PI M-230 Series User manual

Physik Instrumente (PI) GmbH & Co. KG · Auf der Römerstr. 1 76228 Karlsruhe, Germany
Telephon [phone] · Telefax [phone] · E-Mail [e-mail]
MP102E
M-230 Linear Actuators
User Manual
Version: 1.2
Date: 31.08.2020
This document describes the following
linear actuators with limit switches:

M-230.10
DC Drive, 10 mm Travel Range,
High-Resolution

M-230.25
DC Drive, 25 mm Travel Range,
High-Resolution

M-230.10S
Stepper Motor Drive, 10 mm Travel Range,
High-Resolution

M-230.25S
Stepper Motor Drive, 25 mm Travel Range,
High-Resolution

Physik Instrumente (PI) GmbH & Co. KG is the owner of the following trademarks:
PI®, PIC®, PICMA®, PILine®, PIFOC®, PiezoWalk®, NEXACT®, NEXLINE®,
NanoCube®, NanoAutomation®, Picoactuator®, PInano®
© 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 retains all the rights. Use of said
text, photographs and drawings is permitted only in part and only upon citation of the
source.
Original instructions
Document number: MP102E, MMa, version 1.2
Subject to change without notice. This manual is superseded by any new release. The
latest release is available for download on our website.

1About this Document 1
1.1 Goal and Target Audience of this User Manual ...................................................1
1.2 Symbols and Typographic Conventions...............................................................1
1.3 Other Applicable Documents................................................................................2
2Safety 3
2.1 Intended Use ........................................................................................................3
2.2 General Safety Instructions..................................................................................3
2.2.1 Organizational Measures....................................................................3
2.2.2 Safety Measures during Installation ...................................................4
2.2.3 Safety Measures during Start-Up.......................................................5
2.2.4 Safety Measures during Operation.....................................................5
2.2.5 Safety Measures During Maintenance ...............................................6
3Product Description 7
3.1 System Overview..................................................................................................7
3.2 Features and Applications....................................................................................8
3.3 Model Overview....................................................................................................9
3.4 Product View.......................................................................................................10
3.5 Scope of Delivery ...............................................................................................11
3.6 Suitable Controllers ............................................................................................11
3.7 Accessories ........................................................................................................11
3.8 Technical Features.............................................................................................11
3.8.1 Rotary Encoder.................................................................................11
3.8.2 Limit Switches...................................................................................11
3.8.3 Reference Point Switch ....................................................................12
Contents

4Unpacking 13
5Installation 15
5.1 General Notes on Installation.............................................................................15
5.2 Changing the Tip ................................................................................................16
5.3 Providing a Suitable Mechanical Mounting and Installation Environment..........18
5.4 Installing the Linear Actuator in a Mechanical Mounting....................................20
6Start-Up 23
6.1 General Notes on Start-Up.................................................................................23
6.2 Starting Up the Actuator .....................................................................................25
6.2.1 M-230 Entries in the Stage Database of PI......................................26
7Maintenance 27
7.1 General Notes on Maintenance..........................................................................27
7.2 Lubricating the M-230.........................................................................................27
7.3 Cleaning the M-230 ............................................................................................27
8Troubleshooting 29
9Customer Service 31
10 Technical Data 33
10.1 Specifications......................................................................................................33
10.1.1 Data Table........................................................................................33
10.1.2 Ambient Conditions and Classifications ...........................................34
10.1.3 Limit Switch Specifications ...............................................................35
10.1.4 Reference Point Switch Specifications.............................................35
10.2 Dimensions.........................................................................................................36
10.2.1 M-230.10, M-230.10S.......................................................................36
10.2.2 M-230.25, M-230.25S.......................................................................37
10.2.3 Tips...................................................................................................38
10.3 Pin Assignment...................................................................................................38
10.3.1 Models with DC Gear Motor .............................................................38
10.3.2 Models with Stepper Motor...............................................................39
11 Old Equipment Disposal 41
12 EC Declaration of Conformity 43

1 About this Document
M-230 Linear Actuators MP102E Version: 1.2 1
1.1 Goal and Target Audience of this User Manual
This manual contains information on the intended use of the M-230.
It assumes that the reader has a fundamental understanding of basic servo systems
as well as motion control concepts and applicable safety procedures.
The latest versions of the user manuals are available for download on our website.
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.
Actions to take to avoid the situation.
NOTICE
Dangerous situation
If not avoided, the dangerous situation will result in damage to the equipment.
Actions to take to avoid the situation.
INFORMATION
Information for easier handling, tricks, tips, etc.
Symbol Meaning
1.
2. Action consisting of several steps whose sequential order
must be observed
1
About this Document

1 About this Document
2Version: 1.2 MP102E M-230 Linear Actuators
Symbol Meaning
Action consisting of one or several steps whose sequential
order is irrelevant
 List item
p. 5 Cross-reference to page 5
RS-232 Labeling of an operating element on the product (example:
socket of the RS-232 interface)
1.3 Other Applicable Documents
The devices and software tools which are mentioned in this documentation are
described in their own manuals.
Product Document
Linear actuators MP122EK Short Instructions
Suitable Controller User manual of the applied controller

2 Safety
M-230 Linear Actuators MP102E Version: 1.2 3
2.1 Intended Use
The M-230 is a laboratory device as defined by DIN EN 61010-1. It is intended to be
used in interior spaces and in an environment which is free of dirt, oil, and lubricants.
Based on its design and realization, the M-230 is intended for positioning, adjusting
and shifting loads in one axis at various velocities.
The intended use of the M-230 is only possible when installed and with a suitable
controller (p. 11). The controller is not included in the scope of delivery of the M-230.
2.2 General Safety Instructions
The M-230 is built according to state-of-the-art technology and recognized safety
standards. Improper use can result in personal injury and/or damage to the M-230.
Only use the M-230 for its intended purpose, and only use it if it is in a good
working order.
Read the user manual.
Immediately eliminate any faults and malfunctions that are likely to affect
safety.
The operator is responsible for the correct installation and operation of the M-230.
2.2.1 Organizational Measures
User manual
Always keep this user manual available by the M-230.
The latest versions of the user manuals are available for download on our
website.
Add all information given by the manufacturer to the user manual, for example
supplements or Technical Notes.
2
Safety

2 Safety
4Version: 1.2 MP102E M-230 Linear Actuators
If you pass the M-230 on to other users, also turn over this user manual as
well as 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 minor injury and
property damage.
Only install and operate the M-230 after having read and understood this user
manual.
Personnel qualification
The M-230 may only be installed, started up, operated, maintained and cleaned by
authorized and appropriately qualified personnel.
2.2.2 Safety Measures during Installation
A cable break leads to a failure of the linear actuator.
Install the linear actuator so that the cable is not bent or squeezed too
severely during operation.
Lateral forces that affect the pusher of the linear actuator increase the friction on the
internal drive components. Increased friction impairs the motion of the pusher and
increases wear on the drive components.
Avoid lateral forces on the tip and on the pusher of the M-230.
The motion of the pusher can be hindered by a mounting nut that has been tightened
too strongly. This reduces the positioning accuracy.
Tighten the mounting nut to a maximum torque of 1.7 Nm.
The heat produced during operation of the M-230 can affect your application.
Install the M-230 so that your application is not affected by the dissipating
heat.

2 Safety
M-230 Linear Actuators MP102E Version: 1.2 5
2.2.3 Safety Measures during Start-Up
A motorized linear actuator can generate powerful forces depending on the gear ratio.
Connecting a linear actuator to an unsuitable controller can cause damage to the
linear actuator or controller.
Connect a linear actuator with DC motor to a DC motor controller only.
Connect a linear actuator with stepper motor to a stepper motor controller
only.
Faulty motor controllers can cause unintentional motor motion and run the M-230 into
the hard stop.
The linear actuator can perform an unintentional motion when connecting it to the
motor controller.
Do not place any objects in areas where they can get caught by moving parts.
Keep your fingers at a safe distance from the motion range of the M-230.
The collision of moving parts with the hard stop (end of travel range), as well as high
acceleration, can cause damage to, or considerable wear on the mechanical system.
In the event of a malfunction of the motor controller, stop the motion
immediately.
Ensure that the end of the travel range is approached at low velocity.
Set your control signal so that the moving part does not stop abruptly or try to
continue moving at the end of the travel range.
Determine the maximum velocity for your application.
Ensure that the automatic limit switch halt is supported by the controller, or
that it is activated in the controller.
2.2.4 Safety Measures during Operation
For models with DC motors:
Unsuitable settings made to the servo-control parameters can impair the performance
of the M-230. The consequences of this can be expressed as follows:
Oscillations
Imprecise approach of the position

2 Safety
6Version: 1.2 MP102E M-230 Linear Actuators
Settling time is too long
If the performance of the M-230 is not satisfactory, check the settings for the
servo-control parameters of your controller.
2.2.5 Safety Measures During Maintenance
The M-230 is precisely aligned.
Do not loosen any sealed screw.

3 Product Description
M-230 Linear Actuators MP102E Version: 1.2 7
3.1 System Overview
The following figure shows an overview of the total system.
Figure 1: Overall system, overview
To operate the actuator in your application, the following components are necessary:
Component Task Supplied by or available
from PI
Peripheral control
equipment Loads configurations and control commands to the
controller (e.g. PC in
connection with PC software).
PC software (e.g.
PIMikroMove) included in the
scope of delivery of PI
controllers.
Controller Controls the motions of the
actuator. Stand-alone device or motor controller card (PC add-on
card).
Available separately, see
section "Suitable Controllers"
(p. 11).
Actuator Produces the motions of the
part to be driven or the load in
your application.
Here: linear actuator, type
M-230. Present product.
3
Product Description

3 Product Description
8Version: 1.2 MP102E M-230 Linear Actuators
Component Task Supplied by or available
from PI
Cables 
Peripheral control
equipment to controller:
Ensures the data
communication.
Controller to actuator:
Ensures the data
communication and the
power source of the
actuator.
 Transmission cable
between PC and controller.
Included in the scope of
delivery of PI controllers.
Transmission cable
between controller and
actuator:
Part of the actuator or
included in the scope of
delivery of the piezo
actuator.
Mechanical
structure Ensures among other things the secure fixation of the
actuator and thus a high
repeatability.
Only mounting nut (for
mechanical connection)
included in the scope of
delivery of the actuator.
Mechanical
coupling Establishes the connection between the actuator and the
load (pusher with a separate
tip, depending on the model).
Also in case exchangeable
parts can be used, all options
are included in the scope of
delivery of the actuator (e.g.
tips).
Load Part to be driven. This is to be
moved in your application. -
If a motor controller card is used, the "controller" component and the connection
between the peripheral control equipment and the controller ("cable") are physically
inside of the PC.
3.2 Features and Applications
The motorized precision drives of the M-230 series are linear actuators with travel
ranges of 10 mm and 25 mm. Using a preloaded DC gear motor with a high-resolution
rotary encoder and an extremely low-friction and zero-backlash design, they achieve
minimum incremental motions of 50 nm. A design with a stepper motor is also on
offer.
Integrated limit and reference point switches, plus line drivers enable the simple
installation in automation solutions and protect the mechanical system of the actuator.

3 Product Description
M-230 Linear Actuators MP102E Version: 1.2 9
3.3 Model Overview
There are six standard versions of the M-230. All models are high-resolution linear
actuators with a limit switch. They differ in terms of:
Drive type
Travel range
Model Travel range Drive Type
10 mm 25 mm DC
gearhead Stepper motor
M-230.10 + +
M-230.10S + +
M-230.10V + +
M-230.25 + +
For further technical data, see the specifications (p. 33).
PI also produces custom designs upon request. Custom designs can differ from the
described standard products in respect to dimensions, characteristics or other
technical data.
If necessary, contact our customer service department (p. 31) directly.

3 Product Description
10 Version: 1.2 MP102E M-230 Linear Actuators
3.4 Product View
Figure 2: Product view: M-230 with 25 mm (left) and 10 mm (right) travel range
1 Tip, replaceable (here: flat)
2 Mounting nut for clamp connection
3 Window with position display
4 Sleeve
5 Cable for connecting to the controller
6 Mounting shaft
7 Thread for mounting nut
8 Pusher, non-rotating

3 Product Description
M-230 Linear Actuators MP102E Version: 1.2 11
3.5 Scope of Delivery
Order
Number Items
M-230 Linear actuator according to order (p. 9), with flat tip (assembled on
delivery), spherical tip and hook wrench
MP122EK Short instructions
3.6 Suitable Controllers
The M-230 must be connected to a suitable controller (see Data Table, p. 33).
The required PC software is included in the scope of delivery of the controllers from
PI. The operation of the controllers is described in the corresponding user manuals.
3.7 Accessories
Order Number Description
C-842.AP1 Adapter box PWM analog to operate M-230 linear actuators with
PWM signals
To order, contact our customer service department (p. 31).
3.8 Technical Features
3.8.1 Rotary Encoder
The models with DC motors are equipped with a rotary encoder. A rotary encoder,
also called an incremental or incremental rotary encoder, is implemented at a rotating
point in the drivetrain, e.g. the motor shaft. To determine the relative position, the
controller counts the encoder signals, the so-called impulses.
3.8.2 Limit Switches
The M-230 is equipped with non-contact, Hall-effect limit switches.
Each limit switch sends an overtravel signal on a dedicated line to the controller. The
controller then stops the motion. If the controller does not stop the motion in time, the
linear actuator runs into the hard stop.
See "Limit Switch Specifications" (p. 35) for more information.

3 Product Description
12 Version: 1.2 MP102E M-230 Linear Actuators
3.8.3 Reference Point Switch
The M-230 is equipped with a reference point switch, which is located at about the
midpoint of the travel range. The reference point switch transmits an index pulse (TTL)
when being passed.
In order to use the reference point switch signal for reference moves, the controller
must support the reference signal type "index pulse" (see user manual of the
controller).
For more information, see "Reference Point Switch Specifications" (p. 35).

4 Unpacking
M-230 Linear Actuators MP102E Version: 1.2 13
1. Unpack the M-230 with care.
2. Compare the contents against the items covered by the contract and against
the packing list.
3. Inspect the contents for signs of damage. If parts are missing or you notice
signs of damage, contact PI immediately.
4. Keep all packaging materials in case the product needs to be returned.
4
Unpacking

5 Installation
M-230 Linear Actuators MP102E Version: 1.2 15
5.1 General Notes on Installation
NOTICE
Cable break!
A cable break leads to a failure of the linear actuator.
Install the linear actuator so that the cable is not bent or squeezed too severely
during operation.
NOTICE
Increased friction!
Lateral forces that affect the pusher of the linear actuator increase the friction on the
internal drive components. Increased friction impairs the motion of the pusher and
increases wear on the drive components.
Avoid lateral forces on the tip and on the pusher of the M-230.
NOTICE
Heating up of the M-230 during operation!
The heat produced during operation of the M-230 can affect your application.
Install the M-230 so that your application is not affected by the dissipating heat.
INFORMATION
Models with DC gear motors are equipped with integrated signal drivers for cable
lengths ≤10 m between the linear actuator and the motor controller.
5
Installation

5 Installation
16 Version: 1.2 MP102E M-230 Linear Actuators
5.2 Changing the Tip
INFORMATION
The supplied tips make it possible to realize different mechanical connections to a
load:
A flat tip allows a wide-area connection to a load.
A spherical tip allows a punctiform connection to a load.
To achieve optimum repeatability:
Use a tip.
Make sure that the selected tip is completely screwed in and does not have any
backlash.
The tip is used to establish contact with the load. A flat tip is delivered pre-assembled;
a spherical tip is also provided.
Figure 3: Mounted tip (flat)
1 (Flat) tip with
(a) wrench flat
2 Pusher