PI L-812.051400B User manual

L812UM0001EN ‒ 7/13/2022
User Manual
L-812.XX1400[B|BF] LINEAR STAGE WITH STEPPER MOTOR
MOTION | POSITIONING

Contents
1 Legal Information.........................................................................................................5
2About this Document..................................................................................................6
2.1 Objective and Target Group..............................................................................6
2.2 Explanation of Symbols....................................................................................6
2.2.1 Typographic Conventions................................................................. 6
2.2.2 Symbols Used....................................................................................6
2.3 Figures................................................................................................................7
2.4 Other Applicable Documents............................................................................7
2.5 Downloading Manuals...................................................................................... 8
3 Safety............................................................................................................................9
3.1 Intended Use......................................................................................................9
3.2 General Safety Instructions.............................................................................. 9
3.3 Organizational Measures.................................................................................. 9
3.3.1 User Manual.......................................................................................9
3.3.2 General Personnel Qualification..................................................... 10
4 Product Description................................................................................................... 11
4.1 Model Overview............................................................................................... 11
4.2 Product Labeling.............................................................................................. 11
4.2.1 Type Plate......................................................................................... 12
4.3 Overview.......................................................................................................... 12
4.3.1 Base Body.........................................................................................14
4.3.2 Drive..................................................................................................14
4.3.3 Drive Connector............................................................................... 14
4.4 Direction of Motion..........................................................................................15
4.5 Scope of Delivery.............................................................................................15
4.6 Optional Accessories.......................................................................................15
4.7 Suitable Electronics......................................................................................... 16
5 Unpacking.................................................................................................................. 17
CONTENTS L812UM0001EN ‒ 7/13/2022
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6 Installation..................................................................................................................18
6.1 Mounting the L-812.xx1400............................................................................. 18
6.1.1 Mounting the L-812.xx1400 from Above........................................ 18
6.2 Connecting the L-812.xx1400 to the Protective Earth Conductor ................20
6.3 Building a Multi-Axis System......................................................................... 21
6.3.1 Building an XY Multi-Axis System................................................. 21
6.4 Mounting the Load onto the L-812.xx1400.................................................... 22
6.4.1 Geometric Limits for Mounting Load Masses............................... 22
6.4.2 Mounting the Load onto the L-812.xx1400 ....................................23
6.4.3 Mounting the Motion Platform onto the L-812.xx1400................. 24
6.4.4 Mounting the Load onto an Installed Motion Platform................ 25
6.5 Connecting the L-812.xx1400.......................................................................... 25
7 Startup and Operation.............................................................................................. 27
7.1 Starting and Operating the L-812.xx1400.......................................................27
8 Maintenance...............................................................................................................29
8.1 Maintenance Run.............................................................................................29
8.2 Lubricating....................................................................................................... 29
8.3 Retensioning the Toothed Belt....................................................................... 30
8.4 Cleaning............................................................................................................31
8.5 Manually Moving the Mounted Load.............................................................32
9 Troubleshooting......................................................................................................... 33
10 Transportation............................................................................................................34
11 Customer Service Department.................................................................................35
12 Technical Data............................................................................................................ 36
12.1 Specifications...................................................................................................36
12.1.1 L-812.051400BF.................................................................................36
12.1.2 L-812.091400[B|BF]........................................................................... 38
12.1.3 L-812.171400[B|BF]........................................................................... 40
12.1.4 L-812.251400[B|BF]........................................................................... 42
12.1.5 Limit Switch Specifications............................................................. 44
12.1.6 Spezifikationen zur Haltebremse.................................................... 44
12.2 Maximum Ratings........................................................................................... 44
12.3 Ambient Conditions and Classifications........................................................44
12.4 Dimensions...................................................................................................... 45
12.4.1 L-812.TT1 Motion Platform ............................................................. 46
12.5 Drive Properties............................................................................................... 46
12.6 Operating Parameters..................................................................................... 46
12.6.1 Operating Parameters for Vertical Operation................................ 46
12.6.2 Linearity Deviation from the Reference Edge................................46
13 Old Equipment Disposal........................................................................................... 48
CONTENTS L812UM0001EN ‒ 7/13/2022
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14 European Declarations of Conformity......................................................................49
15 Appendix.................................................................................................................... 50
15.1 Pin Assignment................................................................................................50
15.1.1 Drive Connector............................................................................... 50
16 Glossary......................................................................................................................52
CONTENTS L812UM0001EN ‒ 7/13/2022
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1 Legal Information
The following company names and brands are registered trademarks of Physik Instrumente
(PI) GmbH & Co. KG:
PI®, PIC®, NanoCube®, PICMA®, PIFOC, PILine®, NEXLINE®, PiezoWalk®, PicoCube®,
PiezoMove, PIMikroMove, NEXACT®, Picoactuator®, PInano®, NEXSHIFT®, PITOUCH®,
PIMag®, PIHera, Q-Motion®
The patents held by PI can be found in our list at https://www.physikinstrumente.com/en/
about-pi/patents.
© 2022 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 reserves all rights. The use of any text, images and
drawings is permitted only in part and only when indicating the source.
Original instructions
First print: 7/13/2022
Document number: L812UM0001en, ASt
Subject to change. This manual is superseded by any new release. The latest respective
release is available for download on our website (www.pi.ws).
Publisher:
PI miCos GmbH
Freiburger Strasse 30
79427 Eschbach
Germany
[email protected]
www.pi.de
Customer service department:
Physik Instrumente (PI) GmbH & Co. KG
Auf der Roemerstrasse 1
76228 Karlsruhe
Germany
[email protected]
www.pi.de
1 LEGAL INFORMATION L812UM0001EN ‒ 7/13/2022
5MOTION | POSITIONING

2 About this Document
2.1 Objective and Target Group
This user manual contains the information needed for the intended use of the L-812.xx1400,
L
-812.xx1400B, and L-812.xx1400BF (hereinafter refered to as L-812.xx1400 or L-812).
Basic knowledge of closed-loop systems, motion control concepts, and applicable safety
measures is assumed.
2.2 Explanation of Symbols
This chapter explains the symbols and markings used by PI in their user manuals.
2.2.1 Typographic Conventions
Symbol / label Meaning
1.
2.
Action consisting of one or several steps with strict sequential order
► Action consisting of one or more steps without relevant sequential or-
der
■ Lists
p. 5 Cross-reference to page 5
RS-232 Label on the product indicating an operating element (example: RS-232
interface socket)
Start > Settings Menu path in the PC software (example: to open the menu, Start and
Settings must be clicked successively)
POS? Command line or a command from PI's General Command Set (GCS)
(example: command to get the axis position)
Device S/N Parameter name (example: parameter where the serial number is stor-
ed)
5Value that must be entered or selected via the PC software
2.2.2 Symbols Used
Symbol / Label Meaning
General hazard symbol
DANGER
Dangerous situation
Failure to comply could lead to death or serious injury.
►Precautionary measures for avoiding the risk.
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WARNING
Dangerous situation
Failure to comply could lead to serious injury.
►Precautionary measures for avoiding the risk.
CAUTION
Dangerous situation
Failure to comply could lead to minor injury.
►Precautionary measures for avoiding the risk.
NOTICE
Dangerous situation
Failure to comply could lead to material damage.
►Precautionary measures for avoiding the risk.
Information
Additional information on the L-812.xx1400 that can affect your application.
2.3 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.
2.4 Other Applicable Documents
The devices and software tools that are mentioned in this documentation are described in
separate manuals.
Document number Document
type
Product
MS241 Manual C-663.12
C663T0004,
C885T0002
Manual C-663.12C885, C-885 PIMotionMaster
G910M0001 Manual G-910.RC0242x00
G910M0002 Manual G-910.RC0102x00
G910M0003 Manual G-910.RC0302200
G901M0001 Manual G-901.R319[x]
SM148 Manual PIMikroMove
On request Manual User manual for the ACS electronics
On request Manual User manual for the ACS user software
The latest versions of the user manuals can be downloaded (p. 8) at www.pi.ws.
2 ABOUT THIS DOCUMENT L812UM0001EN ‒ 7/13/2022
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2.5 Downloading Manuals
Information
If a manual is missing or problems occur with downloading:
►Contact our customer service department (p. 35).
Downloading Manuals
1. Open the website www.pi.ws.
2. Search the website for the product number (e.g., L-812).
3. Click the corresponding product to open the product detail page.
4. Click the Downloads tab.
➔The manuals are shown under
Documentation .
5. Click the desired manual and fill out the inquiry form.
➔The download link will then be sent to the email address entered.
2 ABOUT THIS DOCUMENT L812UM0001EN ‒ 7/13/2022
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3 Safety
3.1 Intended Use
The L-812.xx1400 is an incomplete machine as defined by the Machinery Directive (2006/42/
EG). The integrator is responsible for complying with security standards and the EMC
directive after the device is built in. The L-812.xx1400 is intend for indoor use and in an
environment free from corrosive and/or electrically conductive acids, alkalines, oils, vapors,
and dust.
In accordance with its design, the L-812.xx1400 is intended for positioning, adjusting and
shifting loads in one axis at various velocities. The L-812.xx1400 is not intended for
applications in areas, in which a failure would present severe risks to human beings or the
environment.
If the L-812.xx1400 does not have a holding brake, it is only intended for operation with a
horizontally aligned motion axis. The following applies to models with holding brake
(L-812.xx1400B, L-812.xx1400BF): When operating with the motion axis aligned vertically, the
holding brake of the motor is not sufficient to ensure the functional safety of the L-812; it
must be mounted so that no personal injury or damage to property occurs in the event of an
unintentional change in position of the mounted load.
It is only possible to use the L-812.xx1400 as intended when it is installed and connected
properly, and when all measures described herein are adhered to. The L-812.xx1400 must be
operated with suitable electronics. The electronics are not in the scope of delivery of the
L-812.xx1400.
Unauthorized modifications without the producer's or his authorized representatives'
consent will render the issued Declaration of Incorporation void and the executing company
will become the manufacturer within the meaning of the EC Machinery Directive.
3.2 General Safety Instructions
The L-812.xx1400 is built according to state-of-the-art technology and recognized safety
standards. Improper use of the L-812.xx1400 may result in personal injury and/or damage to
the L-812.xx1400.
►Use the L-812.xx1400 only for its intended purpose and when it is in perfect condition.
►Read the user manual.
►Eliminate any malfunctions that may affect safety immediately.
The operator is responsible for installing and operating the L-812.xx1400 correctly.
3.3 Organizational Measures
3.3.1 User Manual
►Always keep this user manual available with the L-812.xx1400. The latest versions of the
user manuals can be downloaded (p. 8) at www.pi.ws.
►Add all information from the manufacturer such as supplements or technical notes to the
user manual.
►If you give the L-812.xx1400 to a third party, also include 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 damage to equipment.
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►Only install and operate the L
-812.xx1400 after you have read and understood this user
manual.
3.3.2 General Personnel Qualification
The L-812.xx1400 may only be installed, started up, operated, maintained, and cleaned by
authorized and appropriately qualified personnel.
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4 Product Description
4.1 Model Overview
High-load linear stage; 2-phase stepper motor; 102 to 610 mm travel range (see table);
500 N load capacity; 100 mm/s maximum velocity; ball screw
L-812.xx1400B: with holding brake
L-812.xx1400BF: with holding brake and folded drivetrain
Product number Travel range
L-812.051400[B|BF] 102 mm (4")
L-812.091400[B|BF] 204 mm (8")
L-812.171400[B|BF] 407 mm (16")
L-812.251400[B|BF] 610 mm (24")
4.2 Product Labeling
2
11
45 3
Figure 1: Product labeling on L-812.xx1400 and L-812.xx1400B
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2 3 1
1
45
Figure 2: Product labeling on the L-812.xx1400BF
1. Warning symbol: risk of crushing
2. Connector label
3. Protective earth connector symbol
4. Type plate
5. Grease nipple labeling
4.2.1 Type Plate
Figure 3: Type plate of the L-812.xx1400
1. Data matrix code (example; contains the serial number)
2. Product number (example)
3. Serial number (example), individual for each L-812.xx1400
Meaning of the position (counting from the left):
1 = internal information,
2 and 3 = year of manufacture,
4 to 9 = consecutive numbers
4. Warning and conformity symbols (old equipment disposal (p. 48), CE mark (p. 49))
4.3 Overview
L-812.xx1400 and L-812.xx1400B models
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2
1
3
4
5
Figure 4: Elements of the L-812.xx1400 and L-812.xx1400B
1. Slider with two mounting rails for the load or platform
2. Drive, on L-812.xx1400B models: with holding brake
3. Drive connector
4. Protective earth connector
5. Base body
L-812.xx1400F and L-812.xx1400BF models
5
4
3
2
6
1
Figure 5: Elements of the L-812.xx1400BF
1. Base body
2. Drive, on L-812.xx1400BF models: with holding brake
3. Drive connector
4. Protective earth connector
5. Toothed belt box
6. Slider with two mounting rails for the load or platform, on the side: nipple for lubricating
the drive screw
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4.3.1 Base Body
The base body is the basis of the positioner.The L-812.xx1400 is mounted onto an underlying
surface via the base body (p. 18).
The protective earth connector is on the side of the L-812.xx1400's base body.
The L-812.xx1400 has a lateral reference edge that can be used, for example, to align it with
locating pins (see figure). The reference edge is at the bottom on the side with the PI logo
(refer to "Dimensions" (p. 45) for details). The deviation in parallelism (p. 46) between the
reference edge and the linear guide is typically < 30 µm.
Figure 6: Reference edge of the L-812.xx1400
The base body comprises the following subassembly (subassemblies):
Limit switches
The limit switches (p. 44) are sensors at each end of the travel range that enable the
electronics to abort motion in order to prevent the motion platform from colliding with the
mechanical hard stop.
4.3.2 Drive
The drive generates the force that is required for the dynamics of the L-812.xx1400.
The drive comprises the following subassembly or subassemblies:
Motor
The motor generates the force required to move the fixed load.
Der Motor des L-812.xx1400 verfügt über einen Kommutierungsencoder. Zur Kodierung siehe
"Kommutierungsencoder".
Drive screw
The drive screw converts the rotary motion of the drive to linear motion of the motion
platform.
Toothed belt box
For models with folded drivetrain:
The motor torque of positioners with folded drivetrain is transferred to the drive screw via a
toothed belt. The toothed belt box contains the toothed belt.
4.3.3 Drive Connector
The electrical connection to the electronics is established via the drive connector (p. 50).
The drive connector transmits the supply voltage and the signals for the L-812.xx1400's
drive.
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4.4 Direction of Motion
Figure 7: View of the L-812.xx1400's direction of motion
4.5 Scope of Delivery
Product number Description
L-812.xx1400[B|BF] Linear stage according to the order (p. 11)
L-812.05xxxx[B|BF]: L812B0014-0500
L
-812.09xxxx[B|BF]: L812B0014-0900
L-812.17xxxx[B|BF]: L812B0014-1700
L-812.25xxxx[B|BF]: L812B0014-2500
Mounting kit for mounting the L-812.xx1400,
consisting of
■yy socket head screws, ISO 4762 M6×35
A2-70
■yy flat washers, ISO 7092 6 mm A2
■2 dowel pins, ISO 2338 4h8×12 A1
yy:
L812B0014-0500: 8
L812B0014-0900: 12
L812B0014-1700: 20
L812B0014-2500: 28
Installed on the L-812.xx1400 on delivery Carrying aid for the L-812.xx1400:
■4 eyebolts M8×60 (each with mounted
hexagon and ring nut)
L812UM0001 User manual for the product (this document)
Declaration of Incorporation of Partly Com-
pleted Machinery
Declaration of incorporation for the product
according to the Machinery Directive (also
included (p. 49) in this user manual)
4.6 Optional Accessories
Product number Description
L-812.TT1 Platform for L-812.xx1400, mounting hard-
ware included:
■12 socket head screws, ISO 4762 M4x16
■2 dowel pins, ISO 2338, 4h8×10
■2 contact disks 4.2
To order, contact our customer service department (p. 35).
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4.7 Suitable Electronics
The L-812.xx1400 must be connected to suitable electronics that supply the necessary
voltage for operating and if required, to evaluate the sensor and limit switch signals. The
following electronics are suitable:
Product number Description
G-901.R319[x] ACS controller with ACS driver module, 2 / 3 / 4 axes, intermediate cir-
cuit voltage 48 V / 1000 W
On request Modular ACS controller (ACS SPiiPlusEC and UDMpa)
Also compatible with other 3rd-party controllers and servo drivers
Note that the cables required for connecting the L-812.xx1400 to the electronics must be
ordered separately.
To order, contact our customer service department (p. 35).
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5 Unpacking
NOTICE
Mechanical overload due to incorrect handling!
Impermissible mechanical overload caused by lifting the L-812.xx1400 improperly could
cause deformation or damage to the L-812.xx1400.
►Always use the carrying aid supplied to lift and transport the L-812.xx1400.
Unpacking the L-812.xx1400 and Transporting it to its Intended Place of Use
1. Unpack the L-812.xx1400 with care.
2. Compare the contents with the scope of delivery according to the contract and the
delivery note.
3. Inspect the contents for signs of damage. If any parts are damaged or missing, contact
our customer service department (p. 35) immediately.
4. Transport the L-812.xx1400 to the intended place of use. Use the carrying aid for this
purpose.
The L-812.xx1400 is delivered with carrying aid installed: 4 eyebolts, mounted in pairs in
front of and behind the slider. Lift the L-812.xx1400 on the eyebolts only.
5. If the L-812.xx1400 was supplied with ESD protective caps on the connectors: Do not
remove the ESD protective caps.
6. Remove the carrying aid after transporting the L-812.xx1400 to the intended place of use
by unscrewing the eyebolts out of the M8 threaded holes.
7. Keep the carrying aid in case the L-812.xx1400 needs to be transported later.
8. Keep all packaging materials in case the product needs to be returned.
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6 Installation
6.1 Mounting the L-812.xx1400
The L-812 models without holding brake may be installed horizontally only.
The L
-812 models with holding brake (L-812.xx1400B or L-812.xx1400BF) may also be
installed vertically.
WARNING
Risk of injury when the L-812.xx1400B or L-812.xx1400BF is mounted vertically!
The holding brake of the motor is not sufficient to ensure functional safety when operating
L-812.xx1400B or L-812.xx1400BF with the motion axis aligned vertically. Risk of serious
injury as well as damage to the positioner and the surrounding area in the event of
unintentional changes in the position of the mounted load.
►Mount the positioner so that personal injury or material damage does not occur in the
event of an unintentional change in position of the mounted load.
CAUTION
Risk of crushing by moving parts!
Risk of minor injuries from crushing between the moving parts of the L-812.xx1400 or the
load and a fixed part or obstacle.
►Use safeguards to protect limbs in areas where they could be caught by moving parts.
►Maintain the safety distances according to DIN EN ISO 13857 when installing protective
structures.
NOTICE
Damage due to collisions!
Collisions can damage the L
-812.xx1400, the load to be moved, and the surroundings.
►Make sure that collisions are not possible between the L-812.xx1400, the load to be
moved, and the surroundings in the motion range of the L-812.xx1400.
►Do not place any cables or other objects in areas where they could be caught by moving
parts.
NOTICE
Damage due to mechanical stress on the cable!
The cable will break from excessive bending or crushing. A broken cable will lead to failure
of the L-812.xx1400 or damage to the L-812.xx1400 or the electronics.
►Install the L-812.xx1400 so that the cable cannot be bent or crushed too strongly.
6.1.1 Mounting the L-812.xx1400 from Above
Overview
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Figure 8: Mounting the L-812.xx1400 onto an underlying surface
Tools and Accessories
■Mounting kit for mounting the L-812.xx1400 (p. 15)
■Suitable torque wrench
Requirements
✓You have read and understood the general safety instructions (p. 9).
✓You have provided a suitable underlying surface with the holes necessary for the screws
and if required, locating pins. For the position and depth required for the holes, see
"Dimensions" (p. 45).
■The surface flatness is ≤ 2 µm.
■For applications with large temperature fluctuations: The surface should have the
same or similar thermal expansion properties as the L-812.xx1400.
✓You have accounted for the space required to route cables according to regulations and
without bending them.
■The cable routing does not obstruct the motion of the L-812.xx1400.
■The cable does not rub against sharp edges during movements of the L-812.xx1400.
Mounting the L-812.xx1400
1. Optional: Insert the locating pins into the respective holes in the underlying surface.
2. Align the L-812.xx1400:
a) Optional: Align the L-812.xx1400 e.g., by placing its lateral reference edge (refer to
"Dimensions" (p. 45) for details) along locating pins on the underlying surface (see
figures).
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b) Align the L-812.xx1400 on the underlying surface so that the corresponding mounting
holes in the L
-812.xx1400 and underlying surface are in line.
3. Optional: Put the L-812.xx1400 onto the underlying surface so that the locating pins are in
the corresponding locating holes in the L-812.xx1400.
4. If necessary, use a flat washer with each screw and insert the screws through the flat
washers into the mounting holes.
5. Tighten the screws in all mounting holes.
Recommended torque: 3 Nm
6. Check that the L-812.xx1400 is sitting firmly on the underlying surface.
6.2 Connecting the L-812.xx1400 to the Protective Earth Conductor
The L-812.xx1400 must be connected to the protective earth conductor via the drive
connector: For this purpose, the protective earth connector on the motor plug on the drive
electronics side must be connected to an earth connection.
If the load needs to be connected to the protective earth conductor, the L-812.xx1400's base
body must also be connected to the protective earth conductor. In this case, connect the load
and base body to the protective earth conductor separately.
The following description offers an example of how to connect the protective earth
conductor to the base body of the L-812.xx1400.
Information
►Pay attention to the applicable standards for connecting the protective earth conductor.
Overview
Figure 9: Protective earth connector on the L-812.xx1400
1. Protective earth connector on the L-812.xx1400 indicated by the protective earth symbol
2. Lock washer
3. Flat washer
4. Cable lug of the protective earth conductor
5. Screw, M4×8 ISO 7045
Tools and Accessories
■Suitable protective earth conductor:
■Cable cross section ≥ 0.75 mm2
■Contact resistance <0.1 Ω at 25 A at all points relevant for attaching the protective earth
conductor
■Suitable screwdriver
■Optional: Suitable aid (e.g., liquid adhesive) for securing the screw connection
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