PI Micos L-731 Series User manual

PI miCos GmbH, Freiburger Strasse 30, 79427 Eschbach, Germany
Phone [phone], Fax [phone], Email [e-mail], www.pi.ws
MP158E
L
-731 / V-731 Precision XY Positioner
User Manual
Version: 1.0.1
Date: 2019-03-18
This document describes the following precision
XY
positioners with 205 mm x 205 mm travel
range:

L-731.40SD:
with stepper motor, without encoder

L-731.4ASD:
with stepper motor and linear encoder,
sin/cos signal transmission

L-731.44SD:
with stepper motor and linear encoder,
A/B quadrature signal transmission

L-731.093132:
with DC motor and rotary encoder

L-731.093111:
with DC motor and linear encoder,
sin/cos signal transmission

L-731. 093112:
with DC motor and linear encoder,
A/B quadrature signal transmission

V-731.096111:
with linear motor and linear encoder,
sin/cos signal transmission

The following company names and brands are registered trademarks of Physik Instrumente (PI) GmbH & Co.
KG:
PI®, NanoCube®, PICMA®, PIFOC®, PILine®, NEXLINE®, PiezoWalk®, PicoCube®, PiezoMove®, PIMikroMove®,
NEXACT®, Picoactuator®, PInano®, NEXSHIFT®, PITOUCH®, PIMag®, PIHera, Q-Motion®
© 2019 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: 18.03.2019
Document number: MP158D, MMa, Version 1.0.1
Subject to change without notice. This manual is superseded by any new release. The latest release is
available for download from our website (p. 3).

1About this Document 1
1.1 Objective and Target Group of this User Manual ...................................................... 1
1.2 Symbols and Typographic Conventions...................................................................... 1
1.3 Pictures....................................................................................................................... 2
1.4 Other Applicable Documents ..................................................................................... 2
1.5 Downloading Manuals................................................................................................ 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
3.2.1 Mechanical Parts and Protective Earth Connection...................................... 8
3.2.2 Electrical Connections ................................................................................... 9
3.3 Direction of Motion.................................................................................................. 10
3.4 Product Labeling....................................................................................................... 10
3.5 Scope of Delivery...................................................................................................... 12
3.6 Suitable Controllers .................................................................................................. 12
3.7 Technical Features.................................................................................................... 13
3.7.1 Encoder........................................................................................................ 13
3.7.2 Limit Switches.............................................................................................. 13
3.7.3 Reference Point Switch................................................................................ 13
4Unpacking 15
5Installation 17
5.1 General Notes on Installation................................................................................... 17
5.2 Attaching the L-731 / V-731 to a Surface ................................................................. 18
5.3 Connecting the L-731 / V-731 to the Protective Earth Conductor........................... 22
5.4 Affixing the Load to the L-731 / V-731 ..................................................................... 24
5.5 Connecting the L-731 / V-731 to a Controller .......................................................... 25
6Start-Up 27
6.1 General Notes on Start-Up....................................................................................... 27
6.2 Starting Up the Positioner........................................................................................ 30
6.2.1 L-731 / V-731 Entries in the Positioner Database of PI ............................... 30
Contents

7Maintenance 31
7.1 General Notes on Maintenance ............................................................................... 31
7.2 Performing a Maintenance Run (L-731 Models) ...................................................... 31
7.3 Cleaning the L-731 / V-731 ....................................................................................... 31
8Troubleshooting 33
8.1 Possible Causes and Remedies................................................................................. 33
8.2 Manually Moving the Platform ................................................................................ 34
9Customer Service 35
10 Specifications 37
10.1 Technical Data .......................................................................................................... 37
10.1.1 Data Table.................................................................................................... 37
10.1.2 Maximum Ratings........................................................................................ 42
10.1.3 Ambient Conditions and Classifications ...................................................... 42
10.1.4 Limit Switch Specifications .......................................................................... 43
10.1.5 Reference Point Switch Specifications ........................................................ 43
10.2 Dimensions ............................................................................................................... 44
10.2.1 L-731 / V-731 Positioners ............................................................................ 44
10.2.2 Hole Pattern of the Platform ....................................................................... 45
10.3 Pin Assignment ......................................................................................................... 46
10.3.1 HD D-Sub 26 (m) .......................................................................................... 46
10.3.2 D-Sub 15 (m)................................................................................................ 49
10.4 Tightening Torque for Screws, ISO 4762 - A2........................................................... 50
11 Old Equipment Disposal 51
12 EU Declaration of Conformity 53

1 About this Document
L-731 / V-731 Precision XY Positioner MP158D Version: 1.0.1 1
1.1 Objective and Target Group of this User Manual
This user manual contains the necessary information on the intended use of the L-731 / V-731.
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 (p. 3).
1.2 Symbols and Typographic Conventions
The following symbols and typographic conventions are used in this user manual:
DANGER
Imminently hazardous situation
If not avoided, the hazardous situation will result in death or serious injury.
Actions to take to avoid the situation
CAUTION
Dangerous situation
If not avoided, the dangerous situation will result in minor injury.
Actions to take to avoid the risk.
NOTICE
Dangerous situation
If not avoided, the dangerous situation will result in damage to equipment.
Actions to take to avoid the risk.
INFORMATION
Information for easier handling, tricks, tips, etc.
1
About this Document

1 About this Document
2 Version: 1.0.1 MP158D L-731 / V-731 Precision XY Positioner
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 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.
1.4 Other Applicable Documents
INFORMATION
Current versions of manuals and data sheets can be downloadedfrom our web site www.pi.ws.
The devices and software tools from PI that are mentioned in this documentation are described
in separate manuals.
Product Document
Positioners with electric motors MP146EK Short instructions for positioners
with electric motors
C-663.11 stepper motor controller MS208E User Manual
C-663.12 Stepper Motor Controller MS241E User Manual
C-863.11 DC Motor Controller MS205E User Manual
MS205Equ User Manual Short Version
C-884 DC Motor Controller MS213E User Manual
SMC Hydra motion controller Hardware Manual
ACS SPiiPlusEC ACS SpiiPlusEC Installation Guide
ACS SpiiPlusEC IMPU Only Installation Guide
C-891 PIMag® Motor Controller C891T0001 Technical Note

1 About this Document
L-731 / V-731 Precision XY Positioner MP158D Version: 1.0.1 3
1.5 Downloading Manuals
INFORMATION
If a manual is missing or problems occur with downloading:
Contact our customer service department (p. 35).
INFORMATION
For products that are supplied with software (CD in the scope of delivery), access to the
manuals is protected by a password. Protected manuals are only displayed on the website after
entering the password.
The password is included on the CD of the product.
For products with CD: Identify the password
1. Insert the product CD into the PC drive.
2. Switch to the Manuals directory on the CD.
3. In the Manuals directory, open the Release News (file including releasenews in the file
name).
4. Find the user name and the password in the section "User login for software download"
in the Release News.
Downloading Manuals
1. Open the website www.pi.ws.
2. If access to the manuals is protected by a password:
a) Click Login.
b) Log in with the user name and password.
3. Click Search.
4. Enter the product number up to the period (e.g., P-882) or the product family (e.g.,
PICMA® Bender) into the search field.
5. Click Start search or press the Enter key.
6. Open the corresponding product detail page in the list of search results:
a) If necessary: Scroll down the list.
b) If necessary: Click Load more results at the bottom of the list.
c) Click the corresponding product in the list.
7. Scroll down to the Downloads section on the product detail page.
The manuals are shown under Documentation.
8. Click the desired manual and save it to the hard disk of your PC or to a data storage
medium.

2 Safety
L-731 / V-731 Precision XY Positioner MP158D Version: 1.0.1 5
2.1 Intended Use
The L-731 / V-731 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-731 / V-731 is intended for positioning, adjusting and
shifting of loads on two axes at various velocities. The L-731 / V-731 is not intended for
applications in areas, in which a failure would present severe risks to human beings or the
environment.
The intended use of the L-731 / V-731 is only possible when completely mounted and
connected and in a horizontal position.
The L-731 / V-731 must be operated with a suitable controller (p. 12). The controller is not
included in the scope of delivery of the L-731 / V-731.
2.2 General Safety Instructions
The L-731 / V-731 is built according to state-of-the-art technology and recognized safety
standards. Improper use of the L-731 / V-731 may result in personal injury and/or damage to
the L-731 / V-731.
Only use the L-731 / V-731 for its intended purpose, and only use it if it is in good
working order.
Read the user manual.
Immediately eliminate any faults and malfunctions that are likely to affect safety (p.
33).
The operator is responsible for the correct installation and operation of the L-731 / V-731.
2.3 Organizational Measures
User Manual
Always keep this user manual available when using the L-731 / V-731.
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.
2
Safety

2 Safety
6 Version: 1.0.1 MP158D L-731 / V-731 Precision XY Positioner
If you give the L-731 / V-731 to other users, also include this user manual as well as all
other relevant information provided by the manufacturer.
Only use the device on the basis of the complete user manual. Missing information due
to an incomplete user manual can result in damage to equipment.
Only install and operate the L-731 / V-731 after you have read and understood this user
manual.
Personnel Qualification
The L-731 / V-731 may only be installed, started up, operated, maintained, and cleaned by
authorized and appropriately qualified personnel.

3 Product Description
L-731 / V-731 Precision XY Positioner MP158D Version: 1.0.1 7
3.1 Model Overview
Classification of the positioners
All models are precision XY positioners with linear positioner with crossed roller bearings. They
differ with respect to the drive type and encoder equipment.
L-731 / V-731 Drive type Linear encoder: Signal
transmission
Stepper
motor
DC motor Linear motor sin/cos* A/B
quadrature
L-731.40SD +
L-731.4ASD + +
L-731.44SD + +
L-731.093132 +
L-731.093111 + +
L-731.093112 + +
V-731.096111 + +
* Separate sensor connection
Detailed model overview
Order number Product name
L-731.40SD Precision XY positioner, 310 mm × 310 mm width, 205 mm × 205 mm
travel range, 2-phase stepper motor
L-731.4ASD Precision XY positioner, 310 mm × 310 mm width, 205 mm × 205 mm
travel range, 2-phase stepper motor, linear encoder with sin/cos signal
transmission
L-731.44SD Precision XY positioner, 310 mm × 310 mm width, 205 mm × 205 mm
travel range, 2-phase stepper motor, linear encoder with A/B
quadrature signal transmission
L-731.093132 Precision XY positioner, 310 mm × 310 mm width, 205 mm × 205 mm
travel range, DC motor, rotary encoder
L-731.093111 Precision XY positioner, 310 mm × 310 mm width, 205 mm × 205 mm
travel range, DC motor, linear encoder with sin/cos signal transmission
3
Product Description

3 Product Description
8 Version: 1.0.1 MP158D L -731 / V- 731 Precision XY Positioner
Order number Product name
L-731.093112 Precision XY positioner, 310 mm × 310 mm width, 205 mm × 205 mm
travel range, DC motor, linear encoder with A/B quadrature signal
transmission
V-731.096111 High-precision XY positioner, 310 mm × 310 mm width, 205 mm × 205
mm travel range, linear motor, linear encoder with sin/cos signal
transmission
For further technical data, see the specifications. (p. 37).
3.2 Product View
3.2.1 Mechanical Parts and Protective Earth Connection
Figure 1: Parts
1Platform
2Handle
3ESD protection
4Protective earth connection
5Transport lock

3 Product Description
L-731 / V-731 Precision XY Positioner MP158D Version: 1.0.1 9
3.2.2 Electrical Connections
Connection type and assignments depend on the model (for pin assignment, see p. 46).
L-731.40SD
L-731.44SD
L-731.093112
L-731.093132
L-731.4ASD
L-731.093111
V-731.096111
Pos. Connection L-731 V-731
.40SD
.44SD
.093112
.093132
.4ASD
.093111
.096111
1 Sensor connection, X axis (D-Sub 15 panel plug) + +
2 Sensor connection, Y axis (D-Sub 15 panel plug) + +
3 Motor connection, X axis (HD D-Sub 26 panel plug) + + +
4 Motor connection, Y axis (HD D-Sub 26 panel plug) + + +
5 Protective earth connection (screw ISO 7045, M4x8) + + +

3 Product Description
10 Version: 1.0.1 MP158D L -731 / V- 731 Precision XY Positioner
3.3 Direction of Motion
Figure 2: Direction of the motion of the platform
X, Y (arrow direction:) Direction of motion on positive command
3.4 Product Labeling

3 Product Description
L-731 / V-731 Precision XY Positioner MP158D Version: 1.0.1 11
Figure 3: Product labeling (see following table)
Position Labeling Description
1
Warning symbol "Electrostatic sensitive devices"
2 Sensor X Encoder connection, X axis
3 Sensor Y Encoder connection, Y axis
4
Warning sign "Observe manual!"
4
Old equipment disposal
4 Country of origin: Germany Country of origin
4 WWW.PI.WS Manufacturer's address (website)
4 L-731.4ASD Complete product code (example)
4
CE conformity mark
4 415002159 Serial number (example), individual for each
L-731 / V-731
Meaning of the places (counting from left):
1 = internal information,
2 and 3 = year of manufacture,
4 to 9 = consecutive numbers
5 X Motor connection, X axis
6 Y Motor connection, Y axis
7, 4
Manufacturer's logo
8
Protective earth conductor connection (p. 22)
9, 4 L-731 / V-731 Product series
10
Warning symbol”Risk of crushing”
10
10

3 Product Description
12 Version: 1.0.1 MP158D L -731 / V- 731 Precision XY Positioner
3.5 Scope of Delivery
Item number Component
L-731.xxxxxx or
V-731.xxxxxx
Positioner according to order (p. 7)
Motor cable and if necessary, sensor cable according to the controller and
positioner ordered
MP146EK Short instructions for positioners with electric motors
6303500012 Mounting accessories:
•4 socket head screw, ISO 4762* M6x35
•2 dowel pins, ISO 8734** - 6 m6 x 16
* Corresponds to DIN 912
** Corresponds to DIN 6325
3.6 Suitable Controllers
C-663.12*
SMC
Hydra
C-863*
C-891*
C-884
C-885
with
C-663.
12C885
C-885
with
C-891.
10C885
C-885
with
C-863.
20C885
Modular
ACS
controller
Motion axes
per controller
(max.)
1
2
1
1
6
20
20
40
PC interfaces
USB, RS-
232, daisy
chain
network
RS-232,
LAN
USB, RS-
232, LAN
RS-232,
LAN
RS-232,
LAN
USB, LAN
USB, LAN
USB, LAN
USB, LAN
Multiple
controllers on
the same PC
+ + + + + + + + +
L-731.40SD + + + +
L-731.44SD + + + +
L-731.4ASD + +
L-731.093111 + + + +
L-731.093112 + + + +
L-731.093132 + + + +
V-731.096111 + + + +
* 2 controllers of this type are required for operation.
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 Product Description
L-731 / V-731 Precision XY Positioner MP158D Version: 1.0.1 13
3.7 Technical Features
3.7.1 Encoder
The L-731.4ASD, L-731.44SD, L-731.093111, L-731.093112, and V-731.096111 models are
equipped with an optical linear encoder. Optical linear encoders measure the actual position
directly (direct metrology). Errors occurring in the drive, such as nonlinearity, backlash or elastic
deformations cannot influence the measurement of the position.
The L-731.093132 model is equipped with an optical rotary encoder. A rotary encoder is
implemented at a rotating point in the drivetrain, e.g., the motor shaft.
Refer to the table in the "Specifications" section for the encoder resolution (p. 37).
The L-731.40SD model does not have an encoder.
3.7.2 Limit Switches
The positioner 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 positioner runs into the hard
stop.
See "Limit Switch Specifications" for more information (p. 43).
3.7.3 Reference Point Switch
The positioner is equipped with a direction-sensing reference point switch (see "Reference
Point Switch Specifications" (p. 43)).
The commands that use the reference signal are described in the user manual of the controller
and/or in the corresponding software manuals.

4 Unpacking
L-731 / V-731 Precision XY Positioner MP158D Version: 1.0.1 15
1. Unpack the L-731 / V-731 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