PI V-273 User manual

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstr. 1, 76228 Karlsruhe, Germany
Phone: [phone], Fax: [phone], E-mail: [e-mail]
MP124E
V
-273 VC Linear Actuator
User Manual
Version: 1.0.0
Date: 30.03.2015
This document describes the following
products:

V-273.430
PIMag® Voice Coil Linear Actuator,
20 mm, 6 N, Linear Encoder,
0.1 µm Resolution

V-273.431
PIMag® Voice Coil Linear Actuator,
20 mm, 6 N, Linear Encoder,
0.1 µm Resolution, Force Sensor

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®, PIMag®
PI owns the following patents or patent applications for the technology field Magnetic
Direct Drives (PIMag®):
WO212146709A2, DE102012207082A1
© 2015 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
First printing: 30.03.2015
Document number: MP124E, KSch, Version 1.0.0
Subject to change without notice. This manual is superseded by any new release. The
latest release is available for download (p. 3) 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 Definition...............................................................................................................2
1.4 Figures..................................................................................................................3
1.5 Other Applicable Documents................................................................................3
1.6 Downloading Manuals ..........................................................................................3
2Safety 5
2.1 Intended Use ........................................................................................................5
2.2 General Safety Instructions..................................................................................5
2.3 Organizational Measures......................................................................................6
3Product Description 7
3.1 Model Overview....................................................................................................7
3.2 Product View.........................................................................................................7
3.2.1 Overview.............................................................................................7
3.2.2 Product Details ...................................................................................8
3.2.3 Product Labeling.................................................................................9
3.3 Scope of Delivery ...............................................................................................10
3.4 Suitable Controllers ............................................................................................11
3.5 Technical Features.............................................................................................11
3.5.1 Linear Encoder .................................................................................11
3.5.2 Reference Point Switch ....................................................................11
3.5.3 Force Sensor....................................................................................12
3.5.4 ID Chip..............................................................................................12
Contents

4Unpacking 13
5Installation 15
5.1 General Notes on Installation.............................................................................15
5.2 Optional: Changing the Contact Piece of the Force Sensor on the V-
273.431 Model:...................................................................................................16
5.3 Installing the V-273 in a Mechanical Mounting...................................................17
5.4 Connecting the Motor Cable to the V-273..........................................................20
6Start-Up and Operation 21
6.1 General Notes on Start-Up and Operation.........................................................21
6.2 Starting Up the V-273 with the C-413 Controller................................................24
7Maintenance 27
7.1 General Notes on Maintenance..........................................................................27
7.2 Cleaning the V-273.............................................................................................27
8Troubleshooting 29
9Customer Service 31
10 Technical Data 33
10.1 Specifications......................................................................................................33
10.1.1 Data Table........................................................................................33
10.1.2 Maximum Ratings.............................................................................35
10.1.3 Ambient Conditions and Classifications ...........................................35
10.1.4 Reference Point Switch Specifications.............................................36
10.2 Dimensions.........................................................................................................37
10.2.1 V-273.430.........................................................................................37
10.2.2 V-273.431.........................................................................................38
10.3 Pin Assignment...................................................................................................40
10.3.1 Connection of the Motor and Position Sensor..................................40
10.3.2 V-273.431: Connection of the Force Sensor....................................41
11 Old Equipment Disposal 43
12 EC Declaration of Conformity 45

1 About this Document
V-273 VC Linear Actuator MP124E Version: 1.0.0 1
In this Chapter
Goal and Target Audience of this User Manual ............................................................ 1
Symbols and Typographic Conventions........................................................................ 1
Definition........................................................................................................................ 2
Figures........................................................................................................................... 3
Other Applicable Documents......................................................................................... 3
Downloading Manuals................................................................................................... 3
1.1 Goal and Target Audience of this User Manual
This manual contains information on the intended use of the V-273.
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 (p. 3) on our
website.
1.2 Symbols and Typographic Conventions
The following symbols and typographic conventions are used in this user manual:
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
2 Version: 1.0.0 MP124E V-273 VC Linear Actuator
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
RS-232 Labeling of an operating element on the product
(example: socket of the RS-232 interface)
Warning sign on the product which refers to detailed
information in this manual.
1.3 Definition
Term Explanation
VC linear actuator /
VC linear drive VC = Voice Coil The feed is generated by the Lorentz force on an energized
coil (PIMag® principle) that couples to a moving rod. The
V-273 thus combines a relatively long travel range with a high
velocity and a high resolution.
Max. push/pull force Maximum force in the direction of motion.
Position or velocity control:
When a counterforce is exerted on the linear actuator, the
linear actuator counteracts it with maximum force to maintain
the target position or target velocity. When the counterforce
exceeds the specified value of the push/pull force (p. 33),
displacements or changes in velocity can occur.
Force control:
When a counterforce is exerted on the linear actuator, the
linear actuator maximally counteracts it with the target force
value. If the counterforce exceeds the target force value,
displacements are possible.
When the servo mode is switched off, the weight force of the
moving mass can be compensated for by an AutoZero
procedure (see user manual of the C-413 controller).

1 About this Document
V-273 VC Linear Actuator MP124E Version: 1.0.0 3
Term Explanation
Incremental position
sensor Sensor (encoder) for capturing changes of position or changes of angle. Signals from the incremental position sensor are
used for axis position feedback. After switching on the
controller a reference point definition must be performed
before absolute target positions can be commanded and
reached.
1.4 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.
1.5 Other Applicable Documents
The devices and software tools which are mentioned in this documentation are
described in their own manuals.
Product Document
C-413 PIMag® Controller MS224E User Manual
PIMikroMove SM148E Software Manual
1.6 Downloading Manuals
INFORMATION
If a manual is missing or problems occur with downloading:
Contact our customer service department (p. 31).

1 About this Document
4 Version: 1.0.0 MP124E V-273 VC Linear Actuator
INFORMATION
For some products (e.g. Hexapod systems and electronics that are delivered with a
CD), access to the manuals is password-protected. The password is stored on the
CD. Availability of the manuals:
Password-protected manuals: FTP download directory
Freely available manuals: PI website
Follow the corresponding instructions for downloading.
Download freely accessible manuals
1. Open the website http://www.pi-portal.ws.
2. Click Downloads.
3. Click the corresponding product category.
4. Go to the corresponding product code.
The available manuals are displayed.
5. Click the desired manual and save it on the hard disk of your PC or on a data
storage medium.
Download password-protected manuals
1. Insert the product CD in 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.
5. Open the FTP download directory (ftp://pi-ftp.ws).
−Windows operating systems: Open the FTP download directory in
Windows Explorer.
6. Log in with the user name and the password from the Release News.
7. In the directory of the corresponding product, go to the Manuals sub-directory.
8. Copy the desired manual to the hard disk of your PC or to a data storage
medium.

2 Safety
V-273 VC Linear Actuator MP124E Version: 1.0.0 5
In this Chapter
Intended Use ................................................................................................................. 5
General Safety Instructions........................................................................................... 5
Organizational Measures............................................................................................... 6
2.1 Intended Use
The V-273 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-273 has a VC linear drive (p. 2), a position sensor and, depending on the
model, a force sensor as well. The V-273 is intended for positioning, adjusting and
shifting loads in one axis at various velocities and with defined forces.
The V-273 is a linear actuator for applications in automation or handling technology.
The V-273 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-273 is only possible when installed and in connection with a
suitable controller (p. 11). The controller is not included in the scope of delivery of the
V-273.
2.2 General Safety Instructions
The V-273 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 V-273.
Only use the V-273 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 V-273.
2
Safety

2 Safety
6 Version: 1.0.0 MP124E V-273 VC Linear Actuator
2.3 Organizational Measures
User manual
Always keep this user manual available by the V-273.
The latest versions of the user manuals are available for download (p. 3) on
our website.
Add all information given by the manufacturer to the user manual, for example
supplements or Technical Notes.
If you pass the V-273 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. If your user
manual is incomplete and is therefore missing important information, property
damage can result.
Only install and operate the V-273 after having read and understood this user
manual.
Personnel qualification
The V-273 may only be installed, started up, operated, maintained and cleaned by
authorized and appropriately qualified personnel.

3 Product Description
V-273 VC Linear Actuator MP124E Version: 1.0.0 7
In this Chapter
Model Overview............................................................................................................. 7
Product View ................................................................................................................. 7
Scope of Delivery ........................................................................................................ 10
Suitable Controllers ..................................................................................................... 11
Technical Features...................................................................................................... 11
3.1 Model Overview
Two standard versions of the V-273 linear actuator are available. They differ with
regard to the force sensor and thus the dimensions.
Model Dimension Force sensor present?
V-273.430 200 mm x 51 mm x 37.2 mm No
V-273.431 205.5 mm x 51 mm x 37.2 mm Yes
For further technical data, see the specifications (p. 33).
3.2 Product View
3.2.1 Overview
Figure 1: V-273.430 (left) and V-273.431 (right)
3
Product Description

3 Product Description
8 Version: 1.0.0 MP124E V-273 VC Linear Actuator
3.2.2 Product Details
Figure 2: Front side of the V-273.430 linear actuator
1 Moving rod (= guide rail)
2 Case
3 Connection for motor cable (panel plug, Sub-D 15)
x Positive direction of motion
Figure 3: Front side of the V-273.431 linear actuator
1 Cable exit of the force sensor
2 Exchangeable contact piece of the force sensor
3 Force sensor
4 Moving rod (= guide rail)
5 Case
6 Connection for motor cable (panel plug, Sub-D 15)
x Positive direction of motion

3 Product Description
V-273 VC Linear Actuator MP124E Version: 1.0.0 9
Figure 4: Force sensor of the V-273.431 model
1 M3 threaded bolt for screwing the contact piece onto the force sensor
Figure 5: Rear side of the V-273 linear actuator, hole pattern and transport lock are identical for both
standard versions
1 Case
2 Transport lock (M2.5 screw)
3.2.3 Product Labeling
On the case of the V-273, there is a type plate with the following information:
Labeling Description
Data matrix code (example; contains the serial
number)
V-273.430 Product name (example), the places after the
point refer to the model

3 Product Description
10 Version: 1.0.0 MP124E V-273 VC Linear Actuator
Labeling Description
114003601 Serial number (example), individual for each V-
273
Meaning of the places (counting from left): 1 =
internal information,
2 and 3 = manufacturing year,
4 to 9 = consecutive numbers
Manufacturer's logo
Warning sign "Observe manual!"
Old equipment disposal (p. 43)
Country of origin: Germany Country of origin
WWW.PI.WS Manufacturer's address (website)
CE conformity mark
3.3 Scope of Delivery
Item ID Component
V-273.430
or
V-273.431
Linear actuator according to order (p. 7)
000025499 M2.5x12 A2 screw ISO 14580 as transport lock
C-815.18 Sub-D 15 (m/f) motor cable, 1 m
MP124E User manual (this document) in printed form

3 Product Description
V-273 VC Linear Actuator MP124E Version: 1.0.0 11
3.4 Suitable Controllers
The V-273 must be connected to a suitable controller. The following controllers from
PI are suitable for the operation of the V-273:
Controller Description
C-413.20 PIMag® Motion Controller, 2 Channels, USB Interface,
OEM Board, Force Control Option
C-413.20A PIMag® Motion Controller, 2 Channels, USB Interface,
Analog Inputs, OEM Board, Force Control Option
C-413.2G PIMag® Motion Controller, 2 Channels, USB Interface,
Bench-Top Device, Force Control Option
C-413.2GA PIMag® Motion Controller, 2 Channels, USB Interface,
Analog Inputs, Bench-Top Device, Force Control Option
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.
3.5 Technical Features
3.5.1 Linear Encoder
The V-273 is equipped with an optical linear encoder. For the resolution, refer to the
table in the "Specifications" section (p. 33).
Optical linear encoders measure the actual position directly (direct metrology).
Therefore, errors occurring in the drivetrain, such as nonlinearity, backlash or elastic
deformation, cannot influence the measurement of the position.
3.5.2 Reference Point Switch
The V-273 is equipped with a direction-sensing reference point switch, which is
located at about the midpoint of the travel range. This sensor transmits a TTL signal
that indicates whether the linear actuator is on the positive or negative side of the
reference point switch.
See the controller user manual and/or associated software manuals for the commands
which make use of the reference point signal.
For more information, see "Reference Point Switch Specifications" (p. 36).

3 Product Description
12 Version: 1.0.0 MP124E V-273 VC Linear Actuator
3.5.3 Force Sensor
The V-273.431 model is equipped with a force sensor. The force sensor is mounted
on the moving rod (p. 8).
The force sensor allows the application of a defined force and the measurement of the
counterforce that is applied orthogonally to the contact piece of the sensor (p. 17).
Forces up to 10 N can be measured, and forces up to 6 N can be applied, each with
an open-loop resolution of 1 mN.
The force sensor works as an incremental sensor. When the controller is switched on
or rebooted, the connected force sensor always measures 0 N, regardless of the
actual force exerted on the force sensor.
3.5.4 ID Chip
The V-273 linear actuators contain one ID chip per sensor on which the following data
is stored:
Information on the linear actuator:
−Type
−Serial number
Coefficients of the polynomial for mechanics linearization
Settings for the sensor: E.g. interpolation rate, corrections of hysteresis, phase
and offset, gain values
Data for checking the validity when the contents of the ID chip are read out
When switched on or rebooted, controllers from PI read the data from the ID chip.
For more information on the ID chip recognition, see the manual of the controller used.

4 Unpacking
V-273 VC Linear Actuator MP124E Version: 1.0.0 13
NOTICE
Mechanical overload from incorrect handling!
An impermissible mechanical load on the V-273 due to transportation without a
transport lock and incorrect handling can damage the moving rod of the V-273 as
well as cause accuracy losses.
Only ship the V-273 in the original packaging and with a transport lock installed.
Only hold the V-273 by the housing
The V-273 is delivered with a transport lock installed.
Figure 6: Rear side of the V-273 linear actuator, hole pattern and transport lock are identical for both
standard versions
1 Case
2 Transport lock (M2.5 screw)
Tools and accessories
Suitable screwdriver for M2.5 screw: Allen wrench AF 2
4
Unpacking

4 Unpacking
14 Version: 1.0.0 MP124E V-273 VC Linear Actuator
Unpacking the V-273
1. Unpack the V-273 with care.
2. Compare the contents against the items covered by the contract and against
the packing list. If parts are incorrectly supplied or missing, contact PI
immediately.
3. Inspect the contents for signs of damage. If you notice signs of damage,
contact PI immediately.
4. Remove the transport lock:
−Remove the M2.5 screw on the rear side of the V-273.
5. Keep all packaging materials and the transport lock in case the product needs
to be transported again later.

5 Installation
V-273 VC Linear Actuator MP124E Version: 1.0.0 15
In this Chapter
General Notes on Installation...................................................................................... 15
Optional: Changing the Contact Piece of the Force Sensor on the V-273.431 Model:16
Installing the V-273 in a Mechanical Mounting............................................................ 17
Connecting the Motor Cable to the V-273................................................................... 20
5.1 General Notes on Installation
NOTICE
Heating up of the V-273 during operation!
The heat produced during operation of the V-273 can affect your application.
Install the V-273 so that the application is not affected by the dissipated heat.
Ensure sufficient ventilation at the place of installation.
Make sure that the complete bottom side of the V-273 is in contact with the
surface on which the V-273 is mounted.
NOTICE
Lubricants, dirt, condensation!
Dirt, oil, lubricants and condensation will render the motor/drive inoperable.
Keep the V-273 free from lubricants.
Keep the V-273 free from dirt and condensation.
INFORMATION
If unsuitable cables are used, interference can occur in the signal transmission
between the linear actuator and the controller.
Only use original PI parts to connect the linear actuator to the controller. The
maximum cable length is 1 m.
If you need longer cables, contact our customer service department (p. 31).
5
Installation

5 Installation
16 Version: 1.0.0 MP124E V-273 VC Linear Actuator
INFORMATION
For the positive direction of motion of the rod (X axis), see "Product Details" (p. 8) or
the dimensional drawing in "Dimensions" (p. 37).
5.2 Optional: Changing the Contact Piece of the Force
Sensor on the V-273.431 Model
INFORMATION
The mechanical coupling of the moving rod to a surface is achieved using the
contact piece of the force sensor. A contact piece made of aluminum and plastic is
installed by default.
If you change the contact piece, you may have to adapt the parameter settings
of the C-413 controller to the changed contact stiffness.
Prerequisites
The linear actuator is not connected to the controller.
Tools and accessories
Suitable contact piece with M3 internal thread
Changing the contact piece of the force sensor on the V-273.431
model:
1. Manually unscrew the contact piece to be replaced from the force sensor of
the V-273.431.
2. Manually screw the new contact piece onto the M3 threaded bolt of the force
sensor.
Maximum torque: 15 Ncm.