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
Page 2 of 25
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 This manual is superseded by any new release.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product offerings, and listed options and specifications may be superseded at any time.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
Page 3 of 25
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
Page 4 of 25
PI (Physik Instrumente) L.P.
16 Albert Street, Auburn, MA 01501
Tel: [phone] Fax: [phone]
Email: [email protected]
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
Page 5 of 25
PI (Physik Instrumente) L.P.
16 Albert Street, Auburn, MA 01501
Tel: [phone] Fax: [phone]
Email: [email protected]
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

User Manual
A141D001 Rev 1.2
26-March-2020
Page 6 of 25
PI (Physik Instrumente) L.P.
16 Albert Street, Auburn, MA 01501
Tel: [phone] Fax: [phone]
Email: [email protected]
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
A141D001 Rev 1.2
26-March-2020
Page 7 of 25
PI (Physik Instrumente) L.P.
16 Albert Street, Auburn, MA 01501
Tel: [phone] Fax: [phone]
Email: [email protected]
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
A141D001 Rev 1.2
26-March-2020
Page 8 of 25
PI (Physik Instrumente) L.P.
16 Albert Street, Auburn, MA 01501
Tel: [phone] Fax: [phone]
Email: [email protected]
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
A141D001 Rev 1.2
26-March-2020
Page 9 of 25
PI (Physik Instrumente) L.P.
16 Albert Street, Auburn, MA 01501
Tel: [phone] Fax: [phone]
Email: [email protected]
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

User Manual
A141D001 Rev 1.2
26-March-2020
Page 10 of 25
PI (Physik Instrumente) L.P.
16 Albert Street, Auburn, MA 01501
Tel: [phone] Fax: [phone]
Email: [email protected]
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