MP 54E User Manual M-116 Release: 1.2.2 Precision Rotary Stage Date: 2005-09-19 This document describes the following product(s): M-116.DG Rotary Stage, DC-Motor with Gearhead and Encoder M-116.DGH Rotary Stage, DC-Motor with Gearhead and Encoder, Zero-Backlash M-116.2S Rotary Stage, Stepper Motor with Gearhead M-116.2SH Rotary Stage, Stepper Motor with Gearhead, Zero-Backlash © Physik Instrumente (PI) GmbH & Co. KG Auf der Römerstr. 1 ⋅ 76228 Karlsruhe, Germany Tel.
Physik Instrumente (PI) GmbH & Co. KG is the owner of the following company names and trademarks: PI® The following designations are protected company names or registered trademarks of third parties: Microsoft, Windows, LabView... Copyright 1999–2005 by Physik Instrumente (PI) GmbH & Co. KG, Karlsruhe, Germany. The texts, photographs and drawings in this manual enjoy copyright protection. With regard thereto, Physik Instrumente (PI) GmbH & Co. KG reserves all rights.
About this Document Users of this Manual This manual is designed to help the reader to install and operate the M-116 Precision Rotary Stage. It assumes that the reader has a fundamental understanding of basic servo systems, as well as motion control concepts and applicable safety procedures. The manual describes the physical specifications and dimensions of the M-116 Precision Rotary Stage as well as the procedures which are required to put the associated motion system into operation.
Contents 1 Introduction 1.1 1.2 2 Safety Precautions .....................................................................3 Model Survey .............................................................................3 2 Quick Start 4 3 Operational Considerations 5 3.1 3.2 3.3 4 Limit Switches ............................................................................5 Position Reference Signal Sensors............................................5 Recommended Motor Controllers .....................
CIntroduction 1 Introduction The M-116 rotary stages all feature high-precision, preloaded worm-gear drives (zero-backlash gear-head with M-116.xxH versions) that allow unlimited rotation in either direction. All versions have a non-contact optical reference switch and/or optional custom limit switch outputs (with some limitation on travel range, if present). The DC motor versions are equipped with optical encoders whereas the stepper motor versions are designed to operate in open-loop mode only.
CIntroduction 1.1 Safety Precautions CAUTION— Torque Limit Be careful not to exceed the platform’s maximum torque specifications of 1.5 Nm (1.1 ft-lb). Special attention is necessary when tightening or loosening the attachment screws. Permanent damage to the device will otherwise result. 1.2 Model Survey The following models are available: DC motor/gearhead 1 DC motor/zero-backlash gearhead1 Stepper motor 2 Stepper motor, zero-backlash gearhead M-116.DG M-116.DGH M-116.2S M-116.
CQuick CStart 2 Quick Start ! CAUTION— Torque Limit Be careful not to exceed the platform’s maximum torque specifications of 1.5 Nm (1.1 ft-lb). Special attention is necessary when tightening or loosening the attachment screws. Permanent damage to the device will otherwise result. Set up the controller following the instructions in the controller manual. If you are going to connect a host computer to the controller for computer-controlled operation, install the host software in the host computer.
Operational Considerations 3 Operational Considerations 3.1 Limit Switches M-116 stages are optionally available with two optical limit sensors with TTL drivers. Limit switch outputs are active-high for the DC-motor version. and active-low for the stepper motor version. Models without the optional limit switches put the TTL level indicating “no overtravel” on the limit switch lines. The distance between the limit switches must be specified with the order.
Operational Considerations Fig. 2: DC-motor controllers: C-848 and C-880 benchtop/rackmount (background, top to bottom), C-843 PCI bus and C-842 ISA bus cards and Mercury controllers, alone and networked (foreground, left to right) Fig. 3: Stepper motor controllers: 3-axis Apollo (foreground), and 4-axis C-600 (background)—both networkable www.pi.ws M-116 MP 54E Release 1.2.
Operational Considerations Controller Summary Drive type Controller Axes per controller Host PC interface C-880 up to 19 3 RS-232, RS-422 or IEEE (GPIB) yes, Multiple controllers separate ports* on same host PC Drive type Controller Axes per controller Host PC interface Multiple controllers on same host PC C-848 2 or 4 RS-232, RS-422 or IEEE (GPIB) yes, separate ports DC Motor C-843 C-842 2 or 4 2 or 4 Internal (PCI bus) Mercury 1 Internal (ISA bus) RS-232, bus or daisy chain yes, yes, yes, separate
DC-Motor Controller Setup 4 DC-Motor Controller Setup Individual setting of servo-control parameters is required for smooth and optimized movement of the DC-motor versions. Incorrect parameter settings may cause severe vibration. If this occurs, set the motor to OFF and modify the parameter settings. 4.1 Using C-842 Motor Controllers with M-116.DG Stages The C-842 is an add-on card which is installed in an ISA slot of a PC.
DC-Motor Controller Setup See the C-843 user and software manuals for information on this controller and its software interfaces. Suitable control settings are provided in the controller software. 4.3 Using C-848 Motor Controllers with M-116.DG Stages The C-848 is a benchtop/rackmount unit. It is actually an industrial PC with C-842 cards installed. See the C-842 section above and the C-848 manuals for more information.
Stepper Motor Controller Setup 5 Stepper Motor Controller Setup Controller setup (and multi-axis networking) for the stepper motor versions is fully described in the controller documentation. All PI stepper-motor devices can be networked together and up to 9 axes controlled off of single RS-232 port of a host PC. www.pi.ws M-116 MP 54E Release 1.2.
Technical Data 6 Technical Data Models M-116.DG M-116.DGH M-116.2S M-116.2SH Units Notes Rotation range continuous continuous continuous continuous Design resolution 2.45 3.16 4.18 5.40 µrad A3 0.00014 0.00018 0.00024 0.00031 deg Min. incremental motion 50 25 50 25 µrad Unidirectional repeatability 12 10 12 10 µrad Backlash 1000 <500 1000 <500 µrad Max. velocity 20 20 20 20 deg/ sec. Maximum axial force 15 15 15 15 N Max.
Technical Data NOTES A3 Design Resolution: The theoretical minimum movement that can be made based on the selection of the mechanical drive components (drive screw pitch, gear ratio, angular motor resolution etc.). Design resolution is usually higher than the practical position resolution (minimum incremental motion). A4 Minimum Incremental Motion: The minimum motion that can be repeatedly executed for a given input, which is sometimes referred to as practical or operational resolution.
Dimensions 7 Dimensions Dimensions in millimeters, decimal places separated by commas in drawings. 7.1 All M-116 Versions Fig. 4: All M-116 Versions 7.2 M-116.AL1 Optics Adapter Fig. 5: M-116.AL1 Optics Adapter; Unmarked roundings of edges 0.5 mm x 45º www.pi.ws M-116 MP 54E Release 1.2.
Connectors and Pin Assignments 8 Connectors and Pin Assignments Motor-driven M-116 series stages are equipped with subD15(m) sockets for connecting to the motor controller. 8.1 M-116.DG / M-116.DGH 1 Connector (from controller) Type: Reference No.
Connectors and Pin Assignments 8.2 M-116.2S / M-116.2SH (Stepper Motor) 1 Connector (from controller) Type: Reference No.: sub-D 15(m) AMP #9-215594-1 Pin Signal 1 Phase 1a Phase 1b Phase 2a Phase 2b n.c. n.c. n.c. n.c. n.c. n.c. + 5 V supply from controller Positive limit signal 8 GND Reference Signal Negative limit signal8 9 2 10 3 11 4 12 5 13 6 14 7 15 8 8 Limit switches are optional; models without limit switches output a TTL “high” signifying “no overtravel” on these lines. www.pi.
