PI Micos WT-120 User manual

User Manual
WT-120 Goniometer 1
Order no.
6560-9-
1
DC-B-082
1
2Phase-070
2
without AE-060
0
AE-060, angular scale
1
WT-120 Goniometer
Order no. 6560-9-
User Manual
Version: 00.000 Date: 10.08.2016

2 WT-120 Goniometer
© 2015 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 This manual is superseded by any new release.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_WT-120_9_EN.DOCX Document ID:DOC-000397765

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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 goniometer
5.3 Mounting the Load
5.4 Mounting with WT-90
6. START-UP
6.1 General Notes on Start-Up
7. MAINTENANCE
8. TROUBLESHOOTING
9. CUSTOMER SERVICE
10. OLD EQUIPMENT DISPOSAL
11. EU DECLARATION OF CONFORMITY

4 WT-120 Goniometer
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 user manual contains all information required for the intended use
of the WT-120.
•Basic knowledge on 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.
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 WT-120 is a laboratory device as defined by DIN EN 61010. It is
intended for indoor use and use in an environment that is free of dirt, oil,
and lubricants.
In accordance with its design, the WT-120 is intended for single-axis
positioning, adjusting and rotation of loads around an axis at various
velocities. The WT-120 can be mounted horizontally or vertically.
The intended use of the WT-120 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 WT-120.
•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.

WT-120 Goniometer 5
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2.2 General Safety Instructions
The WT-120 is built according to state-of-the-art technology and recognized
safety standards. Improper use of the WT-120 may result in personal injury
and/or damage to the E-120.
1. Only use the WT-120 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
WT-120.
2.2.1 Organizational Measures
User Manual
•Always keep this user manual available when using the WT-120. 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 WT-120 after you have read and understood
this user manual.
Personnel Qualification
The WT-120 may only be started up, operated, maintained and cleaned by
authorized and appropriately qualified personnel.
2.2.2 Measures during Installation
The WT-120 may be damaged by excessively long screws and wrongly
mounted parts.
•When mounting the WT-120, make sure that the mounting screws do
not interfere with the stage motion. The screw heads must not protrude
from the countersunk holes.
•Only use screws of the correct length for the respective mounting holes.
•When mounting the WT-120, observe the depth of the mounting holes
in the motion platform.
•Only mount the WT-120 and the loads on the mounting fixtures (holes)
intended for this purpose.
•The WT-120 heats up during operation. High temperatures can
influence your application.
•Install the WT-120 so that your application is not affected by the
dissipating heat.
•Cable extensions can affect the performance of the WT-120 and
damage the electronics.
•Only use genuine PI miCos parts to connect the WT-120 to the
electronic equipment.
•Do not use cable extensions. If you need longer cables, use cable
extensions from PI miCos.
•Avoid shorting the piezo voltage lines since this can damage the
electronics.

6 WT-120 Goniometer
2.2.3 Measures during Start-Up
Do not put your WT-120 into operation until it is fully mounted and
connected.
Your system can be damaged by uncontrolled oscillation of the WT-120.
Noise generated during operation of the WT-120 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 goniometers can accelerate rapidly
and generate high forces which can cause injury or damage to equipment.
Unintentional motion of the goniometer 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 at the end of the travel range.
Determine the maximum velocity for your application.
2.2.4 Measures during Operation
•If noise occurs during operation of the WT-120, check the settings of the
servo-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 a
maximum of 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 WT-120 is precision adjusted.
•Do not loosen any sealed screws.
Dirt, oil, lubricants and condensation will render the motor/drive inoperable.
•Keep the piezo motor of the WT-120 free from lubricants.
•Keep the WT-120 free of dirt and condensation.

WT-120 Goniometer 7
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3. UNPACKING
1. 1. Unpack the WT-120 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.
6560-9-
1
DC-B-082
1
2Phase-070
2
without AE-060
0
AE-060, angular scale
1
4.3 Product View

8 WT-120 Goniometer
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 squeezing or crushing by moving sliders at the
places illustrated.
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
•Goniometer 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).
4.7 Technical Features
4.7.1 Load Capacity Data
F A C T S
Load characteristics
Fx (N)
Fy (N)
Fz (N)
Mx
(Nm)
My
(Nm)
Mz
(Nm)
Kax
(µrad/Nm)
Kay
(µrad/Nm)
DC-B-082
90
90
200
8
25
25
15
15
2Phase-070
90
90
200
8
25
25
15
15

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4.7.2 Motors
DC-B-082
Motor type
DC brush RE-040
Nominal voltage
V
48
Max. continuous current
A
3.12
Electrical resistance

1.16
Electrical inductance
mH
0.329
Torque constant
mNm/A
60.3
Velocity constant
rpm/V
158
n/M slope curve
rpm/mNm
3.04
no load velocity at 48 V
rpm
7580
Max. continuous velocity at
nominal torque
rpm
Inertia
kgm2
13.8E-6
Continuous torque
mNm
184
Rotary encoder
RE-015 RS422 2-channel + index
Encoder increments (quad
counts)
n
20000
RE-015
Rotary optical encoder RS-422 quadrature
Encoder type
RMHF 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
35
Frequency range
KHz
1000
Code disc inertia
kgm2
1E-7
Operating temperature
°C
-40..85
2Phase-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 WT-120 Goniometer
4.7.3 Measuring System
AE-060 WT-120
Angular optical encoder RS-422 quadrature
Encoder type
Angular incremental RGH-24
Quadrature counts per 360°
n
4140619
Resolution
deg
8.694352221e-5
Grating period
µm
20
Grating material
Steel
Interpolator
n
Integrated 25 times
Signal output
RS-422 quadrature
Channels
2+1 index
Supply voltage
VDC
5 +/- 10%
Current consumption,
typical (Vcc = 5 V DC)
mA
<150
Frequency range,
Counter capability
MHz
1
Operating temperature
°C
0..55
Absolute accuracy
deg
<+/- 0.01
Index
deg
middle of travel
Connector
Sub-D (m), 9-pin
4.7.4 Limit Switch
Mechanical limit switches
Max. voltage (resistive load)
V
30
Max. current (resistive load)
A
1
Contact type
Normal closed
Max. switch voltage (resistive load)
VDC
3-24
Operations
>5x104
Operating temperature
°C
-40 to +85

WT-120 Goniometer 11
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4.7.5 Connector
ST-050
DC motor, HD Sub-D (m), 15-pin assignment with mechanical switches
HD Sub-D (m), 15-pin
Function
1
EA+
Encoder channel A+
2
EB+
Encoder channel B+
3
EC+
Encoder channel I+
4
EGND
Supply encoder GND
5
nc
6
EA-
Encoder channel A-
7
EB-
Encoder channel B-
8
EC-
Encoder channel I-
9
E5V
Encoder supply voltage
10
nc
11
M+
DC brush motor +
12
M-
DC brush motor -
13
LE2
Limit forward
14
LE1
Limit reverse
15
LCOM
Limit common
ST-010
2SM motor HD Sub-D (m),15-pin with mechanical sensors
HD Sub-D (m),15-pin
Function
1
MA+
Motor phase A+
2
MA-
Motor phase A-
3
nc
4
nc
5
MB+
Motor phase B+
6
MB-
Motor phase B-
7
nc
8
nc
9
nc
10
nc
11
nc
12
nc
13
LE2
Limit forward
14
LE1
Limit reverse
15
LCOM
Limit common
ST-001
Linear encoder, Sub-D (m), 9-pin, RS-422 pin assignment
Sub-D (m), 9-pin
Function
1
EA+
Encoder channel A+
2
EB+
Encoder channel B+
3
EC+
Encoder channel I+
4
EGND
Supply encoder GND
5
E5V
Encoder supply
6
EA-
Encoder channel A-
7
EB-
Encoder channel B-
8
EC-
Encoder channel I-
9
nc
Housing
Shield
Shield of encoder, read head

12 WT-120 Goniometer
4.7.6 Technical Data
TECHNICAL DATA
Travel range (°)
90
Wobble (bearings) (µrad)
± 125
Weight (kg)
11.5
Motor
DC-B-082
2Phase-070
Linear scale
AE-060
Max. velocity (°/sec)
30
25
Calculated resolution (°)
0.0001 (RE)
0.01(FS)
8.7E-05
Typical resolution (°)
0.004
0.004
0.001
Bidirectional repeatability (°)
± 0.02
± 0.02
± 0.001
Unidirectional repeatability (°)
0.005
0.005
0.001
Nominal current (A)
3.33
2
Max. operating voltage (V)
48
<100
Warm gear reduction
180 : 1
Accuracy
on request
Velocity range (°/sec)
0.001..30
Material
Aluminum, black anodized, stainless steel, red brass, hardened
steel

WT-120 Goniometer 13
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4.8 Ambient Conditions
For indoor use only.
•The WT-120 was calibrated at an ambient temperature of 20 °C (+/- 3
°C).
•The permissible operating temperature is between 20 °C and 40 °C.
•The permissible relative humidity is between 20% and 80%.
•Always keep the WT-120 free of dirt, dust, and corrosive gases.
5. INSTALLATION
5.1 General Notes on Installation
Requirements
The goniometer must be screwed onto a surface with a flatness 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. (Reference
surface of PI miCos measuring granite is 3 µm).
5.2 Mounting the goniometer
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 DIN 6325 dowel pins, m6 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

14 WT-120 Goniometer
Mounting the WT-120
1. Move the motion platform of the WT-120 to the center position by hand
until all of the countersunk holes in the base body required for mounting
are accessible (see following illustration).
2. Affix the stage with the screws supplied.
3. Make sure that the screw heads do not protrude from the countersunk
holes.
5.3 Mounting 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 DIN 6325 dowel pins, m6 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

WT-120 Goniometer 15
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Mounting the Additional Part
•Select the mounting position so that the existing fixing holes in the slider
of the WT-120 can be used for the additional part to be mounted.
•Affix the additional part with the corresponding screws.
5.4 Mounting with WT-90
6. START-UP
6.1 General Notes on Start-Up
This goniometer must be started up with a suitable cable and the associated
controllers.
7. MAINTENANCE
Depending on the operating conditions and the period of use of the WT-120,
the following maintenance measures are required:
Maintenance Run
The maintenance run is performed to redistribute the existing lubricant on
the guidings of the stage.
•To evenly distribute the existing lubricant on the stage guides, perform a
maintenance run across the entire travel range after 500 hours of
operation, or after 1 year at the latest.
•If the stage is to be operated continuously in an industrial environment
over a small travel (less than 20 percent of the entire travel range),
perform a maintenance run across the entire travel range every 5000
motion cycles.
Lubrication
Under laboratory conditions, the guidings of the stage need to be lubricated
in exceptional cases only. For continuous industrial use, the lubrication
intervals must be defined individually.
•Do not lubricate the guidings of the WT-120 without consulting our
customer service department (see chapter 9).
•To lubricate the guidings, follow the instructions specified in the
maintenance manual, which you can obtain from our customer service
department.

16 WT-120 Goniometer
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)
10. OLD EQUIPMENT 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)

WT-120 Goniometer 17
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11. EU Declaration of Conformity
An EU Declaration of Conformity has been issued for the WT-120 in
accordance with the following European directives:
2014/30/EU, EMC Directive
2011/65/EU, RoHS Directive
The applied standards certifying the conformity are listed below.
EMC: EN 61326-1:2013
Safety: EN 61010-1:2010
DIN EN ISO 12100:2010
RoHS: EN 50581:2012