PI PIMag V-277.630 User manual

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany
Phone [phone]
-0, Fax [phone], Email inf[email protected]s, www.pi.ws
V-277.630, V-277.631
PIMag® Voice Coil Linear Actuators

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 2 / 24
Phone [phone]
-0, Fax [phone], Email inf[email protected]s, www.pi.ws
Contents
About this Document 4
Symbols and Typographic Conventions ............................................................................................... 4
Figures.................................................................................................................................................. 5
Other Applicable Documents............................................................................................................... 5
Downloading Manuals ......................................................................................................................... 5
Safety 6
Intended Use........................................................................................................................................ 6
Safety Precautions ............................................................................................................................... 7
Product Description 8
Model Overview................................................................................................................................... 8
Product View........................................................................................................................................ 8
V-277.630 ................................................................................................................................................. 8
V-277.631 ................................................................................................................................................. 8
Scope of Delivery.................................................................................................................................. 9
Accessories........................................................................................................................................... 9
Suitable Controllers.............................................................................................................................. 9
Installation 10
Optional: Installing a Load on a V-277.630 ........................................................................................ 10
Optional: Changing the Contact Part of a V-277.631......................................................................... 11
Removing the Transport Lock ............................................................................................................ 11
Mounting the V-277 on a Surface ...................................................................................................... 12
Connecting Motor Cable and Sensor Cable to the V-277 .................................................................. 13
Operation 13
General Notes on Operation.............................................................................................................. 13
Starting Up the V-277 with the C-413.1G Controller ......................................................................... 14

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 3 / 24
Phone [phone]
-0, Fax [phone], Email inf[email protected]s, www.pi.ws
Maintenance 14
Cleaning 14
Customer Service 15
Technical Data 15
Data Table of V-277............................................................................................................................ 15
Maximum Ratings of V-277................................................................................................................ 17
Ambient Conditions and Classifications of V-277 .............................................................................. 17
Dimensions V-277.630 ....................................................................................................................... 18
Dimensions V-277.631 ....................................................................................................................... 20
Pin Assignment................................................................................................................................... 22
Motor...................................................................................................................................................... 22
Sensor .....................................................................................................................................................23
Old Equipment Disposal 24

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 4 / 24
Phone [phone]
-0, Fax [phone], Email inf[email protected]s, www.pi.ws
About this Document
This document contains the information needed for the intended use of the V-277.
Basic knowledge of servo systems, drive technologies and suitable safety measures is assumed.
Symbols and Typographic Conventions
The following symbols and typographic conventions are used in this document:
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/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
•List item
p. 5 Cross-reference to page 5

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 5 / 24
Phone [phone]
-0, Fax [phone], Email inf[email protected]s, www.pi.ws
Figures
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.
Other Applicable Documents
Product Document
C-413 PIMag® controller MS224E user manual
C-413.1G PIMag® controller C413T0008 documentation
PIMikroMove SM148E software manual
Downloading Manuals
INFORMATION
If a manual is missing or problems occur with downloading:
Contact our customer service department (p. 15).
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.

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 6 / 24
Phone [phone]
-0, Fax [phone], Email inf[email protected]s, www.pi.ws
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 code 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 end 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 displayed under Documentation.
8. Click the desired manual and save it to the hard disk of your PC or to a data storage
medium.
Safety
Intended Use
The V-277 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.
The V-277 has a voice coil linear drive, a position sensor and, depending on the model, a force
sensor as well. The V-277 is intended for positioning, adjusting and shifting loads in one axis at
various velocities and with defined forces.
The V-277 is a linear actuator for applications in automation or handling technology. The V-277 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 V-277 is only possible when installed and in connection with a suitable
controller (p. 9).

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 7 / 24
Phone [phone]
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Safety Precautions
CAUTION
Risk of cuts and crushing!
The V-275 linear actuator can generate high forces at high velocities. When a contact part
with a small contact surface is installed on the pusher of the linear actuator, the pressure
exerted by the pusher on a fixed part or obstacle during operation may be very high. If
fingers or limbs get caught between the pusher of the linear actuator and a fixed part or
obstacle during operation, there is a risk of minor injury from cuts and crushing.
Use protective structures to keep limbs away from areas in which they could be seized
by pushers.
Observe the safety distances in accordance with the applicable standards when
installing protective structures.
If possible, use contact parts with a sufficiently dimensioned contact area, so that a
pressure of 50 N / cm2is not exceeded when operating the linear actuator with the
maximum specified force (p. 15).
NOTICE
Damage due to mechanical overload of the pusher!
Excessive torque or forces on the pusher (p. 8) can damage the V-277 linear actuator.
Do not exceed a maximum screw-in depth of 5 mm when mounting a contact part
(V-277.631) or a load (V-277.630).
Do not exceed the following maximum forces both in the positive and the negative
direction of motion of the pusher:
11 N with V-277.631
20 N with V-277.630
V-277.631 only: Do not exceed a maximum torque of 15 Ncm when changing the
contact part. Use a torque wrench to tighten the contact part.
V-277.631 only: Do not exceed the maximum lateral force acting on the contact part,
which is calculated using the following formula:
Fmax = Maximum torque [in Ncm]
Maximum lever length [in cm] = 15 Ncm Contact part length [in cm] + 2.2 cm
(Contact part length: Overall length of the contact part excluding the mounting
thread)
V-277.630 only: Do not exceed a lateral force of 10 N acting on the pusher.

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 8 / 24
Phone [phone]
-0, Fax [phone], Email inf[email protected]s, www.pi.ws
Product Description
Model Overview
Two standard versions of the V-277 linear actuator are available. They differ with regard to the
force sensor and thus the dimensions:
Model Dimension Force sensor present?
V-277.630 175 (max) mm x 72 mm x 85.7 mm No
V-277.631 211.2 (max) mm x 72 mm x 85.7 mm Yes
Product View
V-277.630 V-277.631
Figure 1: V-277.630 Figure 2: V-277.631
1 Pusher with M3 mounting holes
2Housing
3Sensor connection (Sub-D 25 (m))
4M3 Signal Ground pin
5Motor connection (Sub-D 9 (m))
Arrow: Positive direction of motion
1Contact part (aluminum with elastomer contact part),
with M3 thread
2Pusher with integrated force sensor
3Housing
4Sensor connection (Sub-D 25 (m))
5M3 grounding pin, electrically connected to the
contact part (1)
6Motor connection (Sub-D 9 (m))
Arrow: Positive direction of motion
1
2
4
5
+
3
1
2
3
5
6
+
4

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 9 / 24
Phone [phone]
-0, Fax [phone], Email inf[email protected]s, www.pi.ws
Scope of Delivery
Item number Component
V-277 Linear actuator according to your order
K020B0085 Motor cable, 1.5 m, Sub-D 9 (m) 180° to Sub-D 9 (f) 90°, drag chain compatible
K030B0922 Sensor cable, 1.5 m, Sub-D 25 (m) 180° to Sub-D 25 (f) 90°, drag chain compatible
V277T0001 User manual for V-277 PIMag® actuators
Accessories
Order number Component
K020B0084 Motor cable, 3 m, Sub-D 9 (m) 180° to Sub-D 9 (f) 90°, drag chain compatible
K030B0902 Sensor cable, 3 m, Sub-D 25 (m) 180° to Sub-D 25 (f) 90°, drag chain compatible
Suitable Controllers
Controller Description
C-413.1G PIMag® Motion Controller, 1 Channel, TCP/IP Interface, Bench-Top Device, Force
Control Option

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 10 / 24
Phone [phone]
-0, Fax [phone], Email inf[email protected]s, www.pi.ws
Installation
Optional: Installing a Load on a V-277.630
INFORMATION
If you install a load on the pusher, you may have to adapt the settings of the controller due
to the changed mass.
Figure 3: Installing a load with M3 screws
Tools and accessories
Suitable torque wrench
At least one screw M3 of suitable length
Requirements
You have read and understood the safety precautions (p. 7).
Optional: Installing a load
Screw the load onto the pusher of the V-277.630. When doing so, do not exceed a
maximum screw in depth of 5 mm, and do not mechanically overload the pusher (see the
safety instructions on p. 7 for the maximum permissible stress and load capacities).
Observe a maximum torque of 110 Ncm.

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 11 / 24
Phone [phone]
-0, Fax [phone], Email inf[email protected]s, www.pi.ws
Optional: Changing the Contact Part of a V-277.631
INFORMATION
If you change the contact part of the pusher, you may have to adapt the settings of the
controller due to the changed contact part mass and/or contact stiffness.
Via the internal thread of the pusher, the contact part is electrically connected to the
M3 grounding pin of the V-277.631.
Tools and accessories
Torque wrench
Requirements
You have read and understood the safety precautions (p. 7).
Optional: Changing the contact part
1. Unscrew the supplied contact part from the pusher of the V-277.631.
2. Screw the new contact part onto the pusher of the V-277.631, maximum torque: 15 Ncm.
Removing the Transport Lock
The V-277 is delivered with a transport lock installed.
NOTICE
Damage from transport lock that has not been removed!
Damage can occur to the V-277 if the transport lock has not been removed and a motion
is commanded.
Remove the transport lock from the V-277 before you start up the V-277 with
the controller.
Figure 4: Transport lock of the V-277
Remove the transport lock using a suitable tool (hex key for M3 screws).

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 12 / 24
Phone [phone]
-0, Fax [phone], Email inf[email protected]s, www.pi.ws
Mounting the V-277 on a Surface
NOTICE
Screws that are too long!
Screws that are inserted too deeply can damage the V-277 linear actuator.
Observe the depth of the mounting holes in the housing of the V-277 linear actuator.
Only use screws of the correct length for the mounting holes:
Mounting option 1 (M4x6 mounting holes): Maximum screw-in depth is 6 mm
Mounting option 2 (M4x12 mounting holes): Maximum screw-in depth is 12 mm
You have the following mounting options:
Mounting option 1:
4 × M4x6
Mounting option 2:
4 × M4x12
Figure 5: Mounting with four M4x6
screws
Figure 6: Mounting with four M4x12 screws
To mount the V-277 linear actuator on a surface, use the four mounting holes of the
selected option with suitable screws, see figures above.
Tighten the screws with a maximum torque of 260 Ncm.

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 13 / 24
Phone [phone]
-0, Fax [phone], Email inf[email protected]s, www.pi.ws
Connecting Motor Cable and Sensor Cable to the V-277
Requirements
You have read and understood the safety precautions (p. 7).
Motor cable and sensor cable are not connected to the controller.
Tools and accessories
Sub-D 9 (m/f) motor cable, in the scope of delivery (p. 9)
Sub-D 25 (m/f) sensor cable, in the scope of delivery (p. 9)
Connecting the motor cable and sensor cable to the V-277
1. Connect the cable:
−Connect the connector (f) of the motor cable to the 9-pin Sub-D panel plug (m)
of the V-277.
−Connect the connector (f) of the sensor cable to the 25-pin Sub-D panel plug (m)
of the V-277.
2. Secure the connectors (f) with the integrated screws against being accidentally pulled out
of the V-277.
Operation
General Notes on Operation
INFORMATION
Since the drive of the V-277 linear actuator does not have any self-locking, an internal return
mechanism is implemented (return / pulling force ranges from 3 N with 0 mm travel to 5 N
with 15 mm travel). This return mechanism pulls the pusher of the V-277 in the negative
direction of motion (towards the actuator housing) when switching off or rebooting the
controller. The return motion is stopped by an integrated soft stop.
When the controller is switched on but the servo mode for the axis is switched off, the weight
force of the moving mass is compensated for by the controller (see “AutoZero Procedure for
Weight Force Compensation” in the C-413 user manual (MS224E)).

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 14 / 24
Phone [phone]
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Starting Up the V-277 with the C-413.1G Controller
Requirements
You have read and understood the following sections:
−Safety Precautions (p. 7)
−General Notes on Operation (p. 13)
You have properly installed (p. 10) the actuator.
You have read and understood the user manual of the controller.
You have read and understood the manual of the PC software.
The controller and the required PC software have been installed. All connections on the
controller have been set up (see user manual of the controller; the V-277 is connected via
the motor cable and sensor cable).
Starting up the V-277 with the C-413.1G controller
Start up the stage (see user manual of the controller).
Maintenance
The V-277 is maintenance-free.
NOTICE
Damage from opening the V-277!
Opening the housing causes damage to the V-277.
Only loosen screws according to the instructions in this document.
Do not open the V-277.
Cleaning
Before cleaning, make sure that you have disconnected the V-277 linear actuator from the
controller.
When necessary, clean the surfaces of the V-277 linear actuator with a cloth lightly
dampened with a mild cleanser or disinfectant.

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 15 / 24
Phone [phone]
-0, Fax [phone], Email inf[email protected]s, www.pi.ws
Customer Service
For inquiries and orders, contact your PI sales engineer or send us an e-mail ([email protected]).
If you have questions concerning your system, have the following information ready:
Product codes and serial numbers of all products in the system
Firmware version of the controller (if present)
Version of the driver or the software (if present)
Operating system on the PC (if present)
Technical Data
Data Table of V-277
V-277.630, V-277.631 Unit Tolerance
Active axes Z
Motion and positioning
Travel range 15 mm
Integrated sensor Optical linear encoder
Sensor resolution 110 nm max.
Min. incremental motion 100 nm typ.
Linearity error, closed-loop 1 % typ.
Repeatability ±0.5 µm typ.
Velocity 750 mm/s max.
Force sensor resolution21 mN max.
Smallest force step 35 mN typ.
Mechanical properties
Bearing / guiding Linear recirculating ball bearing
Straightness of travel ±5 µm ±5 %
Moved mass without load 190 g typ.
Return / pulling force range,
with travel range from 0 mm
to 15 mm
3 to 5 N typ.

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 16 / 24
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V-277.630, V-277.631 Unit Tolerance
Drive properties
Motor type PIMag® voice coil drive, moving coil
Coil resistance 6.3 Ωtyp., at 20°C
Coil inductance 2.70 mH typ., at 1 kHz,
at 20°C
Time constant 0.43 ms typ.
Back EMF 14 Vs/m typ.
Force constant
3
13.5 N/A typ.
Motor constant 5.6 N/W1/2 typ.
Current constant 0.072 A/N typ.
Average continuous current
4
740 mA max.
Peak current (max. 30 s) 1500 mA max.
Average push / pull force 10 N nominal
Power dissipation with 100 % duty
cycle
3.2 W
Maximum push / pull force 20 N max.
Miscellaneous
Operating temperature range 10 to 60 °C
Material Aluminum, steel
Mass 1850 g ±5 %
Max. allowable cable length 3 m
Motor / sensor connection Motor: Sub-D 9-pin (m)
Sensor: Sub-D 25-pin (m)
Lifetime > 10
7
Cycles
Recommended controller C-413.1G
1Interpolated resolution with C-413 controller.
2Refers to V-277.631 only. Interpolated resolution with C-413 controller.
3Refers to V-277.631 only
4Allowable average value for continuous operation, not to be exceeded.

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 17 / 24
Phone [phone]
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Maximum Ratings of V-277
The voice coil drive of the V-277 linear actuator is designed for the following operating data.
Maximum
Operating Voltage
Operating
Frequency
Maximum Current
(30 s)
Maximum
Continuous Current
Maximum Continuous
Power Consumption
48 V 1.5 A 0.74 A 3.2 W
Ambient Conditions and Classifications of V-277
The following ambient conditions and classifications must be observed for the V-277 linear
actuator:
Area of application For indoor use only
Maximum altitude 2000 m
Air pressure 1100 hPa to 795 hPa
(corresponds to roughly 825 Torr to 596 Torr)
Relative humidity Highest relative humidity 80 % for temperatures up to 31 °C
Decreasing linearly to 50 % relative humidity at 40 °C
Storage temperature -20 °C to 60 °C
Transport temperature -20 °C to 60 °C
Overvoltage category II
Protection class I
Degree of pollution 1
Degree of protection according
to IEC 60529
IP20

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 18 / 24
Phone [phone]
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Dimensions V-277.630
Dimensions in millimeters.
Figure 7: Left: Side with pusher, right: bottom side of V-277.630
Figure 8: Lateral views of V-277.630

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 19 / 24
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Figure 9: Top view of V-277.630
Figure 10: Location of center of gravity of V-277.630
Figure 11: 3-dimensional view of V-277.630

User Manual
V277T0001, valid for V-277.630 and V-277.631
KSch, 2017-01-24
Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany Page 20 / 24
Phone [phone]
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Dimensions V-277.631
Dimensions in millimeters.
Figure 12: Left: Side with pusher with integrated force sensor and contact part, right: bottom side of
V-277.631
Figure 13: Side with pusher with integrated force sensor, here without contact piece of the force sensor