PI Micos PRS-200 User manual

User Manual
PRS-200 Precision Rotation Stage 1
Order no.
6449-9-
1
DC-B-088
1
2Phase-070
2
Without AE-068
0
AE-068, angle measuring system
1
HLS-010, limit switch (Hall effect)
1
Transmission worm-worm gear 180:1
1
Transmission worm-worm gear 90:1
2
PRS-200 Precision Rotation Stage
Order no. 6449-9-
User Manual
Version: 00.001 Date: 23.04.2020

2 LS-270 Linear Stage
© 2016 PI miCos GmbH, Eschbach, Germany. The text, photographs and drawings in this manual are protected by copyright. With regard thereto, PI miCos GmbH retains all
rights. The use of any text, images and drawings is permitted only in part and only when indicating the source.
Subject to change without notice. This manual is superseded by any new release. The latest release is available for download (http://www.pimicos.com).
File name: MAN_PRS-200_9_EN.DOCX Document ID:DOC-000378692

PRS-200 Precision Rotation Stage 3
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CONTENTS
1. ABOUT THIS DOCUMENT
1.1 Objective and Target Group of this User Manual
1.2 Symbols and Typographic Conventions
1.3 Other Applicable Documents
2. SAFETY
2.1 Intended Use
2.2 General Safety Instructions
2.2.1 Organizational Measures
2.2.2 Measures during Installation
2.2.3 Measures during Start-Up
2.2.4 Measures during Operation
2.2.5 Measures during Maintenance
3. UNPACKING
4. PRODUCT DESCRIPTION
4.1 Features and Application Area
4.2 Model Overview
4.3 Product View
4.4 Safety Instructions
4.5 Scope of Delivery
4.6 Optional Accessories
4.7 Technical Features
4.7.1 Load Capacity Data
4.7.2 Motors
4.7.3 Measuring System
4.7.4 Limit Switch
4.7.5 Connector
4.7.6 Technical Data
4.8 Ambient Conditions
5. INSTALLATION
5.1 General Notes on Installation
5.2 Mounting the Rotation Stage
5.3 Affixing the Load
6. START-UP
6.1 General Notes on Start-Up
7. MAINTENANCE
8. TROUBLESHOOTING
9. CUSTOMER SERVICE
10. OLD PRODUCT DISPOSAL
11. EU DECLARATION OF CONFORMITY

4 PRS-200 Precision Rotation Stage
1. ABOUT THIS DOCUMENT
All specifications in this user manual refer only to the standard products that
are included in the PI miCos catalog. Any special features that are different,
in particular special requests from customers, are supplied with the user
manual as additional documentation in the form of "Technical Notes".
1.1 Objective and Target Group of this User Manual
This manual contains the necessary information on the intended use of
the PRS-200.
Basic knowledge of servo systems, motion control concepts, and
applicable safety measures is assumed.
The latest version of the user manual and answers to any questions
can be obtained from our customer service department (see chapter 9)
1.2 Symbols and Typographic Conventions
The symbols and typographic conventions used in this manual have the
following meanings:
NOTICE
Dangerous situation!
If not avoided, the dangerous situation will result in
death, injuries or damage to the equipment
-> Actions to take to avoid the situation
NOTICE
Information for easier handling, tricks, tips, etc.
1.3 Other Applicable Documents
All products and programs from PI miCos mentioned in this documentation
are described in separate user manuals.
Configuration options look supplement DOC-000445840 CfO-6449.
The latest versions of the user manuals can be obtained from our customer
service department (see chapter 9).
2. SAFETY
2.1 Intended Use
The PRS-200 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 PRS-200 is intended for single-axis
positioning, adjusting and rotation of loads around an axis at various
velocities. The PRS-200 can be mounted horizontally or vertically.
The intended use of the PRS-200 is only possible in conjunction with
suitable electronics. The following options are available:
1. Drive electronics and controller with suitable software
2. Combination device with suitable software
•The electronics are not included in the scope of delivery of the PRS-200.
•The electronics must provide the required voltages. To ensure proper
performance of the servo-control system, the electronics must be able to
read out and further process the signals from the reference switch as
well as those from the incremental position encoder.

PRS-200 Precision Rotation Stage 5
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2.2 General Safety Instructions
The PRS-200 is built according to state-of-the-art technology and
recognized safety standards. Improper use of the PRS-200 can result in
personal injury and/or damage to the PRS-200.
1. Only use the PRS-200 for its intended purpose, and only use it if it is in
good working order.
2. Read the user manual.
3. Immediately eliminate any faults and malfunctions that are likely to affect
safety.
The operator is responsible for the correct installation and operation of the
PRS-200.
2.2.1 Organizational Measures
User Manual
Always keep this user manual available when using the PRS-200. If
the user manual is lost or damaged, contact our customer service
department (see chapter 10).
Add all information from the manufacturer such as supplements or
technical notes to the user manual.
Only use the device on the basis of the complete user manual. If your
user manual is incomplete and is therefore missing important
information, serious or fatal injury as well as damage to the equipment
can result.
Only install and operate the PRS-200 after you have read and
understood this user manual.
Personnel Qualification
The PRS-200 may only be started up, operated, maintained, and cleaned by
authorized and appropriately qualified personnel.
2.2.2 Measures during Installation
The PRS-200 may be damaged by excessively long screws and wrongly
mounted parts.
•When mounting the PRS-200, make sure that the mounting screws do
not interfere with the stage motion. The screw heads must not protrude
from the countersunk holes.
•Observe the depth of the mounting holes in the moving platform.
•Only use screws of the correct length for the respective mounting holes.
•Only mount the PRS-200 and the loads on the mounting fixtures (holes)
intended for this purpose.
•The PRS-200 heats up during operation. High temperatures can
influence your application.
•Install the PRS-200 so that your application is not affected by the
dissipating heat.
•Cable extensions can affect the performance of the PRS-200 and
damage the electronics.
•Only use genuine PI miCos parts to connect the PRS-200 to the
electronic equipment.
•Do not use cable extensions. If you need longer cables, use cable
extensions from PI miCos.
•Avoid short circuiting the lines for motor voltages since this can damage
the electronics.

6 PRS-200 Precision Rotation Stage
2.2.3 Measures during Start-Up
Do not put your PRS-200 into operation until it is fully mounted and
connected.
Your system can be damaged by uncontrolled oscillation of the PRS-200.
Noise generated during operation of the PRS-200 is a typical sign of
oscillation.
Immediately switch off the servo-control system of the affected rotational
axis.
Check the settings of the servo-control parameters.
Moving parts attached to devices with motorized rotation stages can
accelerate rapidly and generate high forces which can cause injury or
damage to equipment.
Unintentional motion of the rotation stage is possible when it is connected to
the controller for the first time. Defective software or incorrect operation of
the software can also result in unintentional motions.
Do not place any objects in areas where they can be caught by moving
parts.
Collision of a part in motion at the end of the travel range and high
accelerations can cause damage to or wear on the mechanical system.
Ensure that the automatic limit switch halt is supported by the controller,
or that it is activated in the controller.
Do not disable the evaluation of the limit switch signals by the controller.
Check the functioning of the limit switches at velocities between 10 %
and 20 % of the maximum velocity.
In the event of a malfunction of the limit switches, stop the motion
immediately.
Ensure that the end of the travel range is approached at low velocity.
Set the control signal so that the moving part does not stop abruptly or try to
continue motion.
Determine the maximum velocity for your application.
2.2.4 Measures during Operation
If noise occurs during operation of the PRS-200, check the settings of
the control parameters of your controller.
Highest dynamic force and holding force are achieved at a control signal
level of 100%; however, during continuous operation the motor/drive may
overheat.
During continuous operation at room temperature, do not exceed 90% of
the control signal level.
For continuous operation at other temperatures, observe the maximum
permissible duty cycle in relation to the ambient temperature or contact
our customer service department for more information (see chapter 9).
2.2.5 Measures during Maintenance
The PRS-200 is precision adjusted.
Do not loosen any sealed screws.
Dirt, oil, lubricants and condensation will render the motor/drive inoperable.
Keep the PRS-200 free of lubricants.
Keep the PRS-200 free from dirt and condensation.

PRS-200 Precision Rotation Stage 7
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3. UNPACKING
1. Unpack the PRS-200 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 miCos immediately.
4. Keep all packaging materials in case the product needs to be returned.
WARNING
Risk of suffocation for children. Keep the packaging foil
away from children.
Dispose of packaging materials according to
environmental regulations.
NOTICE
All specifications in this user manual refer only to the
standard products that are included in the PI miCos
catalog. Any special features that are different, in
particular special requests from customers, are
supplied with the user manual as additional
documentation in the form of "Technical Notes".
4. PRODUCT DESCRIPTION
4.1 Features and Application Area
Our products are designed specifically for use in the laboratory.
4.2 Model Overview
Order no.
6449-9-
1
DC-B-088
1
2Phase-070
2
Without AE-068
0
AE-068, angle measuring system
1
HLS-010, limit switch (Hall effect)
1
Transmission worm-worm gear 180:1
1
Transmission worm-worm gear 90:1
2

8 PRS-200 Precision Rotation Stage
4.3 Product View
NOTICE
Modifications and servicing on this axis may only be
carried out by the manufacturer or persons authorized
by the manufacturer. The manufacturer is not liable for
damage caused by unauthorized tampering.
Unauthorized tampering invalidates the guarantee.
4.4 Safety Instructions
NOTICE
Protect the product against mechanical damage
(knocking, shock, ...).
Never start up an axis if you suspect it to be damaged
or broken.
Do not disconnect or connect connectors when voltage
is present.
WARNING
Risk of catching by rotating parts such as couplers and
ball screws
WARNING
It is recommended that all persons entrusted with
working with this product and who therefore come into
contact with areas marked by the ESD warning symbol,
are given training and a comprehensive explanation of
the ESD warning symbol with respect to the ESD
precautions.
4.5 Scope of Delivery
•Rotation stage according to order.
•Mounting accessories (screws & pins) in fast-sealing bag.
4.6 Optional Accessories
Obtain more information on optional accessories from our customer service
department (chapter 9).

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4.7 Technical Features
4.7.1 Load Capacity Data
F A C T S
Load characteristics
Fx(N)
Fz(N)
Mx(Nm)
Mz(Nm)
kax(µrad/Nm)
DC-B-088
200
500
60
4
10
2Phase-070
200
500
60
4
10
4.7.2 Motors
DC-B-088
Motor type
DC-brush RS-320H
Nominal voltage
V
48.6
Max. continuous current
A
4.35
Electrical resistance

1.5
Electrical inductance
mH
2.2
Torque constant
mNm/A
127
Velocity constant
rpm/V
75
n/M slope curve
rpm/mNm
No load velocity
rpm
Max. continuous velocity at
nominal torque
rpm
3000
Inertia
kgm2
83.0E-6
Continuous torque
mNm
500
Rotary encoder
RE-016 RS422 2-channel + index
Encoder increments (quad
counts)
n
20000
RE-016
Rotary optical encoder RS-422 quadrature
Encoder type
F14 rotary optical encoder
Quadrature counts per
revolution
n
20000
Signal output
RS-422
Channels
2 + index
Supply voltage
VDC
4.5..5.5
Current consumption,
Typical (Vcc = 5 V DC)
mA
150
Frequency range
KHz
500
Code disc inertia
kgm2
6E-7
Operating temperature
°C
0..120
2 Phase-070
Motor type
2-phase bipolar parallel PK-266-E2.0B
Phase current
A
2
Step angle
°
1.8
Steps
n
200
Coil resistance

0.9
Coil inductance
mH
2.5
Holding torque
mNm
1170
Inertia
kgm2
30E-6
Weight
kg
0.7

10 PRS-200 Precision Rotation Stage
4.7.3 Measuring System
AE-068-1Vpp Signum
Angular Optical Encoder RS-422 / 1 Vpp
Encoder type
Angular Incremental Signum
Lines per 360°
n
23600
Resolution (sin/cos period)
deg
0.015254237288 (360/23600)
Resolution (RS-422)
deg
7.627118E-5 (360/23600/200)
Grating period
µm
20
Grating material
Steel
Interpolator SI-200
n
50-times
Signal output, interpolated
RS-422 quadrature
Signal output, analog
1 Vpp sin-cos
Channels
2+1 index
Supply voltage
VDC
5 +/- 10%
Current consumption,
Typical (Vcc = 5 V DC)
mA
<250
Frequency range,
Counter capability
f
> 8MHz
Operating temperature
°C
0..70
Absolute accuracy
deg
<+/- 0.003
Connector
HD26- male
The Signum encoder with SI-200 interface supports RS422 and 1Vpp
signals !
The encoder connector is always defined by the Signum interface!
4.7.4 Limit Switch
HLS-010, Hall sensor limit switches
Supply voltage, Vdd
V
3.8 .. 24
Supply current
mA
<5 mA
Output configuration
Open collector
Max. sink current
mA
20
Max. switching voltage
(resistive load)
VDC
3-24
Contact type
Normal closed
Output type
npn
Operating temperature
°C
40 to +85

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4.7.5 Connector
PRS-200 DC
DC-B-088, DC brush motor FM7W4, motor pin assignments with HLS limit switch
FM7W2
Function
A1
M+
DC brush motor +
A2
M-
DC brush motor -
1
nc
2
LE1
Limit reverse
3
L5V
Supply Voltage Limit
4
LE2
Limit forward
5
LGND
GND Supply Limit
6
nc
7
nc
RE-016
M23 rotary encoder, 12-pin, RS-422 pin assignment (Heidenhain)
Function
1
EB-
Encoder channel B-
2
nc
3
EC+
Encoder channel I+
4
EC-
Encoder channel I-
5
EA+
Encoder channel A+
6
EA-
Encoder channel A-
7
nc
8
EB+
Encoder channel B+
9
nc
10
EGND
Supply encoder GND
11
nc
12
E5V
Encoder supply
Housing
Shield
Shield of encoder, read head
ST-032
2SM motor, Sub-D (m), 15-pin, pin assignment with HLS sensor
Sub-D (m),
15-pin
Function
1
MA+
Motor phase A+
2
3
MA-
Motor phase A-
4
5
MB+
Motor phase B+
6
7
MB-
Motor phase B-
8
9
LVcc
Hall sensor limit supply
10
nc
11
nc
12
nc
13
LE2
Limit forward
14
LE1
Limit reverse
15
LGND
GND sensor limit
AE-068 Signum
Angular encoder, Sub-D (m), 26-pin, the Signum Interface provides the interpolated
signal and the 1Vpp –Signal
Sub-D (m),
26-pin
Function
26
E5V
Power
18
E5V_sense
Sense
9
EGND
Sense
8
EGND_sense
Power
24
EA+
Encoder channel A+ (RS-422)
6
EA-
Encoder channel A- (RS-422)
7
EB+
Encoder channel B+ (RS-422)
16
EB-
Encoder channel B- (RS-422)
15
EC+
Encoder channel I+ (RS-422)
23
EC-
Encoder channel I- (RS-422)
1
EA+
Encoder channel A+ (sin+)
19
EA-
Encoder channel A- (sin-)
2
EB+
Encoder channel B+ (cos+)
11
EB-
Encoder channel B- (cos-)

12 PRS-200 Precision Rotation Stage
12
EC+
Encoder channel I+ (Ref+)
20
EC-
Encoder channel I- (Ref-)
25
E+
Alarm Out
17
E-
Alarm Out
22
W
Warning Out
4.7.6 Technical Data
TECHNICAL DATA
Travel range (°)
360, endless
Pitch angle (µrad)
± 2.5
Evenness (µm)
± 1
Yaw angle (µrad)
± 17.5
Weight (kg)
8
Motor
DC-B-088
DC-B-088
2Phase-070
2Phase-070
(°)
1
1
1
1
AE-068
Max. velocity (°/sec)
75
150
35
60
Typical resolution (°)
0.001
0.001
0.001
0.002
0.0003
Calculated resolution (°)
0.0001 (RE)
0.0002 (RE)
0.01(FS)
0.02(FS)
7.63E-05
Bidirectional repeatability (°)
± 0.01
± 0.01
± 0.01
± 0.01
± 0.0005
Unidirectional repeatability (°)
0.002
0.002
0.002
0.002
0.0003
Nominal current (A)
4.35
4.35
2
2
Max. operating voltage (V)
48.6
48.6
<100
<100
Worm gear transmission
180:1 [90:1]
Accuracy
on request
Velocity range (°/sec)
0.001..150
Material
Aluminum, black anodized, stainless steel, red brass

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4.8 Ambient Conditions
For indoor use only.
•The PRS-200 was calibrated at an ambient temperature of 20 °C (+/- 3
°C).
•The permissible operating temperature is between 5 °C and 40 °C.
•The permissible relative humidity is between 20% and 80%.
•Always keep the PRS-200 free of dirt, dust, and corrosive gases.
5. INSTALLATION
5.1 General Notes on Installation
Requirements
The axis must be screwed onto a surface with an evenness better than 5
µm.
It is necessary to make sure that no dust, dirt or other foreign bodies are
between the surface and the axis, otherwise the properties of the axis can
be impaired by mechanical tension.
To guarantee the prescribed specifications (see Internet www.pimicos.com),
the evenness of the mounting surface must be better than 5 µm.
5.2 Mounting the Rotation Stage
Requirements
You have read and understood the general notes on installation (see
chapter 5.1).
Mounting material
screws, pins and auxiliary material or tools supplied (see chapter 4.5
"Scope of Delivery").
•DIN 912 screws and ISO2338 dowel pins, h8 tolerance field
Tightening torques of the mounting screws to be used should not have
values higher than the following:
•M3 DIN 912 1.5 Nm
•M4 DIN 912 2.0 Nm
•M5 DIN 912 2.5 Nm
•M6 DIN 912 3.0 Nm
Mounting the PRS-200
1. Mount the rotation stage with the screws supplied.
2. Make sure that the screw heads do not protrude from the countersunk
holes.

14 PRS-200 Precision Rotation Stage
5.3 Affixing the Load
Requirements
You have read and understood the general notes on installation (see
chapter 5.1).
The load must have an evenness better than 5 µm.
It is necessary to make sure that no dust, dirt or other foreign bodies are
between the load and the axis, otherwise the properties of the axis can be
impaired by mechanical tension.
Mounting material
•DIN 912 screws and ISO2338 dowel pins, h8 tolerance field
Tightening torques of the mounting screws to be used should not have
values higher than the following:
•M3 DIN 912 1.5 Nm
•M4 DIN 912 2.0 Nm
•M5 DIN 912 2.5 Nm
•M6 DIN 912 3.0 Nm
Mounting the Additional Part
•Select the mounting position so that the existing fixing holes in the slider
of the PRS-200 can be used for the additional part to be affixed.
•Mount the additional part with the corresponding screws.
•Select the mounting position so that the existing fixing holes in the slider
of the PRS-200 can be used for the additional part to be affixed.
•Mount the additional part with the corresponding screws.

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6. START-UP
6.1 General Notes on Start-Up
This rotation stage must be started up with a suitable cable and the
associated controllers.
Configuration options look supplement DOC-000445840 CfO-6449.
7. MAINTENANCE
Depending on the operating conditions and the period of use of the PRS-
200, the following maintenance measures are required:
Maintenance Run
The maintenance run serves to distribute the existing lubricant.
•To evenly distribute the existing lubricant on the stage guidings, perform
a maintenance run over one complete rotation after 500 hours of
operation, or after 1 year at the latest.
•If the rotation stage is operated continuously in an industrial environment
and its motion is over a small range (less than 70°), perform a
maintenance run over one complete rotation after 5000 motion cycles.
Lubrication
Under laboratory conditions, extra lubrication is only necessary in
exceptional cases. For continuous industrial use, the lubrication intervals
must be defined individually.
•Do not lubricate the PRS-200 without consulting our customer service
department (see chapter 9).
•To lubricate, follow the instructions in the maintenance manual, which
you can obtain from our customer service department.
8. TROUBLESHOOTING
If the problem that occurred with your system is not listed in the table above
or cannot be solved as described, contact our customer service department
(see chapter 9).
9. CUSTOMER SERVICE
For inquiries and orders, contact your PI miCos sales engineer or send us
and email ([email protected]).
If you have questions concerning your system, have the following
information ready:
1. Product codes and serial numbers of all products in the system
2. Current firmware of the controller (if present)
3. Software version of the driver or the user software (if present)
4. User operating system (if present)

16 PRS-200 Precision Rotation Stage
10. OLD PRODUCT DISPOSAL
In accordance with EU directive 2002/96/EC (WEEE), as of 13 August 2005,
electrical and electronic equipment may not be disposed of in the member
states of the EU via the municipal residual waste.
Dispose of your old equipment according to international, national, and local
rules and regulations.
In order to fulfil the responsibility as the product manufacturer, PI miCos
GmbH undertakes environmentally correct disposal of all old PI miCos
equipment made available on the market after 13 August 2005 without
charge.
Any old PI miCos equipment can be sent free of charge to the following
address:
PI miCos GmbH
Freiburger Strasse 30
79427 Eschbach, Germany
http://www.pimicos.com
11. EU DECLARATION OF CONFORMITY
Manufacturer: PI miCos GmbH
Freiburger Strasse 30
Manufacturer's Address: 79427 Eschbach, Germany
Phone [phone]
The manufacturer hereby declares that the product
Product name: Precision Rotation Stage
Type designation: PRS-200
Item number: 6449-9-XXXXX
complies with the following European directives:
Machines (2006/42/EC)
Electromagnetic Compatibility (2004/108/EC)
RoHS (2011/65/EU)
The applied standards certifying the conformity are listed below:
Safety of Machinery EN 12100:2011
Device Safety EN 61010-1:2010
EMC Requirements EN 61326-1:2006
RoHs DIN EN 50581:2012
Authorized person for compiling the relevant technical documents: W. Schubert
Address: See manufacturer address