PI L-402 Series User manual

PI miCos GmbH, Freiburger Strasse 30, 79427 Eschbach, Germany
Phone [phone], Fax [phone], Email [e-mail], www.pi.ws
MP164E
L
-402 Miniature Linear Stage
User Manual
Version: 1.2.0
Date: 2020-06-19
This document describes the following miniature
linear stage with 13 mm (0.5") travel range:

L-402.10DD
with DC motor

L-402.10SD
with stepper motor

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.
© 2020 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 printing: 2020-06-19
Document number: MP164E, MMa, ASt, Version 1.2.0
Subject to change. This manual is superseded by any new release. The latest release is available for download
from our website (p. Fehler! Textmarke nicht definiert.).

1About this Document 1
1.1 Objective and Target Group of this User Manual ...................................................... 1
1.2 Other Applicable Documents ..................................................................................... 1
1.3 Symbols and Typographic Conventions...................................................................... 1
1.4 Figures ........................................................................................................................ 2
1.5 Downloading Manuals................................................................................................ 2
2Safety 3
2.1 Intended Use .............................................................................................................. 3
2.2 General Safety Instructions ........................................................................................ 3
2.2.1 Organizational Measures............................................................................... 3
3Product Description 5
3.1 Model Overview ......................................................................................................... 5
3.2 Product View .............................................................................................................. 5
3.3 Direction of Motion.................................................................................................... 6
3.4 Product Labeling......................................................................................................... 6
3.5 Scope of Delivery........................................................................................................ 7
3.6 Suitable Controllers .................................................................................................... 7
3.7 Technical Features...................................................................................................... 8
3.7.1 Rotary Encoder .............................................................................................. 8
3.7.2 Limit Switches................................................................................................ 8
3.7.3 Reference Switch........................................................................................... 8
4Unpacking 9
5Installation 11
5.1 General Notes on Installation................................................................................... 11
5.2 Attaching the L-402 to a Surface .............................................................................. 12
5.3 Connecting the L-402 to the Protective Earth Conductor........................................ 15
5.4 Affixing the Load to the L-402 .................................................................................. 17
5.5 Connecting the L-402 to a Controller ....................................................................... 18
6Start-Up 19
6.1 General Notes on Start-Up....................................................................................... 19
6.2 Starting up the L-402 ................................................................................................ 20
Contents

7Maintenance 21
7.1 General Notes on Maintenance ............................................................................... 21
7.2 Performing a Maintenance Run ............................................................................... 21
7.3 Cleaning the L-402.................................................................................................... 21
7.4 Manually Moving the Motion Platform.................................................................... 22
8Troubleshooting 23
9Customer Service 25
10 Technical Data 27
10.1 Specifications............................................................................................................ 27
10.1.1 Data Table.................................................................................................... 27
10.1.2 Maximum Ratings........................................................................................ 28
10.1.3 Ambient Conditions and Classifications ...................................................... 29
10.1.4 Limit Switch Specifications .......................................................................... 29
10.1.5 Reference Switch Specifications.................................................................. 29
10.2 Dimensions ............................................................................................................... 30
10.2.1 L-402.10DD .................................................................................................. 30
10.2.2 L-402.10SD................................................................................................... 31
10.2.3 Hole Pattern of the Motion Platform .......................................................... 32
10.3 Pin Assignment ......................................................................................................... 33
10.3.1 HD D-Sub 26 (m) .......................................................................................... 33
10.4 Tightening Torque for Screws, ISO 4762 - A2........................................................... 35
11 Old Equipment Disposal 37
12 EU Declaration of Conformity 39

1 About this Document
L-402 Mniature Stage MP164E Version: 1.2.0 1
1.1 Objective and Target Group of this User Manual
This user manual contains the required information on the intended use of the L-402.
Basic knowledge of closed-loop systems, motion control concepts, and applicable safety
measures is assumed.
1.2 Other Applicable Documents
The devices and software tools from PI that are mentioned in this documentation are described
in separate manuals.
Product Document
L-402 MP146EK Short Instructions for Positioners with
Electric Motors
C-884 DC Motor Controller MS213E User Manual
C-663.12 Stepper Motor Controller MS241E User Manual
C-863.12 DC Motor Controller MS249E User Manual
The latest versions of the user manuals are available for download on our website (p. Fehler!
Textmarke nicht definiert.).
1.3 Symbols and Typographic Conventions
The following symbols and typographic conventions are used in this user manual:
CAUTION
Dangerous situation
If not avoided, the dangerous situation will result in minor injury.
Actions to take to avoid the risk.
NOTICE
Dangerous situation
If not avoided, the dangerous situation will result in damage to equipment.
Actions to take to avoid the risk.
1
About this Document

1 About this Document
2 Version: 1.2.0 MP164E L-402 Mniature Stage
INFORMATION
Information for easier handling, tricks, tips, etc.
Symbol/Label Meaning
1.
2.
Action consisting of several steps whose sequential order must be observed
Action consisting of one or several steps whose sequential order is irrelevant
Lists
p. 5 Cross-reference to page 5
RS-232 Labeling of an operating element on the product (example: socket of the RS-
232 interface)
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 Downloading Manuals
INFORMATION
If a manual is missing or there are problems with downloading:
Contact our customer service department (p. Fehler! Textmarke nicht definiert.).
Downloading manuals
1. Open the website www.pi.ws.
2. Search the website for the product number (e.g., C-885).
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 Safety
L-402 Mniature Stage MP164E Version: 1.2.0 3
2.1 Intended Use
The L-402 is a laboratory device as defined by DIN EN 61010-1. It is intended for indoor use and
use in an environment which is free of dirt, oil, and lubricants.
In accordance with its design, the L-402 is intended for single-axis positioning, adjusting and
shifting of loads at different velocities.
The intended use of the L-402 is only possible when installed and in conjunction with a suitable
controller. The controller is not included in the scope of delivery of the L-402.
2.2 General Safety Instructions
The L-402 is built according to state-of-the-art technology and recognized safety standards.
Improper use of the L-402 may result in personal injury and/or damage to the L-402.
Only use the L-402 for its intended purpose, and only use it if it is in good working
order.
Read the user manual.
Immediately eliminate any faults and malfunctions that are likely to affect safety.
The operator is responsible for correct installation and operation of the L-402.
2.2.1 Organizational Measures
User Manual
Always keep this user manual available when using the L-402.
The latest versions of the user manuals are available on our website (p. Fehler!
Textmarke nicht definiert.) for download.
Add all information from the manufacturer such as supplements or technical notes to
the user manual.
If you give the L-402 to other users, also include this user manual as well as all 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.
Only install and operate the L-402 after you have read and understood this user
manual.
2
Safety

2 Safety
4 Version: 1.2.0 MP164E L-402 Mniature Stage
Personnel Qualification
The L-402 may only be installed, started up, operated, maintained, and cleaned by authorized
and appropriately qualified personnel.

3 Product Description
L-402 Mniature Stage MP164E Version: 1.2.0 5
3.1 Model Overview
Order number Product name
L-402.10SD Miniature linear stage, 22 mm width, stepper motor, 13 mm travel range
L-402.10DD Miniature linear stage, 22 mm width, DC motor, 13 mm travel range
3.2 Product View
Figure 1: Parts of the L-402: above: L-402.10DD, below L-402.10SD (detail)
1HD D-Sub 26 connector
2Ferrite
3Motor cable
4Motor
5Drive screw
6Base body
7Platform
8Protective earth connection
3
Product Description

3 Product Description
6 Version: 1.2.0 MP164E L-402 Mniature Stage
3.3 Direction of Motion
Figure 2: Direction of motion
X Direction of motion on positive command
3.4 Product Labeling
Figure 3: Product labeling
X

3 Product Description
L-402 Mniature Stage MP164E Version: 1.2.0 7
Position Labeling Description
1
Warning sign "ESD sensitive devices"
2 Protective earth connection
3.4 L-402 Product name
4 Old equipment disposal
4 Country of origin: Germany Country of origin
4 Manufacturer's logo
4 415002159 Serial number (example), individual for each L-402
Meaning of the places (counting from the left): 1 =
internal information,
2 and 3 = year of manufacturer,
4 to 9 = consecutive numbers
4 CE conformity mark
4 WWW.PI.WS Manufacturer's address (website)
4, 5 Warning sign "Observe manual!"
3.5 Scope of Delivery
Item number Component
L-402 according to order (p. 5)
6214500022 Screw set for mounting the L-402:
2 socket head cap screws, ISO 14580 M2x6
2 socket head cap screws, ISO 14580 M2.5x8
2 dowel pins, DIN 7- 1.5m6 x 4
K3110154 UNC bolt for adaptation to a connector of an extension cable (2 units)
MP146EK Short Instructions for Positioners with Electric Motors
3.6 Suitable Controllers
The L-402 must be connected to a suitable controller. The following controllers from PI are
suitable for the operation of the L-402:

3 Product Description
8 Version: 1.2.0 MP164E L-402 Mniature Stage
Stage Controller
L-402.10DD C-863.12
Mercury servo controller, for DC motors and PWM motor driver, 1 axis,
HD D-sub 26, USB, RS-232, I/O, connector for analog joystick
C-884.4DC / C-884.6DC
Controller for DC motors, 4/6 axes , USB, RS-232, Ethernet, SPI, I/O,
joystick connector
L-402.10SC C-663.12
Compact Mercury Step stepper motor controller , 1 axis, closed-loop
and open-loop operation, HD Sub-D 26, 48 V
The required 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.
The operating parameters must be adjusted depending on the version of the L-402 used.
If extension cables and/or adapter cables are required to connect the L-402 to the controller,
they must be ordered separately.
To order, contact our customer service department (p. 25).
3.7 Technical Features
3.7.1 Rotary Encoder
The models with DC motors are equipped with a rotary encoder. A rotary encoder is
implemented at a rotating point in the drivetrain, e.g., the motor shaft. To determine the
relative position, the controller counts the encoder signals, the so-called impulses.
3.7.2 Limit Switches
The L-402 is equipped with optical limit switches.
Each limit switch sends its signal to the controller on a dedicated line. The controller then stops
the motion. If the controller does not stop the motion in time, the linear actuator runs into the
hard stop.
See "Limit Switch Specifications" for more information (p. 29).
3.7.3 Reference Switch
The L-402 is equipped with one direction-sensing reference switch that 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 switch.
See the controller's user manual for the commands that make use of the reference signal.
For more information, see "Reference Switch Specifications" (p. 29).

4 Unpacking
L-402 Mniature Stage MP164E Version: 1.2.0 9
1. Unpack the L-402 with care.
2. Compare the contents with the items listed in the contract and the packing list.
3. Inspect the contents for signs of damage. If there is any sign of damage or missing parts,
contact PI immediately.
4. Keep all packaging materials in case the product needs to be returned.
4
Unpacking

5 Installation
L-402 Mniature Stage MP164E Version: 1.2.0 11
5.1 General Notes on Installation
NOTICE
Unwanted changes in position with vertical mounting!
If the load exceeds the self-locking of the drive when the L-402 is mounted vertically,
unintentional changes in the position of the motion platform will occur. Unwanted changes in
the position of the motion platform can damage the drive, the load or the environment.
When the L-402 is mounted vertically, make sure that the installed load is lower than the
self-locking of the drive (see specification of the holding force in "Data table" (p. 27)).
NOTICE
Electrostatic hazard
Touching the pins in the connections of the L-402 can damage electrostatic sensitive devices
(ESD) of the L-402. For this reason, the L-402 is supplied with ESD protection on all
connections.
Do not remove the ESD protection from the connections until you connect the L-402 to the
controller.
NOTICE
Cable break!
A cable break leads to failure of the L-402.
Install the L-402 so that the cable is not bent too strongly or crushed.
NOTICE
Heating of the L-402 during operation!
The heat produced during operation of the L-402 can affect your application.
Install the L-402 so that the application is not impaired by the dissipated heat.
INFORMATION
For optimal repeatability, all components must be connected firmly together.
5
Installation

5 Installation
12 Version: 1.2.0 MP164E L-402 Mniature Stage
INFORMATION
The use of locating pins during mounting reduces deviations from the ideal alignment of the
stage.
If possible, simulate the positioner motions with a mounted load or make suitable
calculations to detect collisions or unfavorable center of gravity constellations.
If necessary, take suitable constructive measures to avoid collisions and instability in
the overall system.
Avoid or mark danger zones that result from the installation of the L-402 and the
application, in accordance with the legal regulations.
5.2 Attaching the L-402 to a Surface
NOTICE
Warping of the L-402 due to mounting on uneven surfaces!
Mounting the L-402 on an uneven surface can warp the L-402. Warping reduces the accuracy.
Mount the L-402 onto an even surface. The recommended flatness of the surface is ≤10
µm.
For applications with large temperature changes:
Only mount the L-402 on surfaces that have the same or similar thermal expansion
properties as the L-402.
Requirements
You have read and understood the general notes on installation (p. 11).
You have provided a suitable surface (for the required position and depth of the holes
for accommodating the screws and locating pins, see "Dimensions" (p. 30)):
−For mounting on the bottom of the L-402: Two M2 threaded holes are provided.
−For mounting on the front of the L-402: Two M2.5 threaded holes are provided.
−If you use locating pins to align the L-402: Two 1.5 mm Ø locating holes are present.
−The flatness of the surface is ≤10 µm.
−For applications with large temperature changes: The surface should have the same
or similar thermal expansion properties as the L-402 (e.g., surface made of
aluminum).
You have accounted for the space required to route cables without bending and
according to regulations.
Tools and accessories
Mounting accessories; scope of delivery (p 7)
−2 socket head screws, ISO 14580 M2x6 (when mounting in the bottom) or M2.5x8
(when mounting on the front)

5 Installation
L-402 Mniature Stage MP164E Version: 1.2.0 13
−Optional: 2 dowel pins, DIN 7 1.5 m6x4 for us as locating pins
Torx screwdriver:
−For M2 screws: T6
−For M2.5 screws: T8
Figure 4: Position of the locating holes
Figure 5: Position of the longitudinal holes for screw mounting and moving the platform

5 Installation
14 Version: 1.2.0 MP164E L-402 Mniature Stage
Mounting the L-402 onto a surface - mounting on the bottom
1. Align the L-402 on the surface so that the corresponding mounting holes in the stage
and the surface overlap.
2. If you use locating pins to align the stage:
a. Insert the locating pins into the respective holes in the surface.
b. Place the L-402 on the surface so that the locating pins are inserted into the
corresponding locating holes on the other side.
3. Allow access to the mounting holes in the base body of the L-402. Possible measures:
−Temporary start-up of the stage and commanding the platform to a suitable
position
−Moving the platform manually (ü. Fehler! Textmarke nicht definiert.)
4. Completely screw in the screws into all mounting holes.
5. Repeat steps 2 to 4 for the concealed mounting hole.
6. Check that the L-402 is affixed firmly to the surface.
Mounting the L-402 onto a surface - mounting on the front
Figure 6: Position of the locating holes (bright/white arrows) and the mounting holes (dark/blue arrows)
on the front
1. If necessary: Move the platform just enough to allow the screws or nuts to be mounted
in the mounting holes (see figure) with the corresponding tool. Possible measures:
−Temporary start-up of the stage and commanding the platform to a suitable
position
−Moving the platform manually (p. Fehler! Textmarke nicht definiert.)
2. Align the L-402 on the surface so that the corresponding mounting holes in the stage
and the surface overlap.
3. If you use locating pins to align the L-402:
a. Insert the locating pins into the respective holes in the surface.

5 Installation
L-402 Mniature Stage MP164E Version: 1.2.0 15
b. Place the L-402 on the surface so that the locating pins are inserted into the
corresponding locating holes on the other side.
4. Completely screw in the screws into all mounting holes.
5. Check that the L-402 is affixed firmly to the surface.
5.3 Connecting the L-402 to the Protective Earth Conductor
INFORMATION
It is only necessary to connect the L-402 to the protective earth conductor when both of the
following conditions are met:
The load on the motion platform of the L-402 must be connected to the protective earth
conductor, but it is not possible to connect the protective earth conductor directly to the
load.
The load and the motion platform are connected conductively to each other.
INFORMATION
Observe the applicable standards for connecting the protective earth conductor.
On the side of the L-402, there is an M4 hole for connecting the protective earth conductor. In
the following figure, this hole is marked with an arrow.
Figure 7: Position of the hole for the protective earth connection

5 Installation
16 Version: 1.2.0 MP164E L-402 Mniature Stage
Figure 8: Mounting of the protective earth conductor (profile view)
1Base body of the L-402
2Flat washer
3Safety washer
4Screw
5Cable lug
6Protective earth conductor
Requirements
You have read and understood the general notes on installation (p. 11).
Tools and accessories
Suitable protective earth conductor: Cable cross section ≥ 0.75 mm2
Screw, M4x8, ISO 7045
2 washers, ISO 7089-4
2 safety washers, S4
Suitable screwdriver
Connecting the L-402 to the protective earth conductor
1. If necessary, attach a suitable cable lug to the protective earth conductor.
2. Affix the cable lug of the protective earth conductor using the M4 screw on the
protective earth connection of the L-402 as shown in the profile view.
3. Tighten the M4 screw with a torque of 1.2 Nm to 1.5 Nm.
4. Make sure that the contact resistance at all connection points relevant for mounting
the protective earth conductor is <0.1 Ω at 25 A.