PI Micos L-509 User manual

PI miCos GmbH, Freiburger Strasse 30, 79427 Eschbach, Germany
Phone [phone], Fax [phone], Email [e-mail], www.pi.ws
MP141E
L
-509 Linear Stage
User Manual
Version: 1.6
Date: 2022-06-07
This document describes the following linear
stages:

L-509.x0DG10:
with DC gear head motor and rotary encoder
with A/B quadrature signal transmission

L-509.x0SD00:
With 2-phase stepper motor, without encoder

L-509.xASD00:
with 2-phase stepper motor and linear encoder
with sin/cos signal transmission

L-509.x0AD10:
with Active Drive and rotary encoder
with A/B quadrature signal transmission

L-509.x4AD00:
with Active Drive and linear encoder
with A/B quadrature signal transmission

L-509.0x3111:
with DC motor and linear encoder
with sin/cos signal transmission

L-509.0x3132:
with DC motor and rotary encoder
with A/B quadrature signal transmission

L-509.0x3132:
with BLDC motor and rotary encoder
with A/B quadrature signal transmission

The following company names and brands are registered trademarks of
Physik Instrumente (PI) GmbH & Co. KG:
PI®, PIC®, NanoCube®, PICMA®, PIFOC, PILine®, NEXLINE®, PiezoWalk®, PicoCube®, PiezoMove®,
PIMikroMove®, NEXACT®, Picoactuator®, PInano®, NEXSHIFT®, PITOUCH®, PIMag®, PIHera, Q-Motion®
© 2020 Physik Instrumente (PI) GmbH & Co. KG, Karlsruhe, Germany. The text, photographs, and drawings in
this manual are protected by copyright. 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 printing: 2022-06-07
Document number: MP141E, MMa/ASt, Version 1.6
Subject to change. This manual is superseded by any new release. The latest release is available for download
from our website.

1About this Document 1
1.1 Objective and Target Group of this User Manual ...................................................... 1
1.2 Symbols and Typographic Conventions...................................................................... 1
1.3 Definition of Terms..................................................................................................... 2
1.4 Pictures....................................................................................................................... 2
1.5 Other Applicable Documents ..................................................................................... 3
2Safety 5
2.1 Intended Use .............................................................................................................. 5
2.2 General Safety Instructions ........................................................................................ 5
2.3 Organizational Measures............................................................................................ 5
3Product Description 7
3.1 Model Overview ......................................................................................................... 7
3.2 Product View .............................................................................................................. 8
3.3 Direction of Motion.................................................................................................... 8
3.4 Product Labeling......................................................................................................... 9
3.5 Scope of Delivery...................................................................................................... 10
3.6 Accessories ............................................................................................................... 11
3.7 Suitable Controllers .................................................................................................. 11
3.8 Technical Features.................................................................................................... 11
3.8.1 Encoder........................................................................................................ 11
3.8.2 Limit Switches.............................................................................................. 12
3.8.3 Reference Switch......................................................................................... 12
3.8.4 Integrated PWM Amplifier .......................................................................... 12
Contents

4Unpacking 13
5Installation 15
5.1 General Notes on Installation................................................................................... 15
5.2 Attaching the L-509 to a Surface .............................................................................. 17
5.3 Connecting the L-509 to the Protective Earth Conductor........................................ 20
5.4 Affixing the Load to the L-509 .................................................................................. 22
5.5 Building a Multi-Axis System .................................................................................... 24
5.5.1 General Notes on Building a Multi-Axis System .......................................... 24
5.5.2 Building an XY System.................................................................................. 24
5.5.3 Building a Z System...................................................................................... 27
5.6 Connecting the L-509 to a Controller ....................................................................... 30
5.7 Connecting the Power Adapter to the L-509 ........................................................... 31
6Startup 33
6.1 General Notes on Startup......................................................................................... 33
6.2 Starting and Operating the Positioner ..................................................................... 35
6.2.1 L-509 Entries in the PI Positioner Database ................................................ 36
7Maintenance 37
7.1 General Notes on Maintenance ............................................................................... 37
7.2 Performing a Maintenance Run ............................................................................... 37
7.3 Cleaning the L-509.................................................................................................... 37
8Troubleshooting 39
8.1 Possible Causes and Remedies................................................................................. 39
8.2 Moving the Platform by Hand .................................................................................. 41
9Customer Service Department 43
10 Technical Data 45
10.1 Specifications............................................................................................................ 45
10.1.1 Data Table.................................................................................................... 45

10.1.2 Maximum Ratings........................................................................................ 50
10.1.3 Ambient Conditions and Classifications ...................................................... 50
10.1.4 Limit Switch Specifications .......................................................................... 51
10.1.5 Reference Switch Specifications.................................................................. 51
10.2 Dimensions ............................................................................................................... 52
10.2.1 L-509 Positioner........................................................................................... 52
10.2.2 Hole Pattern of the Motion Platform of the L-509...................................... 54
10.2.3 L-500.AV3 Adapter Bracket ......................................................................... 55
10.3 Tightening Torque for Screws, ISO 4762 - A2........................................................... 56
10.4 Pin Assignment ......................................................................................................... 57
10.4.1 HD D-Sub 26 (Male) ..................................................................................... 57
10.4.2 D-Sub 15 (Male)........................................................................................... 59
10.4.3 D-Sub 9 (Male)............................................................................................. 60
10.4.4 M8 4-pin (Male)........................................................................................... 61
11 Old Equipment Disposal 63
12 EU Declaration of Conformity 65

1 About this Document
L-509 Linear Stage MP141E Version: 1.6 1
1.1 Objective and Target Group of this User Manual
This user manual contains the information required for the intended use of the L-509.
Basic knowledge of closed-loop systems, motion control concepts, and applicable safety
measures is assumed.
The latest versions of the user manuals are available for download on our website (page 3).
1.2 Symbols and Typographic Conventions
The following symbols and typographic conventions are used in this user manual:
CAUTION
Dangerous situation
If not avoided, the dangerous situation will result in minor injury.
Measures for avoiding the risk.
NOTICE
Dangerous situation
If not avoided, the dangerous situation will result in damage to equipment.
Measures for avoiding the risk.
INFORMATION
Information for easier handling, tricks, tips, etc.
1
About this Document

1 About this Document
2 Version: 1.6 MP141E L-509 Linear Stage
Symbol/
Label Meaning
1.
2.
Action consisting of several steps whose sequential order must be
observed
Action consisting of one or several steps whose sequential order is
irrelevant
Lists
p. 5 Cross-reference to page 5
RS-232 Labeling of an operating element on the product (example: socket of
the RS-232 interface)
Warning sign affixed to the product that refers to detailed information
in this manual.
1.3 Definition of Terms
Term Explanation
Load capacity Maximum load capacity in the vertical direction when the stage is
mounted horizontally. The contact point of the load is in the center of
the platform.
Max. push/pull force Maximum force in the direction of motion. Some stages may have
higher forces but with limited lifetimes. In the case of vertical
mounting, the specified value (see 45) for models without a gearhead
and brake only applies when the servo mode is on.
Linear encoder The linear encoder is an incremental sensor for capturing changes in
position. Signals from the sensor are used for axis position feedback.
After the controller is switched on, a reference point definition must
be performed before absolute target positions can be commanded
and reached.
1.4 Pictures
For better understandability, 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.

1 About this Document
L-509 Linear Stage MP141E Version: 1.6 3
1.5 Other Applicable Documents
The devices and software tools from PI that are mentioned in this documentation are described
in separate manuals.
Product Document
Stages with electric motors MP146EK Short Instructions
C-663.12 Stepper Motor Controller MS241E User Manual
C-863.12 DC Motor Controller MS249E User Manual
C-884.xDC DC Motor Controller MS243E User Manual
C-891 PIMag® Motor Controller MS251E User Manual
G-910.RC0102x00 G910M0002EN UserManual
G-910.RC0242x00 G910M0001EN UserManual
G-910.RC0302200 G910M0003EN UserManual
C-885 C885T0002 User Manual
C-891.11C885 C891T0005 User Manual
C-663.12C885 C663T0004 User Manual
C-863.20C885 C863T0005 User Manual
PIMikroMove SM148E Software Manual

2 Safety
L-509 Linear Stage MP141E Version: 1.6 5
2.1 Intended Use
The L-509 is a laboratory device as defined by DIN EN 61010. It is intended for indoor use and
use in an environment which is free of dirt, oil, and lubricants.
In accordance with its design, the L-509 is intended for single-axis positioning, adjusting and
shifting of loads at different velocities. The L-509 is not intended for applications in areas, in
which a failure would represent severe risks to human beings or the environment.
The L-509 is intended for horizontal or vertical mounting. For the load limits with vertical
mounting, see "General Notes on Installation". (p. 15).
The intended use of the L-509 is only possible when completely mounted and connected.
The L-509 must be operated with a suitable controller (p. 11). The controller is not in the scope
of delivery of the L-509.
2.2 General Safety Instructions
The L-509 is built according to state-of-the-art technology and recognized safety standards.
Improper use of the L-509 may result in personal injury and/or damage to the L-509.
Only use the L-509 for its intended purpose, and only use it 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 correct installation and operation of the L-509.
2.3 Organizational Measures
User manual
Always keep this user manual available when using the L-509.
The latest versions of the user manuals are available on our website (p. 3) for
download.
Add all information from the manufacturer such as supplements or technical notes to
the user manual.
If you give the L-509 to other users, also include this user manual as well as all other
relevant information provided by the manufacturer.
2
Safety

2 Safety
6 Version: 1.6 MP141E L-509 Linear Stage
Only use the device on the basis of the complete user manual. Missing information due
to an incomplete user manual can result in minor injury and damage to equipment.
Only install and operate the L-509 after you have read and understood this user
manual.
Personnel qualification
The L-509 may only be installed, started up, operated, maintained, and cleaned by authorized
and appropriately qualified personnel.

3 Product Description
L-509 Linear Stage MP141E Version: 1.6 7
3.1 Model Overview
Product number Description Travel range
L-509.023111 Precision linear stage; DC motor; 100 N load capacity; 50
mm/s maximum velocity; ball screw; incremental linear
encoder, 20 µm sensor signal period, sin/cos, 1 V peak-
peak
26 mm
L-509.033111 52 mm
L-509.053111 102 mm
L-509.023132 Precision linear stage; DC motor; 100 N load capacity; 50
mm/s maximum velocity; ball screw; incremental rotary
encoder, A/B quadrature, RS-422
26 mm
L-509.033132 52 mm
L-509.053132 102 mm
L-509.025132 Precision linear stage; brushless DC motor; 100 N load
capacity; 50 mm/s maximum velocity; ball screw;
incremental rotary encoder, 20000 counts/rev sensor
resolution, A/B quadrature, RS-422
26 mm
L-509.035132 52 mm
L-509.055132 102 mm
L-509.10AD10 Precision linear stage; DC motor with ActiveDrive; 100 N
load capacity; 50 mm/s maximum velocity; ball screw;
incremental rotary encoder, 16384 counts/rev sensor
resolution, A/B quadrature, RS-422
26 mm
L-509.20AD10 52 mm
L-509.40AD10 102 mm
L-509.14AD00 Precision linear stage; DC motor with ActiveDrive; 100 N
load capacity; 50 mm/s maximum velocity; ball screw;
incremental linear encoder, 0.05 nm sensor resolution, A/B
quadrature, RS-422
26 mm
L-509.24AD00 52 mm
L-509.44AD00 102 mm
L-509.10DG10 Precision linear stage; DC gear motor; 100 N load capacity;
3 mm/s maximum velocity; ball screw; incremental rotary
encoder, 4096 counts/rev sensor resolution, A/B
quadrature, RS-422
26 mm
L-509.20DG10 52 mm
L-509.40DG10 102 mm
L-509.10SD00 Precision linear stage; 2-phase stepper motor; 100 N load
capacity; 20 mm/s maximum velocity; ball screw
26 mm
L-509.20SD00 52 mm
L-509.40SD00 102 mm
L-509.1ASD00 Precision linear stage; 2-phase stepper motor; 100 N load
capacity; 20 mm/s maximum velocity; ball screw;
incremental linear encoder, 20 µm sensor signal period,
sin/cos, 1 V peak-peak
26 mm
L-509.2ASD00 52 mm
L-509.4ASD00 102 mm
3
Product Description

3 Product Description
8 Version: 1.6 MP141E L-509 Linear Stage
3.2 Product View
Figure 1: Elements of the L-509
1Motor
2Sensor unit (L-509.x4AD00 and L 509.0x3111 models only)
3Motion platform
4Base body
5Sensor connector (D-Sub 9 panel plug; L-509.xASD00 and L 509.0x3111 models only)
6Motor connector
(for L-509.x0SD00 / L-509.xASD00 / L-509.x0DG10/ L-509. 0x3111/ L-509. 0x3132/ L-509. 0x5132: HD D-Sub 26
panel plug;
for L-509.x0AD10 / L-509.x4AD00: D-Sub panel plug 15)
7Vibration absorber (L-509.x0SD00 and L-509.xASD00 models only)
8Power adapter connector (L-509.x0AD10 and L-509.x4AD00 models only)
3.3 Direction of Motion
Figure 2: Direction of motion of the platform on positive command

3 Product Description
L-509 Linear Stage MP141E Version: 1.6 9
3.4 Product Labeling
Figure 3: Product labeling
Position Labeling Description
1 Controller Motor connector
2 L-509.20SD00 Product name (example), the characters after
the period refer to the model
415002159 Serial number (example), individual for each
L-509
Meaning of the places (counting from left): 1 =
internal information, 2 and 3 = year of
manufacture, 4 to 9 = consecutive numbers
2, 6 Manufacturer's logo
2, 7 Warning sign "Observe manual!"
2, 8 Country of origin: Germany Country of origin
2, 10 CE conformity mark
2, 11 WWW.PI.WS Manufacturer's address (website)
2, 12 Old equipment disposal
3 Sensor Linear encoder connector (L-509.x4AD00,
L-509.xASD00, L 509.0x3111 models only)
4, 5
Warning sign "Risk of crushing": Reference to
dangerous forces (p. 33)
9 L-509 Product series

3 Product Description
10 Version: 1.6 MP141E L-509 Linear Stage
Position Labeling Description
13 Protective earth symbol, marks the protective
earth connection of the L-509 (p. 20)
3.5 Scope of Delivery
Item number Component L-509 model.
x0AD10
x4AD00
x0DG10
x0SD00
xASD00
0x3111
0x3132
0x5132
L-509.xxxxxx Stage according to the order (p. 7) x x
MP146EK Short instructions for stages with electric motors x x
62345070 or
62345016
(depending on the
positioner)
Screw set for mounting the positioner
4 (or 8) socket head screws, ISO 4762 M4x14
2 dowel pins, ISO 2338 - 4 m6 x 12
x x
7300900006-0180 Power supply set, consisting of:
C-663.PS wide input range power supply, 24 V /
120 W
K050B0003 adapter for power adapter
connection; barrel connector to M8 4-pin
connector (f)
K351000037 snap-on ferrite
x
K322000047 or
K322000074
EU or US power cord, depending on country of
order
x

3 Product Description
L-509 Linear Stage MP141E Version: 1.6 11
3.6 Accessories
Order number Description
L-500.AV3 Mounting adapter included for vertical mounting of L-509 positioners
4 socket head screws, ISO 4762 M6x12
2 dowel pins, ISO 2338 - 4 h8 x 12
2 dowel pins, ISO 2338 - 3 h8 x 12
To order, contact the customer service department (p. 43).
3.7 Suitable Controllers
L-509.xXSD00 L 509.x0DG10 L 509.x4ADx0 L 509.0x31xx L-509.0x5132
C-663.12 /
C-885 with
C-663.12C885
x
C-863.12 /
C-885 with
C-863.20C885
x x x
C-884.4DC /
C-884.6DC
x x x
C-891.130300 /
C-885 with
C-891.11C885
x
G-910 x x x x
G-901 x x x x
PC software is in the scope of delivery of the controllers from PI. The operation of the
controllers is described in the corresponding user manuals.
3.8 Technical Features
3.8.1 Encoder
The L-509.x0SD00 models are not equipped with an encoder.
Linear encoder
The L-509.xASD00 and L-509.0x3111 models are equipped with an optical linear encoder. For
the encoder resolution, refer to the table in the "Specifications" section (p. 45).

3 Product Description
12 Version: 1.6 MP141E L-509 Linear Stage
Optical linear encoders measure the actual position directly (direct metrology). Errors occurring
in the drive, such as nonlinearity, backlash or elastic deformations cannot influence measuring
of the position.
Rotary encoder
The L-509.x0AD10, L-509.x0DG10 , L-509.0x3132, L-509.0x5132 models are equipped with an
incremental rotary encoder.
A rotary encoder, also called an incremental rotary encoder, is implemented at a rotating point
in the drivetrain, e.g., the motor shaft.
3.8.2 Limit Switches
The L-509 is equipped with optical limit switches.
Each limit switch sends its signal to the controller on a dedicated line. The controller then stops
the motion. If the controller does not stop the motion in time, the stage runs into the hard stop.
See "Limit Switch Specifications" for more information" (p. 50).
3.8.3 Reference Switch
The stage is equipped with one direction-sensing reference switch that is located at about the
midpoint of the travel range. This sensor provides a TTL signal indicating whether the stage is on
the positive or negative side of the reference switch.
The commands that use the reference signal are described in the user manual for the controller
and/or in the corresponding software manuals.
3.8.4 Integrated PWM Amplifier
The L-509.x0AD10 und L-509.x4AD00 models with direct drive are equipped with a PWM
amplifier ("ActiveDrive Concept"). The motor and PWM amplifier are installed in a common
housing and therefore optimally integrated and shielded. The PWM amplifier only receives the
control signals from the controller, whereas the supply voltage is provided via an external
power adapter. The ActiveDrive concept allows high motor power and dynamics at low power
loss.

4 Unpacking
L-509 Linear Stage MP141E Version: 1.6 13
1. Unpack the L-509 with care.
2. Compare the contents with the items listed in the contract and the packing list.
3. Inspect the contents for signs of damage. If there is any sign of damage or missing parts,
contact PI immediately.
4. Keep all packaging materials in case the product needs to be returned.
4
Unpacking