PI L-406 Series User manual

Physik Instrumente (PI) GmbH & Co. KG, Auf der Roemerstrasse 1, 76228 Karlsruhe, Germany
Phone [phone], Fax [phone], Email [e-mail], www.pi.ws
MP150E
L
-406 Compact Linear Stage
User Manual
Version: 1.1.0
Date: 26.06.2020
This document describes the following products:

L-406.x0DG10:
With DC gear motor and rotary encoder

L-406.x0DD10:
With DC motor and rotary encoder

L-406.x0SD00:
with 2-phase stepper motor, without encoder
x stands for travel range:
1 =
26 mm
2 =
52 mm
4 =
102 mm

The following company names and brands are registered trademarks of Physik Instrumente (PI) GmbH & Co.
KG:
PI®, NanoCube®, PICMA®, PILine®, NEXLINE®, PiezoWalk®, NEXACT®, Picoactuator®, PInano®, PIMag®,
Q-Motion®
The patents held by PI are found in our patent list: https://www.physikinstrumente.com/en/about-pi/patents
Notes on brand names and third-party trademarks:
BiSS is a registered trademark of iC-Haus GmbH.
© 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 retains
all the rights. The use of any text, images and drawings is permitted only in part and only when indicating the
source.
Original instructions
First printing: 26.06.2020
Document number: MP150E, MMa, ASt, Version 1.1.0
Subject to change. This manual is superseded by any new release. The latest respective release is available for
download (p. 3) on our website.

1About this Document 1
1.1 Objective and Target Audience 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................................................................................................ 3
2Safety 5
2.1 Intended Use .............................................................................................................. 5
2.2 General Safety Instructions ........................................................................................ 5
2.3 Organizational Measures............................................................................................ 6
3Product Description 7
3.1 Model Overview ......................................................................................................... 7
3.2 Product View .............................................................................................................. 8
3.3 Direction of Motion.................................................................................................... 9
3.4 Product Labeling......................................................................................................... 9
3.5 Scope of Delivery...................................................................................................... 10
3.6 Accessories ............................................................................................................... 11
3.7 Suitable Controllers .................................................................................................. 11
3.8 Technical Features.................................................................................................... 12
3.8.1 Rotary Encoder ............................................................................................ 12
3.8.2 Limit Switches.............................................................................................. 12
3.8.3 Reference Switch......................................................................................... 12
4Unpacking 13
5Installation 15
5.1 General Notes on Installation................................................................................... 15
5.2 Mounting the L-406 onto a Surface ......................................................................... 16
5.3 Connecting the L-406 to the Protective Earth Conductor........................................ 18
5.4 Fixing the Load to the L-406 ..................................................................................... 20
5.5 Building a Multi-Axis System .................................................................................... 22
5.5.1 General Information on Building a Multi-Axis System ................................ 22
5.5.2 Building an XY System.................................................................................. 22
5.5.3 Setting Up a Z System.................................................................................. 25
5.6 Connecting the L-406 to the Controller.................................................................... 28
Contents

6Startup 31
6.1 General Notes on Startup......................................................................................... 31
6.2 Starting and Operating the L-406............................................................................. 33
6.3 L-406 Entries in the PI Positioner Database ............................................................. 33
6.3.1 Operating Parameters of the Models with DC Motor................................. 33
6.3.2 Operating Parameters of the Models with Stepper Motor......................... 34
7Maintenance 35
7.1 General Notes on Maintenance ............................................................................... 35
7.2 Performing a Maintenance Run ............................................................................... 35
7.3 Cleaning the L-406.................................................................................................... 36
7.4 Moving the Motion Platform Manually.................................................................... 36
8Troubleshooting 39
8.1 Possible Causes and Correction................................................................................ 39
9Customer Service 41
10 Technical Data 43
10.1 Specifications............................................................................................................ 43
10.1.1 Data Table.................................................................................................... 43
10.1.2 Maximum Ratings........................................................................................ 45
10.1.3 Ambient Conditions and Classifications ...................................................... 45
10.1.4 Limit Switch Specifications .......................................................................... 46
10.1.5 Reference Switch Specifications.................................................................. 46
10.2 Dimensions ............................................................................................................... 46
10.2.1 L-406.x0DD10 and L-406.x0DG10................................................................ 46
10.2.2 L-406.x0SD00 ............................................................................................... 48
10.2.3 Hole Pattern of the Moving Platform of the L-406...................................... 49
10.2.4 L-500.AV3 Adapter Bracket ......................................................................... 50
10.3 Tightening Torque for Screws, ISO 4762 - A2........................................................... 51
10.4 Pin Assignment ......................................................................................................... 52
10.4.1 HD D-sub 26 (m) .......................................................................................... 52
11 Old Equipment Disposal 55
12 EU Declaration of Conformity 57

1 About this Document
L-406 Compact Linear Stage MP150E Version: 1.1.0 1
1.1 Objective and Target Audience of this User Manual
This manual contains information on using the L-406 as intended.
It assumes that the reader has a fundamental understanding of basic servo systems as well as
motion control concepts and applicable safety procedures.
The latest versions of the user manuals are available for download (p. 3) on our website.
1.2 Other Applicable Documents
The devices and software tools from PI mentioned in this documentation are described in
separate manuals.
Product Document
L-406 MP146EK Short Instructions for
Positioners with Electric Motors
C-863.12 DC Motor Controller MS249E User Manual
C-663.12 stepper motor controller MS241E User Manual
C-884 DC Motor Controller
MS213E User Manual
1.3 Symbols and Typographic Conventions
The following symbols and typographic conventions are used in this user manual:
CAUTION
Dangerous situation
Failure to comply could lead to minor injury.
Precautionary measures for avoiding the risk.
1
About this Document

1 About this Document
2 Version: 1.1.0 MP150E L-406 Compact Linear Stage
NOTICE
Dangerous situation
Failure to comply could cause damage to equipment.
Precautionary measures for avoiding the risk.
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
List item
p. 5
Cross-reference to page 5
RS-232
Labeling of an operating element on the product
(example: socket of the RS-232 interface)
Warning sign on the product which refers to detailed
information in this manual.
1.4 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 About this Document
L-406 Compact Linear Stage MP150E Version: 1.1.0 3
1.5 Downloading Manuals
INFORMATION
If a manual is missing or problems occur with downloading:
Contact our customer service department (p. 41).
Downloading manuals
1. Open the website www.pi.ws.
2. Search the website for the product number (e.g., P-882) or the product family (e.g.,
PICMA® bender).
3. Click the corresponding product to open the product detail page.
4. Click Downloads.
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-406 Compact Linear Stage MP150E Version: 1.1.0 5
2.1 Intended Use
The L-406 is a laboratory device as defined by DIN EN 61010. It is intended for indoor use and
use in an environment that is free of dirt, oil and lubricants.
In accordance with its design, the L-406 is intended for single-axis positioning, adjusting and
shifting of loads at different velocities. The L-406 is not intended for applications in areas in
which a failure would present severe risks to human beings or the environment.
The L-406 is intended for horizontal or vertical mounting. For the load limits with vertical
mounting, see "General Notes on Installation" (p. 15).
The intended use of the L-406 is only possible when completely mounted and connected.
The L-406 must be operated with a suitable controller (p. 11). The controller is not included in
the scope of delivery of the L-406.
2.2 General Safety Instructions
The L-406 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 L-406.
Use the L-406 for its intended purpose only, and only when it is in perfect technical
condition.
Read the user manual.
Eliminate any malfunctions that may affect safety immediately.
The operator is responsible for the correct installation and operation of the L-406.
2
Safety

2 Safety
6 Version: 1.1.0 MP150E L-406 Compact Linear Stage
2.3 Organizational Measures
User manual
Always keep this user manual together with the L-406.
The latest versions of the user manuals are available for download (p. 3) on our
website.
Add all information from the manufacturer to the user manual, for example
supplements or technical notes.
If you give the L-406 to a third party, include this user manual as well as other relevant
information provided by the manufacturer.
Do the work only if the user manual is complete. Missing information due to an
incomplete user manual can result in minor injury and damage to equipment.
Install and operate the L-406 only after you have read and understood this user manual.
Personnel qualification
The L-406 may only be installed, started, operated, maintained, and cleaned by authorized and
appropriately qualified personnel.

3 Product Description
L-406 Compact Linear Stage MP150E Version: 1.1.0 7
3.1 Model Overview
Order number Product name
L-406.10DG10 Compact linear stage, 65 mm width, DC gear motor, 26 mm travel range,
optical limit switches
L-406.10DD10 Compact linear stage, 65 mm width, DC motor, 26 mm travel range,
optical limit switches
L-406.10SD00 Compact linear stage, 65 mm width, stepper motor, 26 mm travel range,
optical limit switches
L-406.20DG10 Compact linear stage, 65 mm width, DC gear motor, 52 mm travel range,
optical limit switches
L-406.20DD10 Compact linear stage, 65 mm width, DC motor, 52 mm travel range,
optical limit switches
L-406.20SD00 Compact linear stage, 65 mm width, stepper motor, 52 mm travel range,
optical limit switches
L-406.40DG10 Compact linear stage, 65 mm width, DC gear motor, 102 mm travel range,
optical limit switches
L-406.40DD10 Compact linear stage, 65 mm width, DC motor, 102 mm travel range,
optical limit switches
L-406.40SD00
Compact linear stage, 65 mm width, stepper motor, 102 mm travel range,
optical limit switches
3
Product Description

3 Product Description
8 Version: 1.1.0 MP150E L-406 Compact Linear Stage
3.2 Product View
Figure 1: Parts of the L-406 with DC motor / DC gear motor (above), L-406 with stepper motor (below)
1Motor
2Drive screw
3Motion platform
4Base body
5Motor connector (HD D-sub 26 panel plug)
6Vibration absorber

3 Product Description
L-406 Compact Linear Stage MP150E Version: 1.1.0 9
3.3 Direction of Motion
Figure 2: Direction of motion of the motion platform
X (arrow direction:) Direction of motion on positive command
3.4 Product Labeling
Figure 3: Product labeling

3 Product Description
10 Version: 1.1.0 MP150E L-406 Compact Linear Stage
Position Labeling Description
1 Warning sign "Risk of crushing": Reference
to dangerous forces (p. 31)
2
Old equipment disposal
2 Country of origin: Germany Country of origin
2 Data matrix code (example; contains the
serial number)
2 L-406.20DG10 Product name (example), the characters
following the period refer to the model
2 415002159 Serial number (example), individual for
each L-406
Meaning of each position (from the left): 1
= internal information, 2 and 3 = year of
manufacture, 4 to 9 = consecutive number
2 CE conformity mark
2
WWW.PI.WS
Manufacturer's address (website)
2
Warning sign "Pay attention to the
manual!"
2, 3
L-406
Product series
2, 4
Manufacturer's logo
5 Symbol for the protective earth conductor,
marks the protective earth connection of
the L-406 (p. 18)
6
Controller
Motor connection
3.5 Scope of Delivery
Item number Component
L-406 according to the order (p. 7)
6233500074
Screw set for mounting of the L-406:
8 socket head screws, ISO 4762 - M4x12
2 dowel pins, ISO 2338 - 3h8x6-A1
2 dowel pins, ISO 2338 - 4h8x10-A1
MP146EK Short instructions for positioners with electric motors

3 Product Description
L-406 Compact Linear Stage MP150E Version: 1.1.0 11
3.6 Accessories
Order number Description
L-500.AV3 Adapter bracket for vertical mounting of positioners with up to
100 mm width and 300 mm length, mounting kit included
4 socket head screws, ISO 4762 - M6x12
2 dowel pins ISO 2338 - 3h8x12-A1
2 dowel pins ISO 2338 - 4h8x12-A1
To order, contact our customer service department (p. 41).
3.7 Suitable Controllers
The L-406 must be connected to a suitable controller. The following controllers from PI are
suitable for operating the L-406:
Models Controller
L-406.x0SD00
C-663.12
Compact Mercury Step stepper motor controller, 1 axis, closed-loop
and open-loop operation, HD D-sub 26, 48 V
L-406.x0DG10
L-406.x0DD10
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 connection
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.
Note that the cables required for connecting the L-406 to the electronics must be ordered
separately.
To order, contact our customer service department (p. 41).

3 Product Description
12 Version: 1.1.0 MP150E L-406 Compact Linear Stage
3.8 Technical Features
3.8.1 Rotary Encoder
The L-406.x0DG10 and L-406.x0DD10 models are equipped with an incremental rotary encoder.
A rotary encoder is implemented at a rotating point in the drivetrain, e.g., the motor shaft.
3.8.2 Limit Switches
The L-406 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 positioner runs into the hard
stop.
See "Limit Switch Specifications" (p. 46) for more information.
3.8.3 Reference Switch
The positioner is equipped with a direction-sensing reference switch, which is located at about
the midpoint of the travel range. This sensor sends a TTL signal indicating whether the
positioner is on the positive or negative side of the reference switch.
See the controller user manual and/or associated software manuals for the commands that
make use of the reference point signal.

4 Unpacking
L-406 Compact Linear Stage MP150E Version: 1.1.0 13
NOTICE
Electrostatic hazard
Touching the pins on the connector of the L-406 can damage electrostatic-sensitive (also: ESD)
components of the L-406. For this reason, the L-406 is supplied with ESD protection on all
connectors.
Remove the ESD protection from the connector only when you connect the L-406 to the
controller.
1. Unpack the L-406 with care.
2. Do not remove the ESD protection from the L-406's connector.
3. Compare the contents with the items listed in the contract and the packing list.
4. Inspect the contents for signs of damage. If there is any sign of damage or missing parts,
contact PI immediately.
5. Keep all packaging materials and the ESD protection in case the product needs to be
returned.
4
Unpacking

5 Installation
L-406 Compact Linear Stage MP150E Version: 1.1.0 15
5.1 General Notes on Installation
NOTICE
Unwanted changes in position when mounted vertically!
If the load exceeds the holding force of the L-406 when the drive is mounted vertically,
unwanted changes in the position of the platform will occur. Unwanted changes in the position
of the platform can damage the drive, the load or the surroundings.
When the L-406 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 the "data table" (p. 43)).
NOTICE
Electrostatic hazard
Touching the pins on the connector of the L-406 can damage electrostatic-sensitive (also: ESD)
components of the L-406. For this reason, the L-406 is supplied with ESD protection on all
connectors.
Remove the ESD protection from the connector only when you connect the L-406 to the
controller.
NOTICE
Cable break!
A cable break leads to failure of the positioner.
Install the positioner so that the cable is not bent too strongly or crushed.
NOTICE
Heating up of the L-406 during operation!
The heat produced during operation of the L-406 can affect your application.
Install the L-406 so that your application is not affected by the dissipating heat.
INFORMATION
For optimum repeatability, all components must be connected firmly together.
5
Installation

5 Installation
16 Version: 1.1.0 MP150E L-406 Compact Linear Stage
INFORMATION
The use of locating pins during mounting reduces deviations from the ideal alignment of the L-
406.
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 positioner and the
application, in accordance with the legal regulations.
5.2 Mounting the L-406 onto a Surface
NOTICE
Protruding screw heads!
Protruding screw heads can damage the L-406.
Ensure that the screw heads do not protrude from countersunk holes so that they do not
interfere with the motion.
NOTICE
Warping of the L-406 when mounted on uneven surfaces!
The L-406 could warp if mounted on an uneven surface. Warping reduces the accuracy.
Mount the L-406 onto an even surface. The recommended flatness of the surface is ≤10
µm.
For applications with large temperature changes:
Mount the L-406 only onto surfaces that have the same or similar thermal expansion
properties as the L-406.
For mounting onto an underlying surface, the L-406 has mounting holes for M4 screws in its
base body. The number depends on the model:
L-406.1xxxxx: 4mounting holes
L-406.2xxxxx, L-406.4xxxxx: 8mounting holes
A sufficient number of screws and locating pins is included in the scope of delivery of the L-406.