PI MP106E User manual

Physik Instrumente (PI) GmbH & Co. KG · Auf der Römerstr. 1 76228 Karlsruhe, Germany
Telephon [phone] · Telefax [phone] · E-Mail [email protected]s
MP106E
M-235
Linear Actuators
User
Manual
Version: 1.2
Date: 31.08.2020
This document describes the following
high
-load precision linear actuators with
recirculating bal
l screws:

M-235.2DD:
Travel Range 20 mm, DC Direct Drive

M-235.2DG:
Travel Range 20 mm, DC Gear Motor

M-235.5DD:
Travel Range 50 mm, DC Direct Drive

M-235.5DG:
Travel Range 50 mm, DC Gear Motor

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: MP106E, 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 This manual is superseded by any new release.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....................................................................4
2.2.2 Measures for Handling Vacuum-Compatible Products ......................4
2.2.3 Safety Measures during Installation ...................................................4
2.2.4 Safety Measures during Start-Up.......................................................5
2.2.5 Safety Measures during Operation.....................................................6
2.2.6 Safety Measures during Maintenance................................................6
3Product Description 7
3.1 System Overview..................................................................................................8
3.2 Features and Applications....................................................................................9
3.3 Model Overview....................................................................................................9
3.4 Product View.......................................................................................................11
3.5 Scope of Delivery ...............................................................................................12
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
3.8.3 Reference Point Switch ....................................................................13
Contents

4Unpacking 15
5Installation 17
5.1 General Notes on Installation.............................................................................17
5.2 Changing the Tip ................................................................................................18
5.3 Providing a Suitable Mechanical Mounting and Installation Environment..........21
5.4 Installing the Actuator in a Mechanical Mounting...............................................23
6Start-Up 27
6.1 General Notes on Start-Up.................................................................................27
6.2 Starting Up the Actuator .....................................................................................29
6.2.1 M-235 Entries in the Stage Database of PI......................................30
7Maintenance 31
7.1 General Notes on Maintenance..........................................................................31
7.2 Lubricating the M-235.........................................................................................31
7.3 Cleaning the M-235 ............................................................................................32
8Troubleshooting 33
9Customer Service 35
10 Technical Data 37
10.1 Specifications......................................................................................................37
10.1.1 Data Table........................................................................................37
10.1.2 Ambient Conditions and Classifications ...........................................38
10.1.3 Limit Switch Specifications ...............................................................39
10.1.4 Reference Point Switch Specifications.............................................39
10.2 Dimensions.........................................................................................................40
10.2.1 Actuator ............................................................................................40
10.2.2 End Pieces........................................................................................41
10.3 Pin Assignment D-Sub 15 (Male) Connector .....................................................42
11 Old Equipment Disposal 43
12 EU Declaration of Conformity 45

1 About this Document
M-235 Linear Actuators MP106E Version: 1.2 1
In this Chapter
Goal and Target Audience of this Manual..................................................................... 1
Symbols and Typographic Conventions........................................................................ 1
Other Applicable Documents......................................................................................... 2
1.1 Goal and Target Audience of this Manual
This manual contains information on the intended use of the M-235.
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. 35).
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.
1
About this Document

1 About this Document
2Version: 1.2 MP106E M-235 Linear Actuators
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. 35).
Product Document
Linear actuators Short Instructions MP122EK
Suiting controller User Manual of the applied controller

2 Safety
M-235 Linear Actuators MP106E Version: 1.2 3
In this Chapter
Intended Use ................................................................................................................. 3
General Safety Instructions........................................................................................... 3
2.1 Intended Use
The M-235 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-235 is intended for positioning, adjusting
and shifting loads in one axis at various velocities.
The intended use of the M-235 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-235.
2.2 General Safety Instructions
The M-235 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-235.
Only use the M-235 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-235.
2
Safety

2 Safety
4Version: 1.2 MP106E M-235 Linear Actuators
2.2.1 Organizational Measures
User manual
Always keep this user manual next to the M-235.
If the user manual is lost or damaged, contact our customer service
department (p. 35).
Add all information given by the manufacturer to the user manual, for example
supplements or Technical Notes.
If you pass the M-235 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-235 after having read and understood this user
manual.
Personnel qualification
The M-235 may only be started up, operated, maintained and cleaned by authorized
and qualified staff.
2.2.2 Measures for Handling Vacuum-Compatible Products
When handling the vacuum version of the linear actuator, attention must be paid to
appropriate cleanliness. At PI, all parts are cleaned before assembly. During assembly
and measurement, powder-free gloves are worn. Afterwards, the linear actuator is
cleaned once again by wiping and shrink-wrapped twice in vacuum-compatible film.
Only touch the linear actuator with powder-free gloves.
If necessary, wipe the linear actuator clean after unpacking.
2.2.3 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.

2 Safety
M-235 Linear Actuators MP106E Version: 1.2 5
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 Nm.
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-235.
While the end piece is being screwed on or off, the torque is transferred to the drive of
the linear actuator via the pusher and can damage the drive.
Avoid torques to the pusher.
When screwing an end piece on or off, attach the pusher to the wrench flats
using an open-end wrench.
The heat produced during operation of the M-235 can affect your application.
Install the M-235 so that your application is not affected by the dissipating
heat.
2.2.4 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-235 into
the hard stop.

2 Safety
6Version: 1.2 MP106E M-235 Linear Actuators
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-235.
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 theend 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.
2.2.5 Safety Measures during Operation
For models with DC motors:
Unsuitable settings made to the servo-control parameters can impair the performance
of the M-235. The consequences of this can be expressed as follows:
Oscillations
Imprecise approach of the position
Settling time is too long
If the performance of the M-235 is not satisfactory, check the settings for the
servo-control parameters of your controller.
2.2.6 Safety Measures during Maintenance
The M-235 is precisely aligned.
Do not loosen any sealed screw.

3 Product Description
M-235 Linear Actuators MP106E Version: 1.2 7
In this Chapter
System Overview........................................................................................................... 8
Features and Applications............................................................................................. 9
Model Overview............................................................................................................. 9
Product View ............................................................................................................... 11
Scope of Delivery ........................................................................................................ 12
Suitable Controllers ..................................................................................................... 12
Accessories ................................................................................................................. 12
Technical Features...................................................................................................... 12
3
Product Description

3 Product Description
8Version: 1.2 MP106E M-235 Linear Actuators
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-235.
Present product.
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.

3 Product Description
M-235 Linear Actuators MP106E Version: 1.2 9
Component Task Supplied by or available from PI
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 motorized precision drives of the M-235 series are linear actuators with travel
ranges of 20 mm or 50 mm. They stand out thanks to their high positioning resolution,
load capacity, velocity and lifetime in industrial applications. Their design with a low-
friction and backlash-free ball screw enables loads of up to 120 N to be moved with
minimum incremental motions of up to 100 nm (M-235.xxG and M-235.xxS models) or
500 nm (M-235.xxD models). The non-rotating end piece avoids wobbles and
supports very uniform motions.
Integrated limit and reference point switches, plus line drivers enable the simple
installation in automation solutions and protect the mechanical system of the actuator.
3.3 Model Overview
Ten standard versions of the M-235 are available. All models are high-performance
linear actuators with a ball screw. They differ in terms of:
Travel range
Drive type

3 Product Description
10 Version: 1.2 MP106E M-235 Linear Actuators
Model
Travel range Drive type
20 mm 50 mm DC direct DC gearhead
M-235.2DD + +
M-235.2DG + +
M-235.5DD + +
M-235.5DG + +
.For further technical data, see the specifications (p. 37).
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. 35) directly.

3 Product Description
M-235 Linear Actuators MP106E Version: 1.2 11
3.4 Product View
Figure 2: Product view M-235 (in front: M-235.22S versio( no longer available)n, behind: M-235.5DG
version)
1 Wrench flat of the pusher
2 Pusher, non-rotating
3 M20 thread for mounting nut
4 Mounting nut for clamp connection
5 Mounting shaft
6 Window with position display
7 Sleeve for micrometer assembly
8 Sleeve for DC motor
9 Cable for connecting to the controller
10 Hand wheel for manually moving the pusher inwards and outwards
11 Stepper motor case with panel plug (not visible here) for connecting to
the controller
12 End piece, flat
13 Hole with M6 thread, 10 mm deep for integrating the end piece

3 Product Description
12 Version: 1.2 MP106E M-235 Linear Actuators
3.5 Scope of Delivery
Order Number Items
M-235 Linear actuator according to order (p. 9), with flat end piece
(assembled on delivery) and spherical end piece
MP122EK Short Instructions
3.6 Suitable Controllers
The M-235 must be connected to a suitable controller (see data table, p.37).
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 Adapter box PWM analog to operate M-235 linear actuators with PWM
signals
To order, contact our customer service department (p. 35).
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-235 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. 39) for more information.

3 Product Description
M-235 Linear Actuators MP106E Version: 1.2 13
3.8.3 Reference Point Switch
The M-235 is equipped with a direction-sensing reference point switch, which is
located at about the midpoint of the travel range. This sensor sends a TTL signal
indicating whether the linear actuator is on the positive or negative side of the
reference point switch.
The rising or falling edge of this signal can be used to indicate a known reference
position. The difference in the reference points when approached from the positive or
the negative side is about 0.2 mm to 0.4 mm.
See the controller user manual and/or associated software manuals for the commands
which make use of the reference point signal.
For further details, refer to the "Specifications" section (p. 37).

4 Unpacking
M-235 Linear Actuators MP106E Version: 1.2 15
INFORMATION
When handling the vacuum version of the linear actuator, attention must be paid to
appropriate cleanliness. At PI, all parts are cleaned before assembly. During
assembly and measurement, powder-free gloves are worn. Afterwards, the linear
actuator is cleaned once again by wiping and shrink-wrapped twice in vacuum-
compatible film.
Only touch the linear actuator with powder-free gloves.
If necessary, wipe the linear actuator clean after unpacking.
1. Unpack the M-235 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