parameters.............................................................................
6
3.2.3. Mercury
Parameters..........................................................................
7
3.3. M-230 Technical Data
..........................................................................
7
3.4. M-230
Dimensions...............................................................................
8
4. M-231.17 High Resolution DC-Mike Actuator
............................ 9
4.1. General
.................................................................................................
9
4.2. M-231 Technical Data
........................................................................
10
4.3. Dimensions M-231.17
........................................................................
11
5. M-235 Series : Heavy Duty DC-Mike Actuators
........................... 12
5.1. Model
Survey......................................................................................
12
5.2. Technical Data
...................................................................................
13
5.3. M-235.52S Linear Stepper Actuator
.................................................. 14
5.4. M-235 Electrical Interfaces
................................................................
15
5.4.1. M-235.DG and M-235.DD Pin Assignment
................................... 15
5.4.2. M-235.52S Pin Assignment
.............................................................
15
5.5. Motion Controller Setup
....................................................................
16
5.5.1. C-842
Parameters...........................................................................
16
5.5.2. C-844
Parameters...........................................................................
16
5.5.3. Mercury
Parameters........................................................................
17
5.6. Dimensions
........................................................................................
18
5.6.1. M-235.5DG,
M-535.5DD..................................................................
18
5.6.2. M-535.52S
......................................................................................
19
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PIPI Linear Positioning Actuators Operating Manual MP 39E
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© Copyright 2001 by PI (Physik Instrumente) GmbH
Release: 3.00
File:MP39E300.doc, 917504 Bytes
PDate: 17.10.01 15:59
MDate: Wednesday, 17. October 2001, 15:59
0. Manufacturer Declarations
0.1. Declaration of Conformity
The manufacturer,
PIPI (Physik Instrumente) GmbHAuf der Roemerstrasse 176228
Karlsruhe
declares, that the products described in the operating manual
comply with thesespecifications:
EMC: EN55022 (1991), Group1, Class B
EN50082-1 (1992) / IEC 801-2:1991 (4 kV Contact Discharge)(8 kV
Air Discharge)
EN50082-1 (1992) / IEC 801-3: 1984 (3V/m)
EN50082-1 (1992) / IEC 801-4: 1988 (1 kV power lines, 0.5 kV
Signal lines)
Safety: IEC 1010-1:1990+A1 / EN61010-1:1993 (Low voltage
Directive)
The product complies with the requirements of the EMC Directive
89/336/EEC and CEmarkings have been affixed on the devices.
0.2. Quality and Warranty Clauses
CertificationPI (Physik Instrumente) certifies that this product
met its published specifications at thetime of shipment.
WarrantyThis PI product is warranted against defects in
materials and workmanship for a period ofone year from date of
shipment. Duration and conditions of warranty for this product
maybe superseded when the product is integrated into (becomes a
part of) other PI products.During the warranty period, PI will, at
its option, either repair or replace products whichprove to be
defective.
Limitation of WarrantyThe foregoing warranty shall not apply to
defects resulting from improper or inadequatemaintenance by the
buyer, buyer supplied products or interfacing,
unauthorisedmodification or misuse, operation outside of the
environmental specifications for theproduct or improper site
preparation.
The design and implementation of any circuit in this product is
the sole responsibility of theBuyer. PI PI does not warrant the
buyer's circuitry or PI products malfunction that resultfrom the
buyer's circuitry. In addition, PIPI does not warrant any damage
that occurs as aresult of the buyer's circuit or any defects that
result from buyer-supplied products.
No other warranty is expressed or implied. Physik Instrumente
specifically disclaimsthe implied warranties of merchantability and
fitness for a particular purpose.
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1. IntroductionPI DC-Mike Actuators are linear motion and
positioning elements in a compactpackage including motor,
transmission gear, position sensor and travel limitsensors. A wide
range of actuators and suitable motion controllers are available
tofit any possible application.
Linear Actuators: M-235.5DG (50 mm, ball revolving spindle),
M-230.25, M-230.10, (25, 10 mm, non rotating
spindle), M-231.17 (stroke 17 mm).
2. Model SurveyM-230.10 DC-Mike Actuator, DC-motor/gearhead, 10
mm travelM-230.25 DC-Mike Actuator, DC-motor/gearhead, 25 mm
travelM-230.10S DC-Mike Actuator, stepper motor, 10 mm
travelM-230.25S DC-Mike Actuator, stepper motor, 25 mm
travelM-231.17 DC-Mike Actuator, DC-motor/gearhead, 17 mm
travelM-235.5DG DC-Mike Actuator, DC-motor/gearhead, 50 mm
travelM-235.5DD DC-Mike Actuator, DC-motor direct, 17 mm
travelM-235.52S DC-Mike Actuator, stepper motor, 50 mm travel
3. M-230.10, M-230.25 DC-Mike ActuatorsM-230 DC-Mikes are
compact, ultra-high resolution linear actuators provide
linearmotion up to 25 mm with sub-micron resolution in a compact
package. Theyconsist of a micrometer with non-rotating tip driven
by a closed-loop DCmotor/gearhead combination with motor shaft
mounted high resolution encoder(2048 counts/rev.) or stepper
motor/gearhead drive.
M-230.25 and M-230.10 DC-Mike Actuators
M-230 actuators feature an extremely low stiction/friction
construction allowing forminimum incremental motion of 50
nanometers at speeds up to 1.5 mm/sec.
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M-230 actuators include integrated non contacting Hall-Effect
limit switches andreference sensors. Note that the reference sensor
needs to be approached fromthe same side in order to get the same
reference position.
Each actuator includes an integral 0.5 m cable with 15 pin D-sub
connector and a3 m extension cable. The connector features
integrated line drivers for cablelengths up to 10 meters between
actuator and controller.
3.1. Electrical Interface
3.1.1. Pin Assignment for DC-Motor Types
Connector FunctionDsub15(m)1 internal use
9 Motor ( - ) (input)
2 Motor (+) (input)
10 Power-GND
3 internal use
11 internal use
4 + 5 V (in)
12 negative Limit (output)
5 positive Limit (output)
13 Reference signal (output)
6 Limit GND
14 Encoder: A(+) / ENCA (output)
7 Encoder: A( - ) (output)
15 Encoder: B (+) / ENCB (output)
8 Encoder: B ( - ) (output)
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3.1.2. Pin Assignment for Stepper Motor Types
Connector : Dsub15(m)
Pin # Function
1 phase 1a 9 phase 1b
2 phase 2a10 phase 2b
3 n.c.11 n.c.
4 n.c.12 n.c.
5 n.c.13 n.c.
6 input: + 5 V supply from controller14 output: Positive end
limit signal
7 GND15 output: Position reference signal
8 output: Negative end limit signal
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3.2. M-230 and DC-Motor Controllers
M-230 Actuators can be uses with the motor controllers C-842
(PC-card), C-844(desktop device) and C-860 (Mercury
Controller).
This table lists recommended values for servo-filter setting,
velocity andacceleration. Depending on the current motor load and
friction, the given valuesmay be modified for optimal
performance.
3.2.1. C-842 Parameters
These parameters can be used with WinMove software and related
Windows orDOS libraries.
C-842 Parameter SettingsStage Type:
Parameter:
M-230.10 M-230.25
p- term DP120 (range 50 to 200) DP120 (range 50 to 200)
i- term DI20 (range 0 to 60) DI20 (range 0 to 60)
d- term DD450 (range 0 to 800) DD450 (range 0 to 800)
i- Limit DL2000 DL2000
vff- term DF0 (range 0 to 1,000) DF0 (range 0 to 1,000)
Acceleration SA320 (range 20 to 1,600) SA320 (range 20 to
1,600)
Velocity SV180000 (range 1 to240,000)
SV180000 (range 1 to240,000)
Transmission-Ratio
219.7504 c/µm 219.7504 c/µm
3.2.2. C-844 Parameters
C-844 Parameter SettingsStage Type:
Parameter
M-230.10 M-230.25"
p-i-d terms PID 120,20,450range p : 50 to 200range i : 0 to
60range d : 0 to 800
PID 120,20,450range p : 50 to 200range i : 0 to 60range d : 0 to
800
i- Limit LIM:IERR 2000 LIM:IERR 2000
vff- term VFF0 (range 0 to 1,000) VFF0 (range 0 to 1,000)
Acceleration ACC 1200000 (range 1,000to 4,000,000)
ACC 1200000 (range 1,000to 4,000,000)
Velocity MVEL 180000 (range 1 to240,000)
MVEL 180000 (range 1 to240,000)
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3.2.3. Mercury Parameters
C-860 Parameter SettingsStage Type:
Parameter:
M-230.10 M-230.25
p- term DP120 (range 50 to 200) DP120 (range 50 to 200)
i- term DI20 (range 0 to 60) DI20 (range 0 to 60)
d- term DD450 (range 0 to 800) DD450 (range 0 to 800)
i- Limit DL2000 DL2000
vff- term DF0 (range 0 to 1,000) DF0 (range 0 to 1,000)
Acceleration SA1200000 (range 50,000 to4,000,000)
SA1200000 (range 50,000to 4,000,000)
Velocity SV180000 (range 1 to240,000)
SV180000 (range 1 to240,000)
3.3. M-230 Technical Data
M-230.10, M-230.25 Transmission Ratio: 219.7504 counts/µm
Distance of positive to negative reference points: 180 to 200
µm
Accuracy of uni-directional reference detection with C-842
controllers: 0.5 µm
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3.4. M-230 Dimensions
same dimension for DC- and stepper driven actuators
Flat tip (included) Round tip (icluded)
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4. M-231.17 High Resolution DC-Mike Actuator
Features:
§ Extra high resolution
§ Closed Loop DC-Motor operation
§ 17 mm Travel Range
§ µm Minimum Incremental Motion
§ Velocity to 2.5 mm/sec.
§ Integrated Hall-Effect Limit Sensors
§ Fits M-105 & F-110 Fiber Aligners
Applications
Photonics packaging, fiber alignment, quality control, test
equipment, metrology.
4.1. General
M-231 is an ultra-high resolution linear actuator providing
linear motion up to 17mm with sub-micron resolution in a compact
package. It consists of a lead screwdriven by a closed-loop DC
motor/gearhead combination with motor shaft mountedhigh resolution
encoder (2048 counts/rev.).
M-231 was especially designed to fit your existing manual
translation stages (e.g.M-105) and F-110 piezoelectric fiber
alignment systems as a direct replacementfor a manual
micrometer.
M-231 on F-110 Piezoelectric M-231, Mounted on M-105
XYZFiber-Alignment System Positioning Systems
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M-231 actuators provide a cost effective solution for industrial
and OEMenvironments. They feature a low stiction/friction
construction allowing forminimum incremental motion of 100
nanometers at speeds up to 2.5 mm/sec.
To protect your investment, M-231 actuators include integrated
non contactingHall-Effect limit switches. Each actuator includes an
integral 0.5 m cable with 15pin D-sub connector and a 3 m extension
cable. The connector features integratedline drivers for cable
lengths up to 10 meters between actuator and controller.
4.2. M-231 Technical Data
Transmission Ratio: 145.63555328 c/µm
Design Resolution: 0.00686645518 µm/c
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4.3. Dimensions M-231.17
Cable length: 500mm, 15pin(m) DSub connector with integrated
line drivers. Pinassignment see page 4.
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5. M-235 Series : Heavy Duty DC-Mike Actuators
The M-235 series actuators are high resolution linear
positioning actuators providingmotion of 50 mm with sub-micron
resolution in a compact package.
It consists of a preloaded ultra-low friction, heavy duty
ballscrew driven by a closed-loop DC motor or stepper motor drive.
The DC-motor drive is available with gear-heador as powerful direct
drive. All drives utilizes shaft mounted high resolution
encoder(2048 counts/rev.).
M-235 actuators provide a cost effective solution for high duty
industrial and OEMenvironments. They feature an extremely low
stiction/friction construction allowing forminimum incremental
motion of 50 nanometers at speeds up to 3 mm/sec.
M-235 actuators include integrated non contacting Hall-Effect
limit switches. Eachactuator includes an integral 0.5 m cable with
15 pin D-sub connector and a 3 mextension cable. The connector
features integrated line drivers for cable lengths up to 10meters
between actuator and controller.
A screw-in ball tip and flat tip are included.
5.1. Model Survey
M-235.5DG Linear Actuator with 50mm travel and DC-motorgear head
drive, 3 Wattmotor
M-235.5DD Linear Actuator with 50mm travel and DC-motordirect
drive, 16 Wattmotor
M-235.52S Linear Actuator with 50mm travel and steppermotor,
2-phase
Features:
§ 50 mm travel range
§ 0.05 µm incremental motion
§ less than 0.5 µm backlash
§ 120 N push/pull load
§ 100 N lateral load limit
§ Preloaded low friction ball screwwith non-rotating tip
§ Velocity to 3 mm/s
§ Closed-Loop DC motor
§ Hall-Effect limit sensors
§ Reference sensor
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5.2. Technical Data
Transmission ratios:
M-235.5DG 60.706764 counts / µm
M-235.5DD 2.0 counts / µm
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5.3. M-235.52S Linear Stepper Actuator
This actuator is equipped with a 2-phase stepper motor that
drives the ballrevolving spindle via a flexible coupling. In
conjunction with the high resolution C-600 Stepper Controller up to
20,000 microsteps per spindle revolution can beperformed.
See also C-600 Stepper Motor Controller, used for positioning
and 3-D pathcontrol, MS-69E User manual.
Stepper Motor
Motor Type:
.............................................4H4009-L03-B (unipolar
design)
Operating Mode:......................................bipolar
Max. current per winding: ........................1.2 A
(unipolar), 0.8 A (bipolar)
Winding resistance: .................................3.3 Ohm
Torque:....................................................21
Ncm
M-235.52S Linear Stepper Actuator
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5.4. M-235 Electrical Interfaces
5.4.1. M-235.DG and M-235.DD Pin Assignment
Connector FunctionD-sub15(m)
1 internal use
9 Motor ( - ) (input)2 Motor (+) (input)
10 Power-GND3 internal use
11 internal use4 + 5 V (input)
12 negative Limit (output)5 positive Limit (output)
13 Reference Sensor (output)
6 Limit GND14 Encoder: A(+) / ENCA (output)
7 Encoder: A( - ) (output)15 Encoder: B (+) / ENCB (output)
8 Encoder: B ( - ) (output)
5.4.2. M-235.52S Pin Assignment
Connector type: D-sub15(m)
Pin # Function
1 phase 1a 9 phase 1b
2 phase 2a10 phase 2b
3 n.c.11 n.c.
4 n.c.12 n.c.
5 n.c.13 n.c.
6 input: + 5 V supply from controller14 output: Positive end
limit signal
7 GND15 output: Position reference signal
8 output: Negative end limit signal
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5.5. Motion Controller Setup
M-235.5DG Actuators can be uses with all DC-Motor
controllers.
Some restrictions limit the operation of the M-235.5DD actuator
due to its motorpower of 16 Watt. This can be handled by the
Mercury controller. With the C-844and the C-842 an external power
amplifier is recommended and with the C-842card an external
amplifier (see C-842.AP1) is needed.
5.5.1. C-842 Parameters
These parameters can be used with WinMove software and related
Windows orDOS libraries.
C-842 Parameter SettingsStage Type:
Parameter:
M-235.5DG M-235.5DD
(requires C-842.AP1Amplifier Module)
p- term DP320 (range 150 to 350)
i- term DI30 (range 0 to 60)
d- term DD500 (range 0 to 1,200)
i- Limit DL2000
vff- term DF0 (range 0 to 2,500)
Acceleration SA240 (range 20 to 350)
Velocity SV90000 (range 1 to100,000)
5.5.2. C-844 Parameters
C-844 Parameter SettingsStage Type:
Parameter
M-235.5DG M-235.5DD"
p-i-d terms PID 320,30,500range p : 150 to 350range i : 0 to
60range d : 0 to 1,200
i- Limit LIM:IERR 2000
vff- term VFF0 (range 0 to 2,000)
Acceleration ACC 600000 (range 1,000 to900,000)
Velocity MVEL 90000 (range 1 to100,000)
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5.5.3. Mercury Parameters
C-860 Parameter SettingsStage Type:
Parameter:
M-235.5DG M-235.5DD
p- term DP320 (range 150 to 350) DP280 (range 150 to 350)
i- term DI30 (range 0 to 60) DI15 (range 0 to 50)
d- term DD500 (range 0 to 1,200) DD500 (range 0 to 800)
i- Limit DL2000 DL2000
vff- term DF0 (range 0 to 2,500) DF0 (range 0 to 2,000)
Acceleration SA600000 (range 1000 to1,200,000)
SA150000 (range 1,000 to200,000)
Velocity SV90000 (range 1 to100,000)
SV45000 (range 1 to50,000)
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5.6. Dimensions
All dimensions are given in mm
5.6.1. M-235.5DG, M-535.5DD
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5.6.2. M-535.52S