PI M-232.17 User manual

Physik Instrumente (PI) GmbH & Co. KG · Auf der Römerstr. 1 76228 Karlsruhe, Germany
Telephon [phone] · Telefax [phone] · E-Mail [e-mail]
MP105E
M-232
Linear Actuator
User
Manual
Version: 1.2
Date: 31.08.2020
This document describes the following
high
-resolution linear actuators with limit
switches:

M-232.17
DC Drive, Travel Range 17 mm

M-232.17S
Stepper Motor Drive, Travel Range 17 mm

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, Deutschland. 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: MP105E, 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 This manual is superseded by any new release.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 (http://www.pi.ws).

1About this Document 1
1.1 Goal and Target Audience of this 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..................................................................................................8
3.2 Features and Applications....................................................................................9
3.3 Model Overview..................................................................................................10
3.4 Product View.......................................................................................................11
3.5 Scope of Delivery ...............................................................................................11
3.6 Suitable Controllers ............................................................................................12
3.7 Accessories ........................................................................................................12
3.8 Technical Features.............................................................................................12
3.8.1 Rotary Encoder.................................................................................12
3.8.2 Limit Switches...................................................................................12
4Unpacking 13
5Installation 15
5.1 General Notes on Installation.............................................................................15
5.2 Installing the Actuator in a Mechanical Mounting...............................................16
5.2.1 Providing a Suitable Mechanical Mounting and Installation
Environment......................................................................................17
5.2.2 Installing the Actuator in a Mechanical Mounting.............................19
5.3 Installing the Actuator in a Micropositioning Stage.............................................21
Contents

6Start-Up 27
6.1 General Notes on Start-Up.................................................................................27
6.2 Starting Up the Actuator .....................................................................................29
6.2.1 M-232 Entries in the Stage Database of PI......................................31
7Maintenance 33
7.1 General Notes on Maintenance..........................................................................33
7.2 Lubricating the M-232.........................................................................................33
7.3 Cleaning the M-232 ............................................................................................34
8Troubleshooting 35
9Customer Service 37
10 Technical Data 39
10.1 Specifications......................................................................................................39
10.1.1 Data Table........................................................................................39
10.1.2 Ambient Conditions and Classifications ...........................................40
10.1.3 Limit Switch Specifications ...............................................................41
10.2 Dimensions.........................................................................................................42
10.3 Pin Assignment...................................................................................................43
10.3.1 Model with DC Gear Motor...............................................................43
10.3.2 Model with Stepper Motor.................................................................44
11 Old Equipment Disposal 45
12 EC Declaration of Conformity 47

1 About this Document
M-232 Linear Actuator MP105E Version: 1.2 1
1.1 Goal and Target Audience of this Manual
This manual contains information on the intended use of the M-232.
It assumes that the reader has a fundamental understanding of basic servo systems
as well as motion control concepts and applicable safety procedures.
For updated releases of this user manual, or if you have any questions, contact our
customer service department (p. 37).
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
About this Document

1 About this Document
2Version: 1.2 MP105E M-232 Linear Actuator
Symbol 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
 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.
For the latest versions of the user manuals contact our customer service department
(p. 37).
Product Document
Linear actuators MP122EK Short Instructions
Suitable Controller User Manual of the applied controller

2 Safety
M-232 Linear Actuator MP105E Version: 1.2 3
2.1 Intended Use
The M-232 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-232 is intended for positioning, adjusting
and shifting loads in one axis at various velocities.
The intended use of the M-232 is only possible when installed and with a suitable
controller (p. 12). The controller is not included in the scope of delivery of the M-232.
2.2 General Safety Instructions
The M-232 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-232.
Only use the M-232 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-232.
2.2.1 Organizational Measures
User manual
Always keep this user manual next to the M-232.
If the user manual is lost or damaged, contact our customer service
department (p. 37).
Add all information given by the manufacturer to the user manual, for example
supplements or Technical Notes.
2
Safety

2 Safety
4Version: 1.2 MP105E M-232 Linear Actuator
If you pass the M-232 on to other users, also turn over 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 lead to slight injury as well
as property damage.
Only install and operate the M-232 after having read and understood this user
manual.
Personnel qualification
The M-232 may only be started up, operated, maintained and cleaned by authorized
and qualified staff.
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 pusher of the M-232.
Overtightening the mounting screws can damage the mounting shaft of the linear
actuator and hinder the motion of the pusher. This reduces the positioning accuracy.
Tighten the mounting screws to a maximum torque of 0.3 Nm.
The heat produced during operation of the M-232 can affect your application.
Install the M-232 so that your application is not affected by the dissipating
heat.

2 Safety
M-232 Linear Actuator MP105E 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-232 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-232.
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-232. The consequences of this can be expressed as follows:

2 Safety
6Version: 1.2 MP105E M-232 Linear Actuator
Oscillations
Imprecise approach of the position
Settling time is too long
If the performance of the M-232 is not satisfactory, check the settings for the
servo-control parameters of your controller.
2.2.5 Safety Measures during Maintenance
The M-232 is precisely aligned.
Do not loosen any sealed screw.

3 Product Description
M-232 Linear Actuator MP105E Version: 1.2 7
3
Product Description

3 Product Description
8Version: 1.2 MP105E M-232 Linear Actuator
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. 12).
Actuator Produces the motions of the part
to be driven or the load in your
application.
Here: linear actuator, type M-232.
Present product.

3 Product Description
M-232 Linear Actuator MP105E Version: 1.2 9
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 end
piece, 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. end pieces).
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 M-232 is a compact and cost-effective linear actuator with a 17 mm travel range
and a length that could be reduced with a folded drive to only 72 mm. As a result of
the combination of a backlash-free preloaded DC gear motor with high-resolution
rotary encoder and an extremely low-friction and zero-backlash design, the M-232
achieves minimum incremental motions of 100 nm and velocities of up to 2.5 mm/s. A
design with a stepper motor is also on offer.
Integrated limit switches as well as line drivers enable easy installation in automation
solutions and protect the mechanical system of the actuator.
The M-232 can be installed, for example, on the fiber positioning system /
micropositioning stage M-105 or M-106 instead of a micrometer screw or a piezo
drive.

3 Product Description
10 Version: 1.2 MP105E M-232 Linear Actuator
3.3 Model Overview
Two versions of the M-232 are available. They differ in terms of their drive type.
Model Name
M-232.17 Compact High-Resolution DC Mike Linear Actuator, 17 mm,
Limit Switches
M-232.17S Compact High-Resolution Stepper Mike Linear Actuator, 17
mm, Limit Switches
For further technical data, see the specifications (p. 39).
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. 37) directly.

3 Product Description
M-232 Linear Actuator MP105E Version: 1.2 11
3.4 Product View
Figure 2: Product view
1 Moving pusher, rotating, with M3.5 thread and convex end
2 Mounting shaft with circumferential groove
3 Locating surface
4 Continuous mounting hole, M3 thread
5 Case
6 Cable for connecting to the controller
3.5 Scope of Delivery
Order Number Items
M-232 Linear actuator according to order (p. 10)
MP122EK Short Instructions

3 Product Description
12 Version: 1.2 MP105E M-232 Linear Actuator
3.6 Suitable Controllers
The M-232 must be connected to a suitable controller (see Data Table, p. 39).
The required PC software is included in the scope of delivery of the PI controllers. The
operation of the controllers is described in the corresponding user manuals.
3.7 Accessories
Order
Number Description
C-842.AP1 PWM-to-analog adapter box for operating M-232 linear actuators with
PWM signals
To order, contact our customer service department (p. 37).
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-232 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. 41) for more information.

4 Unpacking
M-232 Linear Actuator MP105E Version: 1.2 13
1. Unpack the M-232 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-232 Linear Actuator MP105E 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 pusher of the M-232.
NOTICE
Heating up of the M-232 during operation!
The heat produced during operation of the M-232 can affect your application.
Install the M-232 so that your application is not affected by the dissipating heat.
INFORMATION
Linear actuators with DC gear motors are equipped with integrated signal drivers for
cable lengths of ≤10 m between linear actuator and motor controller.
INFORMATION
5
Installation

5 Installation
16 Version: 1.2 MP105E M-232 Linear Actuator
The M-232 is suitable for installation in the following fixtures:
Suitable mechanical mounting
PI micropositioning stages / fiber positioning systems of the types M-105 and M-
106
The necessary steps are described in the following sections.
INFORMATION
To achieve an optimum repeatability, the mounting shaft must not have any
backlash.
During mounting, make sure that there is a faultless connection between the
actuator and the mechanical mounting.
5.2 Installing the Actuator in a Mechanical Mounting
To install the actuator in a mechanical mounting, the following steps are required:
1. Providing a suitable mechanical mounting
2. Installing the actuator in the mechanical mounting
Detailed instructions can be found in the following sections.