PI A-141 Series User manual

User Manual
A141D001 Rev 1.2
26-March-2020
Page 1 of 25
PI (Physik Instrumente) L.P.
16 Albert Street, Auburn, MA 01501
Tel: [phone] Fax: [phone]
Email: [email protected]
A-141 Series Miniature Linear Air Bearing Stage
This document describes the A-141.xxxxx Series of Linear Air Bearing Motorized Stages.

User Manual
A141D001 Rev 1.2
26-March-2020
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PI (Physik Instrumente) L.P.
16 Albert Street, Auburn, MA 01501
Tel: [phone] Fax: [phone]
Email: [email protected]
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
© 2020 PI (Physik Instrumente) L.P. The text, photographs and drawings in this manual are protected by
copyright. With regard thereto, PI (Physik Instrumente) L.P. retains all the rights. Use of said text, photographs
and drawings is permitted only in part and only upon citation of the source.
Subject to change without notice. This manual is superseded by any new release. PI continually improves its
product offerings, and listed options and specifications may be superseded at any time.

User Manual
A141D001 Rev 1.2
26-March-2020
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PI (Physik Instrumente) L.P.
16 Albert Street, Auburn, MA 01501
Tel: [phone] Fax: [phone]
Email: [email protected]
Table of Contents
1. About this Document_____________________________________________________________________5
1.1. Objective and Target Audience of this User Manual ________________________________________5
1.2. Symbols and Typographic Conventions __________________________________________________5
1.3. Other Applicable Documents __________________________________________________________5
2. Safety _________________________________________________________________________________6
2.1. Intended Use _______________________________________________________________________6
2.2. General Safety Instructions ____________________________________________________________6
2.3. Warnings and Safety Notices___________________________________________________________7
2.4. Organizational Measures______________________________________________________________8
3. Product Description ______________________________________________________________________9
3.1. Model Overview and Part Numbering ___________________________________________________9
3.2. Product Features ____________________________________________________________________9
3.3. Product Labeling ___________________________________________________________________10
3.4. Scope of Delivery ___________________________________________________________________10
3.5. Accessories________________________________________________________________________10
3.6. Controllers ________________________________________________________________________11
4. Technical Features ______________________________________________________________________11
4.1. Air Bearing ________________________________________________________________________11
4.2. Linear Motor ______________________________________________________________________11
4.3. Linear Encoder _____________________________________________________________________11
4.4. Limits and Index Mark _______________________________________________________________11
5. Unpacking and Handling _________________________________________________________________12
6. Installation ____________________________________________________________________________13
6.1. Mounting Surface Quality and Preparation ______________________________________________13
6.2. Mounting Procedure ________________________________________________________________13
6.3. Removing the shipping restraint _______________________________________________________14
6.4. Air Supply_________________________________________________________________________15
6.5. Affixing the Payload to the Stage ______________________________________________________16
6.6. XY and Vertical Configurations ________________________________________________________17

User Manual
A141D001 Rev 1.2
26-March-2020
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PI (Physik Instrumente) L.P.
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6.7. Connecting the Cables _______________________________________________________________17
7. Startup and Operation of the Stage ________________________________________________________18
8. Maintenance __________________________________________________________________________19
8.1. Cleaning the Stage __________________________________________________________________19
8.2. Preparing the Stage for Transport______________________________________________________19
9. Customer Service _______________________________________________________________________20
10. Technical Data _______________________________________________________________________21
10.1. Basic Specifications _______________________________________________________________21
10.2. Motor Electrical Specifications ______________________________________________________22
10.3. Encoder Specifications_____________________________________________________________22
10.4. Ambient Conditions_______________________________________________________________22
10.5. Dimensions _____________________________________________________________________23
10.6. Pin Assignments__________________________________________________________________24
11. EC Declaration of Conformity ___________________________________________________________25
12. Old Equipment Disposal _______________________________________________________________25
Table of Figures
Figure 1 - Product Features, A-141____________________________________________________________ 9
Figure 2 - Product Labeling Example _________________________________________________________ 10
Figure 3 - Mounting Surface Quality __________________________________________________________ 13
Figure 4 - Shipping Restraint________________________________________________________________ 14
Figure 5 - Air Inlet Fittings__________________________________________________________________ 15
Figure 6 - Payload Mounting Holes___________________________________________________________ 16
Figure 7 - A-141 Series Stage Dimensions_____________________________________________________ 23

User Manual
A141D001 Rev 1.2
26-March-2020
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PI (Physik Instrumente) L.P.
16 Albert Street, Auburn, MA 01501
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1. About this Document
1.1. Objective and Target Audience of this User Manual
This manual contains information on the intended use of the A-141 series of linear motor-driven air bearing
stages. It assumes that the reader has a fundamental understanding of basic servo systems as well as motion
control concepts and applicable safety procedures.
1.2. Symbols and Typographic Conventions
The following symbols and markings are used in this User Manual:
Symbol
Meaning
If not avoided, the situation could result in damage to the equipment.
Failure to observe these precautions could result in serious injury to
those performing the procedures and damage to the equipment.
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
1.3. Other Applicable Documents
None at this time

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2. Safety
2.1. Intended Use
The A-141 is a laboratory device as defined by DIN EN 61010. It is intended to be used in interior spaces and in
an environment which is free of dirt, oil and lubricants.
In accordance with its design and realization, the A-141 is intended for single-axis positioning of loads at different
velocities. The A-141 is not intended for applications in areas in which a failure would present severe risks to
human beings or the environment.
The A-141 is intended for mounting only in which the plane of the stage tabletop is level and parallel to the plane
of the ground. For orientations in which the motor must lift the payload against the force of gravity, a custom
counterbalance is required.
The intended use of the A-141 is only possible when completely mounted and connected.
The A-141 must be operated with a suitable controller. The controller is not included in the scope of delivery of
the A-141.
2.2. General Safety Instructions
The A-141 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 A-141.
Only use the A-141 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 A-141.

User Manual
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2.3. Warnings and Safety Notices
The following statements apply throughout this manual. Failure to observe these precautions could result in
serious injury to those performing the procedures and damage to the equipment. This manual and any additional
instructions included with the stage should be retained for the lifetime of the stage.
To minimize the possibility of electrical shock and bodily injury or death, disconnect all electrical
power prior to making any electrical connections.
To minimize the possibility of electrical shock and bodily injury or death when any electrical circuit
is in use, ensure that no person comes in contact with the circuitry when the stage is connected to
a power source.
To minimize the possibility of bodily injury or death, disconnect all electrical power prior to making
any mechanical adjustments.
To minimize the possibility of bodily injury or death from electric shock in the case of malfunction
or failure of the system, make sure a protective earth conductor is properly connected.
Moving parts of the stage can cause crushing or shearing injuries. All personnel must remain clear
of any moving parts.
The stage table should never be moved without the air supply turned on. Moving the stage table
with no air supply, causing sliding metal-to-metal contact, may damage the bearing surfaces.
Improper use of the stage can cause damage, shock, injury, or death. Read and understand this
manual before operating the stage.
If the stage is used in a manner not specified by the manufacturer, the protection provided by the
stage can be impaired.
Stage cables can pose a tripping hazard. Securely mount and position all stage cables to avoid
potential hazards.
Do not expose the stage to environments or conditions outside the specified range of operating
environments. Operation in conditions other than those specified can cause damage to the
equipment.
The stage must be mounted securely. Improper mounting can result in injury and damage to the
equipment.
Use care when moving the stage. Avoid any shocks, drops or bumps that can cause scratches,
dings, dents, or distortion of the stage.
Dirt, oil, lubricants and condensation will damage the stage. Keep the stage clean and free of dirt,
debris, oil, lubricants, and moisture.

User Manual
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26-March-2020
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PI (Physik Instrumente) L.P.
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2.4. Organizational Measures
User manual
Always keep this user manual available near the A-141.
Add all information given by the manufacturer to the user manual, for example supplements or
Technical Notes.
If you pass the A-141 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. Missing information due to an
incomplete user manual can result in minor injury and property damage.
Only install and operate the A-141 after having read and understood this user manual.
Personnel qualification
The A-141 may only be installed, started up, operated, maintained and cleaned by authorized and
appropriately qualified personnel.

User Manual
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PI (Physik Instrumente) L.P.
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3. Product Description
3.1. Model Overview and Part Numbering
Model# A-141.035A1
Description: PIglide MB Miniature Linear Air Bearing Stage, 35mm Travel, 20μm Incremental Encoder
with Sine (1 Vp-p) Output, 3-phase Linear Motor
3.2. Product Features
The A-141 series stage incorporates completely non-contact air bearing surfaces, linear motors, and feedback
devices to provide a maintenance free stage. There is no mechanical contact to wear or require lubrication,
making these stages ideal for clean room and medical applications. The A-141 incorporates opposing lateral and
vertical preload. The brushless linear motor uses an ironless motor coil, which means there is zero cogging and
no attractive forces –resulting in unsurpassed smoothness of motion. This is especially useful in applications
where velocity control is important.
Figure 1 - Product Features, A-141
#
Description
1.
Moving table
2.
Stage base
3.
Motor electrical connection
4.
Encoder electrical connection
5.
Air supply inlet –Side & Bottom Air Bearing
6.
Air supply inlet –Vertical Lift Air Bearing

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3.3. Product Labeling
Figure 2 - Product Labeling Example
#
Description
1.
Product model number (example)
2.
Serial number (example), individual for each A-141
Meaning of the places (counting from left):
A = PIglide Air Bearing Product
17 = year of manufacture (i.e. 2017)
242101 = unique number, 6-digit
3.
Warning sign "Observe manual"
4.
Old equipment disposal warning sign
5.
CE conformity mark
6.
Country of origin
7.
Manufacturer's address (website)
8.
Manufacturer's logo
3.4. Scope of Delivery
Item ID
Component
A-141.xxxxxx
Linear stage according to the order
---
Stage Mounting Screws (M6 x 40 SHCS)
---
Shipping restraint
A141D001
User manual (this document)
3.5. Accessories
The following accessories are offered to complement the A-141 stage. Contact PI for all available configurations.
Part #
Description
A-80x.xxx
Air Preparation and Filtration Kit
A-851.xxx
Cable sets for integration with various controllers

User Manual
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3.6. Controllers
The A-141 must be connected to a suitable motion controller to be operated. The following standard controllers
are available from PI to operate the A-141. Other controllers are also available, contact PI for options.
Part #
Description
C-891.120200
PIMag® Motion Controller for magnetic direct drives,
1 channel, 24 V, 3 A, USB and RS-232 interfaces
A-81x.xxxxx
A-82x.xxxxx
PIglide/ACS Family of Motion Controllers
(1, 2, 4, 6, or 8 Axes)
4. Technical Features
4.1. Air Bearing
The A-141 series stage features fully preloaded, non-contact, frictionless air bearings to guide the motion of the
stage and support the payload. This air bearing is a highly accurate precision instrument. The non-contact
nature of the air bearings will provide years of accurate and reliable use if treated properly. Keep the bearing
clean and avoid any shocks, drops or bumps that can cause scratches, dings or distortion of the bearing.
The A-141 incorporates opposing lateral and vertical preload mechanisms. Be careful not to apply excess
cantilever loads to the stage table.
4.2. Linear Motor
The A-141 series stage features a brushless, ironless linear 3-phase motor. This type of motor technology is
completely non-contact and is ideally suited to fine resolution positioning and smooth, constant-velocity scanning.
The motor must be commutated by an external motor drive. Hall Effect sensors are not included, so the drive
and/or controller must be capable of encoder-based (sine) commutation.
4.3. Linear Encoder
The A-141 series stage features an optical non-contact linear encoder for direct measurement of the stage
position. This feedback signal is used by an external motion controller to close the servo loop for position and
velocity control.
The A-141 features an incremental encoder with analog (sine) output: Suitable for use with controllers using on-
board encoder interpolation.
4.4. Limits and Index Mark
The A-141 series stage features non-contact limit switches and a home index marker. Both the limits and the
index position are integral to the encoder electronics. The limits are magnetic and active high and are placed
near the ends of travel. The index mark is optical.

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5. Unpacking and Handling
Carefully unpack the air bearing stage and other components from the shipping packaging. Inspect the contents
for signs of damage. If there is any sign of damage or missing parts, contact PI immediately. Compare the
package contents to packing list and notify PI immediately if any parts are missing or incorrect. Keep all
packaging materials in case the product needs to be returned.
Before mounting or using the stage, it is recommended to let the stage stabilize at room temperature for at least
12 hours. Clean any dust or shipping debris off the stage by blowing it off with pressurized nitrogen or clean, oil-
free air.
If the stage will be mounted in such a way as to block the product label, it is recommended to record the stage
serial number for future reference.
The A-141 stage must always be transported and shipped with the shipping restraint installed.
Failure to use the shipping restraint when moving, transporting, or shipping the stage may allow
movement between the stage table and stage base, causing damage.
The stage table should never be moved without the air supply turned on. Moving the stage table
with no air supply, causing sliding metal-to-metal contact, may damage the bearing surfaces.
Use care when moving the stage. Manually lifting or transporting stages can result in injury.
Use care when moving the stage. Avoid any shocks, drops or bumps that can cause scratches,
dings, dents, or distortion of the stage.

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6. Installation
6.1. Mounting Surface Quality and Preparation
The A-141 is intended for horizontal mounting only in which the plane of the stage tabletop is level and parallel to
the plane of the ground.
The mounting surface should be flat and have adequate stiffness in order to achieve the maximum performance
from the A-141. When the A-141 series stage is mounted to a non-flat surface, the stage can be distorted as the
mounting screws are tightened. This distortion will decrease the overall accuracy of the stage. Adjustments to the
mounting surface must be done before the stage is secured. The effects of flatness on mounting are illustrated
below.
To maintain accuracy, the mounting surface should be flat within 2µm. A laboratory grade AA granite surface
plate is recommended. Do not shim under the stage base.
Figure 3 - Mounting Surface Quality
Prepare the mounting surface and bottom of the stage base with precision flat stones to remove any burrs or high
spots. Clean the mounting surface and bottom of the stage with the appropriate cleaners (isopropyl alcohol).
6.2. Mounting Procedure
1. Place the stage on the mounting surface.
2. Connect the compressed air supply and turn on the air.
3. Remove the shipping restraint.
4. Affix the stage base to the mounting surface using 4x M3 SHCS x 20mm long (minimum).
The stage should now be securely mounted. Make sure to allow sufficient clearance at the end of the stage to
attach the motor and encoder cables.

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6.3. Removing the shipping restraint
The stage is shipped with a shipping restraint installed to prevent unwanted motion between the stage table and
the stage base. To remove the shipping restraint, unscrew the two (2) M2.5 pan head screws using a Philips
head screwdriver. Make sure to safely store the parts for later use, in case the stage ever needs to be moved or
transported.
Figure 4 - Shipping Restraint
The shipping restraint kit for the A-141 consists of:
#
Description
1.
Shipping bracket for A-141 (1x)
2.
M2.5 Pan Head screws, 8mm Long (2x)

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6.4. Air Supply
Air Requirements
The A-141 stage requires clean, oil-free, and dry compressed air to operate properly. See Section 10.1 Basic
Specifications for detailed air supply requirements.
It is recommended that a pressure switch is installed to monitor air supply pressure and to remove power from
the stage motor if supply pressure drops below 40 psi to prevent damage to the air bearing surfaces.
Note that the air lines will move with the stage table. Take care to support the air lines in such a way that they
exert minimum forces on the stage table so as not to affect the quality of motion.
The air inlet fittings on the A-141 stage accept flexible polyurethane pneumatic tubing, 4mm OD. The stage is
equipped with two inlet fittings. One supplies air to the lateral/side air bearings along with the bottom preload
bearing, the other supplies air to the top/lift bearing. The inlets are separated in this way in case the user wants
to incorporate a self-lock feature. By turning the main top/lift supply on or off while keeping the side/bottom
supply on, the stage position can be locked. This can be done while a servo loop in enabled. Contact PI for
more information about using this feature.
In the case where a single air supply line is to be connected to the stage, use a T-fitting to tie the two 4mm OD
lines together. In the photo below, a 2x 4mm to 1x 6mm tee is used.
Figure 5 - Air Inlet Fittings
Turning off the air supply when not in use
When the stage is not in use, the air supply may be turned off to preserve compressed air and energy.
The stage table should never be moved without the air supply turned on. Moving the
stage table with no air supply, causing sliding metal-to-metal contact, may damage the
bearing surfaces.

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6.5. Affixing the Payload to the Stage
The payload should be flat, rigid, and comparable to the stage in quality. For valid system performance, the
mounting interface surface should be flat within 2µm.
The stage tabletop features 5x M4 tapped holes for mounting the user’s payload. These are the only features
that should be used to attach a payload to the stage.
Prepare the payload mounting surface and the stage table with precision flat stones to remove any burrs or high
spots. Clean the payload mounting surface and the stage table with the appropriate cleaners (isopropyl alcohol).
Figure 6 - Payload Mounting Holes
Do not attempt to modify the stage table in any way. Customer modifications may damage the
stage.
The M4 screws used to attach the payload to the stage table should not thread into the stage
tabletop any more than 6mm. Longer screws may damage the table.
Do not overtighten the payload mounting screws.
Do not exceed the maximum payload specified for the A-141 stage. Payload CG should not be
cantilevered beyond the extents of the stage table.

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6.6. XY and Vertical Configurations
XY configurations of the A-141 series stage are not available at this time without customization. Please contact
PI for a quote if you require a multi-axis stack.
Vertical configurations in which the motor is required to move against the force of gravity are not recommended
using the A-141.
6.7. Connecting the Cables
Stage interconnect cables are not in the scope of delivery of the A-141 series stage. However, PI offers several
standard cable sets that can be used, depending on the motion controller being used. Contact PI for a quote.
See Section 10.6 for connector pin assignments.
Only use the interconnect cables that have been designed for the combination of stage and
controller being used. Connection using the wrong cable may result in damage to the stage and
the controller.
To minimize the possibility of electrical shock and bodily injury or death, disconnect all electrical
power prior to making any electrical connections.
To minimize the possibility of electrical shock and bodily injury or death when any electrical
circuit is in use, ensure that no person comes in contact with the circuitry when the stage is
connected to a power source.
To minimize the possibility of bodily injury or death, disconnect all electrical power prior to
making any mechanical adjustments.
The stage electrical connectors are loose and not mechanically affixed to the stage, other than by the cables
themselves (see Figure 1). We recommend securing the connectors in place with tie-wraps to the a secure, non-
moving part of the installation to prevent them from moving once the stage has been installed.
1. Connect the stage cables for the motors and encoders to the connectors.
2. Tighten the jack screws with a flat head screwdriver to secure the cables. Do not overtighten the screws.

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7. Startup and Operation of the Stage
See the user’s manual of the controller being used with the A-141 stage for instructions about startup and
operation.
Note that the servo tuning values may need to be adjusted if the payload mass or size changes. If PI was not
given user application information at the time of order, the servo was tuned with no (zero) payload mass.
Collisions can damage the stage and the payload.
Take care when operating the stage to ensure that no collisions are possible between the
stage, the load to be moved, and the environment in the motion range of the stage.
Do not place any objects in areas where they can be caught by moving parts.
Stop the motion immediately if a controller malfunction occurs.
Do not attempt to operate the stage with the shipping restraint installed.
The stage table should never be moved without the air supply turned on. Moving the stage table
with no air supply, causing sliding metal-to-metal contact, may damage the bearing surfaces.
The drive mechanism of the A-141 is not self-locking. The stage can therefore unintentionally move
in the following cases:
Switching off or restarting the controller
Switching off the servo mode for the axis
Unintentional displacement can damage the stage, the payload to be moved, and the environment.
Only operate the A-141 with a horizontally aligned motion axis.
Before switching off or rebooting the controller, take suitable measures to ensure that no
unintentional displacement of the stage table is possible.
Do not exceed the operating voltage range for which the A-141 is specified.
Causing the stage table to hit the hard stop with maximum speed and force can cause damage to
the stage and the payload.
Stop the motion immediately if a controller malfunction occurs.
Ensure that the end of the travel range is approached at low velocity.
Setup the motion controller to observe end of travel limits (if applicable).
Determine the maximum velocity for your application.
Set suitable soft limits for closed-loop operation on the controller.
The optimum values of the servo-loop parameters in the controller depend on the application and
the payload mass. Unsuitable servo-control parameter settings of the controller can cause the
control loop to become unstable and for the stage to vibrate. Oscillations can damage the stage
and/or the load affixed to it.
If the stage is oscillating or exhibits unusual operating noise, immediately switch off the servo
mode for the axis on the controller or switch off the controller.
Only switch on the servo mode for the axis on the controller after you have modified the servo-
control parameter settings; see the manual of the controller.
Note that the servo tuning values may need to be adjusted if the payload mass or size
changes.

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8. Maintenance
Other than basic cleaning, the A-141 series stage is maintenance-free.
8.1. Cleaning the Stage
To clean the stage bearing surfaces, use isopropanol and a clean, lint-free cloth or wipe. Apply the cleaning
agent to the cloth and wipe down all of the air bearing surfaces. When cleaning the air bearing it is recommended
to leave the air supply turned on to help blow any particles out of the bearing and prevent particles from entering
the nozzles. Be especially careful of fingerprints on the bearing surfaces as they attract dust and may tarnish the
bearing finish.
Do not use cleaning agents other than isopropanol. Agents such as acetone or other detergents
can damage certain parts of the stage.
8.2. Preparing the Stage for Transport
If the stage requires movement, transport, or shipping, follow these steps:
1. Turn off the controller power.
2. Disconnect stage cables.
3. Remove the payload.
4. With the air supply on, move the stage table to one end of travel by hand.
5. Install the shipping restraint.
6. Turn off the air supply and disconnect the air supply line from the stage.
7. Remove the screws used to mount the stage to the mounting surface.
The stage is now secured and can be safely moved. If the stage needs to be shipped, use the original packing
materials.
Use care when moving the stage. Avoid any shocks, drops or bumps that can cause scratches,
dings, dents, or distortion of the stage.
The stage table should never be moved without the air supply turned on. Moving the stage table
with no air supply, causing sliding metal-to-metal contact, may damage the bearing surfaces.
Do not attempt to move or transport the stage with the payload attached. This may damage the
stage and the payload.

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9. Customer Service
For inquiries and orders, contact your PI sales engineer or use the following contacts:
Email: [email protected]
Address: 16 Albert Street, Auburn, MA 01501, USA
Tel: [phone]
Fax: [phone]
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)
If possible: Take photographs or make videos of your system that can be sent to our customer service
department if requested.